Bionic origami enteroscopy robot and preparation method thereof

Abstract

The application discloses a kind of bionic paper folding intestinal sampling robots, it is related to intestinal sampling robot technical field, including support and multiple leaflets, multiple leaflets are distributed along the circumferential of support, each leaflet edge can be relatively active with support, and the remaining edge of each leaflet is active and is provided with closure flap;Each leaflet and each closure flap are set to magnetic material;Each leaflet can be flipped relative to support under the action of external magnetic field towards the same side of support, to make each leaflet can be mutually close in the circumferential of support, and each closure flap can be flipped relative to leaflet under the action of external magnetic field, so that adjacent closure flap between adjacent leaflets can be overlapped, to make support and each leaflet enclose a sealed gripping cavity.The bionic paper folding intestinal sampling robot provided by the application can realize the complete airtight wrapping of target object, effectively prevent content leakage.The application further provides a kind of preparation method of bionic paper folding intestinal sampling robot.

Description

Technical Field

[0001] This invention relates to the field of intestinal sampling robot technology, and in particular to a biomimetic origami intestinal sampling robot and its preparation method. Background Technology

[0002] In the medical field, magnetic soft robots are commonly used to grasp and sample the intestines of patients to facilitate intestinal sampling. However, traditional magnetic soft robots, such as those with cage-like multi-claws or starfish-like multi-legged structures, cannot achieve complete sealing and encapsulation when grasping intestinal tissues or contents due to gaps between the claws or legs. This leads to leakage of the grasped material, affecting sampling efficiency and accuracy, and may also cause contamination. Summary of the Invention

[0003] The purpose of this invention is to provide a biomimetic origami intestinal sampling robot and its preparation method, so as to solve the problems existing in the prior art. It can achieve complete sealing and wrapping of the target object and effectively prevent leakage of contents.

[0004] To achieve the above objectives, the present invention provides the following solution:

[0005] This invention provides a biomimetic origami intestinal sampling robot, comprising a support and multiple leaflets. The multiple leaflets are distributed circumferentially around the support, and one edge of each leaflet is movable relative to the support, while the remaining edges of each leaflet are movably provided with closing flaps. Each leaflet and each closing flap is made of magnetic material. Each leaflet can be flipped relative to the support under the action of an external magnetic field, so that each leaflet can move closer to each other in the circumferential direction of the support, and each closing flap can be flipped relative to the leaflet under the action of an external magnetic field, so that adjacent closing flaps of adjacent leaflets can overlap, so that the support and each leaflet form a sealed grasping cavity.

[0006] Preferably, a connecting bracket is provided between the support bracket and the edge of each of the leaflets in the circumferential direction, and the two ends of each connecting bracket are respectively movable relative to the support bracket and the edge of the leaflet.

[0007] Preferably, each of the connecting brackets is made of a magnetic material, and each of the connecting brackets can be flipped relative to the support bracket to the same side under the action of an external magnetic field, so that the edges of the plurality of connecting brackets meet and close in the circumferential direction of the support bracket.

[0008] Preferably, the support bracket and each of the leaflets are triangular, and there are three connecting brackets and three leaflets. The three edges of the support bracket can move relative to each other through the three connecting brackets and the three leaflets.

[0009] Preferably, it further includes a flexible connecting layer, which is connected to the support bracket, each of the leaflets, each of the closing flaps and each of the connecting brackets on the same side.

[0010] Preferably, each of the leaflets, each of the closing flaps, and each of the connecting supports are made of magnetic soft composite material.

[0011] Preferably, the support bracket is made of a flexible material.

[0012] The present invention also provides a method for preparing the above-mentioned biomimetic origami intestinal sampling robot, comprising the following steps:

[0013] Preparation: Prepare the support bracket, each leaflet, and each of the aforementioned closing flaps;

[0014] Magnetization: The support, each of the leaflets and each of the closing flaps are magnetized so that the support, each of the leaflets and each of the closing flaps have independent magnetization directions.

[0015] Preferably, a connecting bracket is provided between the support bracket and the edge of each of the leaflets in the circumferential direction; the connecting bracket is made of magnetic material.

[0016] The preparation process also includes preparing each of the aforementioned connectors;

[0017] The magnetization step further includes magnetizing each of the connecting brackets so that the support bracket, each of the leaflets, each of the connecting brackets, and each of the closing flaps have independent magnetization directions.

[0018] Preferably, the support bracket, each of the leaflets, each of the closing flaps, and each of the connecting brackets are all connected to a flexible connecting layer on the same side; the method further includes the following steps:

[0019] Assembly: The magnetized support, each of the leaflets, each of the connecting supports, and each of the closing flaps are connected through the flexible connecting layer.

[0020] The present invention achieves the following technical effects compared to the prior art:

[0021] The biomimetic origami intestinal sampling robot provided by this invention uses a support bracket for overall support, and multiple leaflets are movably arranged around the support bracket. Each leaflet, except for its movable edge relative to the support bracket, has a closing flap. Since the leaflets and each closing flap are made of magnetic material, under the action of an external magnetic field, the multiple leaflets rotate relative to the support bracket, causing them to approach and close together around the support bracket. Similarly, each closing flap rotates relative to the leaflets under the action of the external magnetic field, similar to origami, causing adjacent closing flaps to overlap and achieve surface-to-surface sealing. This forms a sealed grasping cavity, enabling the airtight encapsulation of the target object, effectively solving the problem of leakage of contents during grasping, significantly improving sampling efficiency and accuracy, and avoiding contamination.

[0022] The method for preparing the biomimetic origami intestinal sampling robot provided by the present invention magnetizes the support, each leaflet and each closed flap so that the support, each leaflet and each closed flap have independent magnetization directions, and can be independently flipped under the action of an external magnetic field to form a sealed grasping cavity. It is also easy to control the robot through an external magnetic field so that it can perform precise folding, unfolding and grasping actions. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the unfolded biomimetic origami intestinal sampling robot provided in Example 1;

[0025] Figure 2 A schematic diagram illustrating the interaction of a leaflet, connecting bracket, and supporting bracket under the influence of an external magnetic field, as provided in Example 1.

[0026] Figure 3 A schematic diagram illustrating the flipping trend of the leaflets provided in Example 1;

[0027] Figure 4 This is a closed schematic diagram of the biomimetic origami intestinal sampling robot provided in Example 1.

[0028] In the diagram: 1-Support bracket; 2-Petal leaf; 3-Closed flap; 4-Connecting bracket; 5-Flexible connecting layer. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] The purpose of this invention is to provide a biomimetic origami intestinal sampling robot and its preparation method, so as to solve the problems existing in the prior art. It can achieve complete sealing and wrapping of the target object and effectively prevent leakage of contents.

[0031] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] This embodiment provides a biomimetic origami intestinal sampling robot. Please refer to [link / reference]. Figures 1-4 The device includes a support 1 and multiple leaflets 2. The multiple leaflets 2 are distributed around the support 1 in a circumferential manner. One edge of each leaflet 2 is movable relative to the support 1, and the remaining edges of each leaflet 2 are movably provided with closing flaps 3. Each leaflet 2 and each closing flap 3 is made of magnetic material. Each leaflet 2 can be flipped relative to the support 1 on the same side under the action of an external magnetic field, so that each leaflet 2 can approach each other in the circumferential direction of the support 1. Each closing flap 3 can be flipped relative to the leaflet 2 under the action of an external magnetic field, so that adjacent closing flaps 3 between adjacent leaflets 2 can overlap, so that the support 1 and each leaflet 2 form a sealed gripping cavity.

[0034] The system provides overall support by setting a support bracket 1, and multiple leaflets 2 are movably arranged around the support bracket 1. The leaflets 2 are equipped with closing flaps 3 on their edges that are movably connected to the support bracket. Since the leaflets 2 and each closing flap 3 are made of magnetic material, under the action of an external magnetic field, the multiple leaflets 2 are rotated relative to the support bracket 1 so that the multiple leaflets 2 move closer together and close around the support bracket 1. Under the action of an external magnetic field, each closing flap 3 is rotated relative to the leaflets 2, similar to origami, so that adjacent closing flaps 3 overlap to achieve surface sealing. This forms a sealed grasping cavity, which can achieve airtight wrapping of the target object, effectively solving the problem of leakage of contents during the grasping process, significantly improving sampling efficiency and accuracy, and avoiding contamination.

[0035] In the optional scheme of this embodiment, more preferably, a connecting support 4 is provided between the support support 1 and the edge of each leaf 2 in the circumferential direction, and the two ends of each connecting support 4 can move relative to the support support 1 and the edge of the leaf 2 respectively; the relative movement between the support support 1 and the leaf 2 is realized by the connecting support 4, and the leaf 2 can be supported during the closing process.

[0036] In the optional scheme of this embodiment, more preferably, each connecting bracket 4 is made of magnetic material, and each connecting bracket 4 can be flipped relative to the support bracket 1 on the same side under the action of an external magnetic field, so that the edges of multiple connecting brackets 4 are connected and closed in the circumference of the support bracket 1; wherein the flipping direction of the connecting bracket 4 and the leaflet 2 is the same, so that the connecting bracket 4 can support the leaflet 2.

[0037] In the optional scheme of this embodiment, more preferably, the support bracket 1 and each leaflet 2 are triangular, and there are three connecting brackets 4 and three leaflets 2. The three edges of the support bracket 1 can move relative to the three leaflets 2 through the three connecting brackets 4. After the support bracket 1, each leaflet 2 and the connecting bracket 4 are enclosed, a sealed grasping cavity that is close to a triangular pyramid is formed. During the preparation process, the size of each leaflet 2 needs to be controlled so that the edges of each leaflet 2 can approach or even touch after being flipped. Then, the surface is sealed by the closing flap 3. The adjacent edges of adjacent connecting brackets 4 can touch after being flipped. It should be noted that the shape and number of the support bracket 1 and leaflets 2 can be determined according to the requirements. For example, the support bracket 1 and leaflets 2 can also be rectangular. Correspondingly, there are four leaflets 2 and four connecting brackets 4.

[0038] In the optional embodiments of this example, more preferably, the biomimetic origami intestinal sampling robot provided in this example further includes a flexible connecting layer 5. The flexible connecting layer 5 is connected to the support 1, each leaflet 2, each closing flap 3, and each connecting bracket 4 on the same side. That is, the support 1, each leaflet 2, each closing flap 3, and each connecting bracket 4 form a whole through the flexible connecting layer 5, and there are gaps between the edges of the support 1, each leaflet 2, each closing flap 3, and each connecting bracket 4. The flexible connecting layer 5 is equivalent to a movable hinge at each edge, so that the components can move relative to each other and close in a way similar to origami. That is, the flexible connecting layer 5 achieves a movable connection, avoiding the possibility that the direct connection method may cause the flipping to be unsmooth or the closure to be incomplete. Specifically, the flexible connecting layer 5 can be set as an adhesive, such as liquid non-crosslinked SE, general adhesive, and optical adhesive.

[0039] In this embodiment, a preferred embodiment is that each leaflet 2, each closing flap 3, and each connecting support 4 are made of flexible magnetic material. Furthermore, the support support 1 is made of flexible material; by using a flexible material throughout, it can adapt to the complex shape and movement of the intestine. ，It also improves adaptability to different gripping objects, has good repeatability and scalability, and with the modular arrangement of support bracket 1, each leaf 2, each closing flap 3 and each connecting bracket 4, it can still maintain some functions even in the event of local damage.

[0040] Specifically, the support bracket 1 is made of flexible PDMS, i.e., polydimethylsiloxane material; each leaf 2, each closing flap 3, and each connecting bracket 4 are made of conventional magnetic soft composite materials, such as polydimethylsiloxane and curing agent mixed at a mass ratio of 15:1, and then the mixture is mixed with permanent magnet material NdFeB (average diameter 5μm) particles at a mass ratio of 1:2. Other magnetic soft composite materials that can be magnetized can also be used, wherein the curing agent can be 184 silicone elastomer curing agent.

[0041] Example 2

[0042] This embodiment provides a method for preparing a biomimetic origami intestinal sampling robot according to Embodiment 1, including the following steps:

[0043] Preparation: Prepare the support 1, each leaflet 2, and each closing flap 3;

[0044] Magnetization: The support 1, each leaflet 2 and each closed flap 3 are magnetized so that the support 1, each leaflet 2 and each closed flap 3 have independent magnetization directions.

[0045] Based on the structure of the biomimetic origami intestinal sampling robot provided in Example 1, the more detailed fabrication steps are as follows:

[0046] Preparation: Polydimethylsiloxane and curing agent were mixed at a mass ratio of 15:1, and then the mixture was mixed with permanent magnet material NdFeB (average diameter 5μm) particles at a mass ratio of 1:2 to form a magnetic soft composite material. The mixing was carried out manually with continuous stirring with a glass rod for 5 minutes, or with a planetary mixer with the revolution speed, rotation speed and stirring duration set to 640 rpm, 0 rpm and 180 s, respectively.

[0047] After mixing, a vacuum dryer is used for a 5-minute degassing process to remove air bubbles.

[0048] Uncured magnetic soft composite material is poured onto a glass plate with a pad and flattened using a scraper. During this flattening process, the ends of the scraper slide along the upper surface of the pad to remove excess composite material. The flattening operation should be repeated multiple times until the surface is smooth. Due to the concave meniscus of the uncured composite material, the final thickness is less than the interval thickness. The film thickness is then determined experimentally using a laser three-dimensional interferometer. The uncured magnetic film is then cured on a hot plate at 65°C for 3 hours. The cured magnetic film is then cut using laser cutting to form support bracket 1, each leaf 2, each connecting bracket 4, and each closing flap 3, with high-quality edges.

[0049] Magnetization: Under a microscope, tweezers are used to peel the cut pattern off from the substrate. Using the existing template-assisted magnetization programming method, the three-dimensional direction of the magnetization curves of the microrobot support 1, each leaf 2, each connecting support 4, and each closing flap 3 are defined. After being held by a clamp, the microrobot is magnetized in a uniform magnetic field of 1.8T, so that the support 1, each leaf 2, each connecting support 4, and each closing flap 3 have independent magnetization directions, which can form a sealed grasping cavity under the action of an external magnetic field.

[0050] Assembly: Using small hand tools (such as tweezers), pick up the magnetized robot modules and embed them into the pre-made molds to complete the positioning and orientation. Assemble the modules together with adhesives (such as liquid non-crosslinked SE, general-purpose glue and optical glue) to form a biomimetic origami intestinal sampling robot.

[0051] Thus, by magnetizing the support bracket 1, each leaf 2, each closing flap 3, and the connecting bracket 4, the support bracket 1, each leaf 2, each closing flap 3, and the connecting bracket 4 have independent magnetization directions, and can independently flip under the action of an external magnetic field, thereby forming a sealed gripping cavity. It is also easy to control the robot through an external magnetic field to achieve precise folding, unfolding, gripping, and other actions.

[0052] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A biomimetic origami intestinal sampling robot, characterized in that: The device includes a support (1) and multiple leaflets (2). The multiple leaflets (2) are distributed around the support (1) in a circumferential direction. One edge of each leaflet (2) is movable relative to the support (1), and the remaining edges of each leaflet (2) are movably provided with closing flaps (3). A connecting bracket (4) is provided between the support (1) and the edge of each leaflet (2) in a circumferential direction. The two ends of each connecting bracket (4) are movable relative to the support (1) and the edge of each leaflet (2), respectively. Each leaflet (2), each closing flap (3), and each connecting bracket (4) are made of magnetic material. Each of the leaflets (2), each of the closing flaps (3), and each of the connecting brackets (4) has an independent magnetization direction and can be independently flipped under the action of an external magnetic field; each of the leaflets (2) can be flipped relative to the support bracket (1) on the same side of the support bracket (1) under the action of an external magnetic field, so that each of the leaflets (2) can approach each other in the circumferential direction of the support bracket (1), so that multiple leaflets (2) can approach and close together in the circumferential direction of the support bracket (1); each of the connecting brackets (4) can be flipped relative to the support bracket (1) on the same side of the support bracket (1) under the action of an external magnetic field, so that the edges of multiple connecting brackets (4) can close together in the circumferential direction of the support bracket (1); and each of the closing flaps (3) can be flipped relative to the leaflets (2) under the action of an external magnetic field, so that adjacent closing flaps (3) between adjacent leaflets (2) can overlap, so that the support bracket (1) and each of the leaflets (2) form a sealed gripping cavity.

2. The biomimetic origami intestinal sampling robot according to claim 1, characterized in that: The support bracket (1) and each of the leaflets (2) are triangular in shape. The connecting bracket (4) and the leaflets (2) are three in number. The three edges of the support bracket (1) can move relative to each other through the three connecting brackets (4) and the three leaflets (2).

3. The biomimetic origami intestinal sampling robot according to claim 1, characterized in that: It also includes a flexible connecting layer (5), which is connected to the support bracket (1), each of the leaflets (2), each of the closing flaps (3) and each of the connecting brackets (4) on the same side.

4. The biomimetic origami intestinal sampling robot according to claim 1, characterized in that: Each of the said petals (2), each of the said closing flaps (3) and each of the said connecting brackets (4) are made of magnetic soft composite material.

5. The biomimetic origami intestinal sampling robot according to claim 1, characterized in that: The support bracket (1) is made of a flexible material.

6. A method for preparing a biomimetic origami intestinal sampling robot as described in any one of claims 1-5, characterized in that: Includes the following steps: Preparation: Prepare the support bracket (1), each leaflet (2) and each of the aforementioned closing flaps (3); Magnetization: The support (1), each of the leaflets (2) and each of the closing flaps (3) are magnetized so that the support (1), each of the leaflets (2) and each of the closing flaps (3) have independent magnetization directions.

7. The preparation method according to claim 6, characterized in that: A connecting bracket (4) is provided between the support bracket (1) and the edge of each of the petals (2) in the circumferential direction; the connecting bracket (4) is made of magnetic material; The preparation process also includes preparing each of the connecting holders (4); The magnetization process also includes magnetizing each of the connecting brackets (4) so ​​that the supporting bracket (1), each of the leaflets (2), each of the connecting brackets (4) and each of the closing flaps (3) have independent magnetization directions.

8. The preparation method according to claim 7, characterized in that: The support bracket (1), each of the leaflets (2), each of the closing flaps (3), and each of the connecting brackets (4) are all connected to a flexible connecting layer (5) on the same side; the method further includes the following steps: Assembly: The magnetized support (1), each of the leaflets (2), each of the connecting supports (4) and each of the closing flaps (3) are connected through the flexible connecting layer (5).

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