Organ-like robot control method and system, computer program product and readable medium

Abstract

The invention provides an organoid robot control method and system, a computer program product and a readable medium, relates to the field of organoid micro-robot driving, and aims to solve the problems of rapidness and flexibility of a flexible continuum organoid robot in motion form control. Magnetic particles and micro bubbles are used as a head end executor and a tail end executor respectively; monitoring current pose data of the organ-like robot and obstacle boundary data in real time; obstacle avoidance and path planning are carried out according to the set target position, the current pose data and the obstacle boundary data, a magnetic signal and an ultrasonic signal with multiple superposed magnetic fields are generated, and the magnetic signal and the ultrasonic signal control the poses of the head end actuator and the tail end actuator respectively. Therefore, the organ-like robot is controlled to move to the target position. The method is mainly used for driving and controlling the organ-like robot.

Description

Technical Field

[0001] The present invention relates to the field of organoid microrobot driving, and in particular to an organoid robot control method, system, computer program product and readable medium. Background Art

[0002] In terms of the propulsion mechanism of organoid microrobots, existing research mainly focuses on methods that use physical fields such as acoustic fields, magnetic fields or light fields for driving. Although these technologies can achieve remote control of microrobots to a certain extent, they each have their own limitations. For example, acoustic and magnetic field driving requires a specific working environment, while light field driving may damage biological tissues due to thermal effects. In the tumor microenvironment, organoid robots need to finely control the motion path and posture to achieve efficient obstacle avoidance and stable motion to ensure effective drug transportation and targeted release. Existing technologies are difficult to meet the needs of such high-precision control, and multimodal driving faces the challenges of collaborative work and mutual interference between subsystems. The requirements for rapidity and flexibility of flexible continuum organoid robots in motion morphology control are still unmet, and their performance in achieving micron-level precision and multi-degree-of-freedom drug delivery is poor and still needs to be improved. Summary of the invention

[0003] The purpose of the present invention is to solve the problems of rapidity and flexibility in the motion morphology control of a flexible continuum organoid robot. Based on this, the present invention provides an organoid robot control method, system, computer program product and readable medium.

[0004] A method for manipulating an organoid robot, the method comprising:

[0005] Sending an injection signal to inject magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, respectively, and obtaining an organoid robot; wherein the magnetic particles and microbubbles serve as the first and last effectors of the organoid robot, respectively; and the microbubbles are submicron-level bubbles;

[0006] Set target location;

[0007] Monitoring current posture data of the organoid robot;

[0008] monitoring obstacle boundary data of the organoid robot;

[0009] The path of the organoid robot is planned according to the set target position and obstacle boundary data, and a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed are generated in combination with the current posture data of the organoid robot. The magnetic signal and the ultrasonic signal respectively control the posture of the head and end effectors, thereby controlling the organoid robot to move to the target position.

[0010] Preferably, the specific process of planning the path of the organoid robot is:

[0011] The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position;

[0012] The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined;

[0013] Construct a multi-modal motion loss function and introduce slack variables into it to obtain the loss function with increased redundancy.

[0014] Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

[0015] Preferably, the implementation method of constructing the multi-mode motion loss function is:

[0016] The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

[0017] Preferably, the implementation method of generating a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed includes:

[0018] Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning;

[0019] Corresponding magnetic force signals and ultrasonic signals with multiple magnetic fields superimposed are generated according to the electromagnetic instructions and the ultrasonic instructions.

[0020] Preferably, the intelligent obstacle avoidance algorithm is implemented using an IL-CBFs algorithm based on an integral local control obstacle function.

[0021] Preferably, the magnetic particles have at least one of a chemical plating layer, a functional coating layer and a nanolayer.

[0022] An organoid robot control system includes a host computer, an ultrasonic phased array, a multi-magnetic field fusion electromagnetic generating device, a micromanipulation actuator and a sensor monitoring device;

[0023] The host computer is used to send an injection signal to the micromanipulation actuator to inject magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, respectively, and obtain an organoid robot; wherein the magnetic particles and microbubbles serve as the first and last actuators of the organoid robot, respectively; and the microbubbles are submicron-level bubbles;

[0024] The sensor monitoring device is used to monitor the current posture data and obstacle boundary data of the organoid robot and send them to the host computer;

[0025] The host computer is also used to plan the path of the organoid robot according to the set target position and obstacle boundary data, and control the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array to generate magnetic signals and ultrasonic signals of multi-magnetic field superposition respectively in combination with the current posture data of the organoid robot. The magnetic signals and ultrasonic signals respectively control the postures of the head and end effectors, thereby controlling the organoid robot to move to the target position.

[0026] Preferably, the specific process of planning the path of the organoid robot is:

[0027] The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position;

[0028] The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined;

[0029] Construct a multi-modal motion loss function and introduce slack variables into it to obtain the loss function with increased redundancy.

[0030] Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

[0031] Preferably, the implementation method of constructing the multi-mode motion loss function is:

[0032] The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

[0033] Preferably, the implementation method of generating a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed includes:

[0034] Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning;

[0035] According to the electromagnetic instructions and the ultrasonic instructions, the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array are respectively controlled to generate corresponding multi-magnetic field superimposed magnetic force signals and ultrasonic signals.

[0036] Preferably, the intelligent obstacle avoidance algorithm is implemented using an IL-CBFs algorithm based on an integral local control obstacle function.

[0037] Preferably, the magnetic particles have at least one of a chemical plating layer, a functional coating layer and a nanolayer.

[0038] A computer program product comprises a computer program, wherein when the computer program is executed, the organoid robotic manipulation method is implemented.

[0039] A computer-readable medium stores a program code executable by a processor, wherein when the program code is executed by the processor, the processor executes the organoid robot manipulation method.

[0040] Advantages of the present invention:

[0041] The present invention designs a method and system for controlling an organoid robot. First, a prototype model of the organoid robot is designed. Secondly, the magnetic field controls the front end of the organoid robot, and the ultrasonic field controls the rear end of the organoid robot. The combination of the two magnetic / ultrasonic driving modes can well meet the requirements of rapidity and flexibility of the flexible continuum organoid robot in morphological control, and realizes the flexible and efficient movement of the organoid robot in a complex microenvironment. In addition, the path planning and obstacle avoidance methods are adopted to realize the precise posture adjustment and efficient obstacle avoidance of the organoid robot in a complex microenvironment, which creates the possibility for the research on the flexible obstacle avoidance and efficient drug delivery of the organoid robot in the complex microenvironment of the in vitro experimental platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the structure of the organoid robot;

[0043] Figure 2 This is a schematic diagram of the principle of the organoid robot manipulation system;

[0044] Figure 3 It is a schematic diagram of the principle of obtaining the optimal path;

[0045] In the drawings, reference numeral 1 represents an organoid, reference numeral 2 represents a magnetic particle, reference numeral 3 represents a microbubble, and reference numeral 4 represents a targeted drug. DETAILED DESCRIPTION

[0046] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0048] With the rapid development of nanotechnology and biomedical engineering, microrobots have attracted extensive attention in the field of oncology as new tools for drug delivery and local treatment. Microrobots refer to autonomous or semi-autonomous robots with very small sizes, usually in the millimeter level or even in the micrometer level. Microrobots combine advanced technologies in multiple fields such as micro-electromechanical systems (MEMS) technology, nanotechnology, materials science, and control theory, and can perform specific tasks in a very small space. Microrobots are mainly divided into three categories: biological drive, chemical / physical drive, and hybrid. Biologically driven microrobots, such as systems constructed using living cells or bacteria, have high biocompatibility after genetic engineering, but there are potential biotoxicity issues. Chemical / physical drive microrobots rely on chemical reactions or external physical fields (such as electromagnetic waves, ultrasound) to provide power, and have certain limitations in navigation accuracy, running time, penetration depth, and drug loading. In contrast, hybrid microrobots combine the advantages of biological and chemical / physical drives, have better adaptability and therapeutic effects, and are especially suitable for complex in vivo environments, but still need to solve clinical application problems such as biocompatibility, safety, and stability.

[0049] Considering that tumors from different patients have different biological characteristics, the so-called tumor heterogeneity, it is particularly important to develop personalized treatment plans. In recent years, the development of organoid technology has provided a new approach for such personalized treatment. Organoids refer to cell clusters with stem cells, such as adult stem cells and reverse-differentiated stem cells, that contain more than one cell type and exhibit certain physiological characteristics of the source organ. They can simulate the cell type and structure of the primary organ. Because organoids are derived from individual patients, they retain the genetic characteristics of that individual, greatly reducing the risk of rejection in the body, and become ideal carriers for tumor-targeted drug delivery.

[0050] Therefore, the present invention constructs a flexible continuum organoid robot, which is a hybrid micro-robot. The carrier is an organoid, which is a biological body, and the driving mode is an external physical field drive; the organoid at the head end of the constructed flexible continuum organoid robot is injected with magnetic particles to construct a head-end actuator driven by a magnetic signal, and the end organoid is injected with microbubbles that enhance acoustic sensitivity to construct an end actuator driven by an ultrasonic signal. The structural design of double-end control is suitable for multi-mode posture and motion control, which creates the possibility for the organoid robot to achieve flexible obstacle avoidance and efficient drug delivery in the complex microenvironment of the in vitro experimental platform. The in vitro experimental platform refers to a complex environment that simulates the body under laboratory conditions in order to study the behavior of cells, tissues or micro-robots. This environment usually contains a variety of physical (physical obstacles), chemical (chemical concentration, pH value) and other factors, aiming to reflect the conditions in the body as realistically as possible, and provide an intermediate link experimental data basis for the application of the final organoid robot to the problem of curing tumors in living bodies. Therefore, the following implementation methods are provided, specifically:

[0051] Specific implementation method 1. Combination Figure 1 and Figure 2 This embodiment describes an organoid robot control method, which includes:

[0052] Sending an injection signal, injecting magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, respectively, and obtaining an organoid robot; wherein the magnetic particles and microbubbles serve as the first and last effectors of the organoid robot, respectively; the intermediate organoid between the first and last organoids is used to carry targeted drugs; and the microbubbles are submicron-level bubbles;

[0053] Set target location;

[0054] Monitoring current posture data of the organoid robot;

[0055] monitoring obstacle boundary data of the organoid robot;

[0056] The path of the organoid robot is planned according to the set target position and obstacle boundary data, and a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed are generated in combination with the current posture data of the organoid robot. The magnetic signal and the ultrasonic signal respectively control the posture of the head and end effectors, thereby controlling the organoid robot to move to the target position.

[0057] In this embodiment, multi-mode posture and motion control is performed. Multi-mode posture and motion control refers to the magnetic field and the sound field forming a multi-physical field to drive the organoid robot. The two cooperate to control the movement and posture of the organoid robot. The magnetic field controls the head end of the organoid robot, and the ultrasonic field controls the tail end of the organoid robot. The combination of magnetic / ultrasonic driving modes can well meet the requirements of rapidity and flexibility in morphological control of the flexible continuum organoid robot, and provide technical support for achieving micron-level precision and multi-degree-of-freedom drug delivery.

[0058] Specific effect analysis:

[0059] Biocompatibility: Among the existing microrobots for targeted therapy, those that use bacteria as drug carriers face potential toxicity risks, while the drug carriers of organoid robots come from the patient himself, with higher biocompatibility and lower risk of immune response.

[0060] Load capacity: Existing microrobots have limited drug-carrying capacity, while organoid robots use microinjection technology to encapsulate a large amount of drugs inside a single organoid, and multiple drug-loaded organoids are spliced ​​into a chain structure, which significantly improves the drug loading capacity.

[0061] Driving mode: The multi-mode physical field driving of the present invention can combine their respective advantages and collaboratively achieve posture adjustment and motion control.

[0062] Obstacle avoidance capability: Utilizing magnetic-acoustic collaborative controllers at both ends and advanced control algorithms, more complex and flexible obstacle avoidance postures can be achieved.

[0063] In specific applications, the structural layout of the magnetic-acoustic hybrid physical field generating device is designed according to the structural and functional characteristics of the magnetic field and acoustic field generating device, so that it meets the requirements of the theoretical system of organoid robot driving, does not interfere with each other and gives full play to the advantages of each subsystem.

[0064] See also Figure 3 , the specific process of planning the path of the organoid robot is:

[0065] The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position;

[0066] The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined;

[0067] Construct a multi-modal motion loss function and introduce slack variables into it to obtain the loss function with increased redundancy.

[0068] Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

[0069] Specifically, the implementation method of constructing the multi-modal motion loss function is as follows:

[0070] The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

[0071] Specifically, the implementation method of generating a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed includes:

[0072] Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning;

[0073] Corresponding magnetic force signals and ultrasonic signals with multiple magnetic fields superimposed are generated according to the electromagnetic instructions and the ultrasonic instructions.

[0074] In this preferred embodiment, the obstacle avoidance loss function can reflect the specific boundaries of the obstacle. When the position of the organoid robot can satisfy the constraint of the obstacle function during its operation, it can be considered that it will not collide with the obstacle in the current state, that is, it can pass normally. In specific applications, when the organoid robot moves toward the target, if some organoid cell clusters have passed the obstacle but the tail organoid cell cluster cannot successfully pass, the robot's posture (especially the tail posture) can be changed by ultrasonic control, and the path can be replanned so that its movement can satisfy the obstacle avoidance loss function, satisfy the path constraint, and not collide with the obstacle. Slack variables are added to obtain the loss function after adding redundancy, allowing the path to deviate to a certain extent so as to bypass obstacles more flexibly.

[0075] By comprehensively considering various requirements and indicators in the multi-mode motion loss function, accurate posture adjustment and obstacle avoidance are finally achieved. Through the intelligent obstacle avoidance algorithm, obstacles can be avoided; through the path optimization algorithm, a path with better comprehensive performance can be obtained without encountering obstacles.

[0076] Furthermore, the magnetic particles have at least one of chemical plating, functional coating and nanolayer; specifically, by chemically plating the surface of the magnetic particles, specifically: using chemical deposition or electrodeposition methods to cover a layer of metal, such as gold, silver, etc., on the surface of the magnetic particles, enhancing the functional coating of magnetism and conductivity, specifically: grafting functional molecules, such as polymers, antibodies, etc., on the surface of the magnetic particles through chemical reactions to improve stability and selectivity in the environment, nano surface modification, specifically, coating the surface of the magnetic particles with a layer of nanomagnetic material, such as cobalt, etc., to further improve the magnetic responsiveness, the above chemical plating, functional coating or nanolayer can significantly enhance its response to the magnetic field.

[0077] Furthermore, the intelligent obstacle avoidance algorithm is implemented using the IL-CBFs algorithm based on the integral local control obstacle function.

[0078] In this preferred embodiment, the IL-CBFs algorithm based on the integral local control obstacle function contains an integral term. When certain conditions are met, the robot is considered to be in a safe area. When the function is calculated to meet the constraint conditions, a safety set corresponding to the safe area is generated.

[0079] Specific implementation method II, see Figure 1 and Figure 2 The present embodiment is described. The organoid robot manipulation system described in the present embodiment includes a host computer, an ultrasonic phased array, a multi-magnetic field fusion electromagnetic generating device, a micromanipulation actuator and a sensor monitoring device;

[0080] The host computer is used to send an injection signal to the micromanipulation actuator, and respectively inject magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, and obtain an organoid robot; wherein the magnetic particles and microbubbles are respectively used as the first and last effectors of the organoid robot; the intermediate organoid between the first and last organoids is used to carry targeted drugs; and the microbubbles are submicron-level bubbles;

[0081] The sensor monitoring device is used to monitor the current posture data and obstacle boundary data of the organoid robot and send them to the host computer;

[0082] The host computer is also used to plan the path of the organoid robot according to the set target position and obstacle boundary data, and control the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array to generate magnetic signals and ultrasonic signals of multi-magnetic field superposition respectively in combination with the current posture data of the organoid robot. The magnetic signals and ultrasonic signals respectively control the postures of the head and end effectors, thereby controlling the organoid robot to move to the target position.

[0083] Figure 2 The specific structure of the organoid robot control system is given in the document. In this embodiment, multi-mode posture and motion control is performed. Multi-mode posture and motion control refers to the magnetic field and the sound field forming a multi-physical field to drive the organoid robot. The two jointly control the movement and posture of the organoid robot. The magnetic field controls the head end of the organoid robot, and the ultrasonic field controls the tail end of the organoid robot. The combination of magnetic / ultrasonic driving modes can well meet the requirements of rapidity and flexibility of the flexible continuum organoid robot in morphological control, and provide technical support for achieving micron-level precision and multi-degree-of-freedom drug delivery.

[0084] There are relatively few studies on organoid microrobots, but their potential in personalized and precision medicine cannot be ignored. The manufacture of organoid microrobots usually includes the cultivation, assembly and implantation of functionalized modules of organoids. Traditionally, this process mainly relies on manual operations, resulting in unstable product quality and lack of uniform standards. Micromanipulation technology can achieve precise control of tiny biological objects, while high-precision micromanipulators can perform subtle operations without destroying biological samples. These technological advances are expected to improve the consistency and reliability of organoid microrobot manufacturing.

[0085] See also Figure 3 , the specific process of planning the path of the organoid robot is:

[0086] Intelligent obstacle avoidance algorithm and path optimization algorithm are embedded in the host computer;

[0087] The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position;

[0088] The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined;

[0089] Construct a multi-modal motion loss function and introduce slack variables into it to obtain a loss function with increased redundancy;

[0090] Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

[0091] Specifically, the implementation method of constructing the multi-modal motion loss function is as follows:

[0092] The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

[0093] Specifically, the implementation method of generating a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed includes:

[0094] Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning;

[0095] According to the electromagnetic instructions and the ultrasonic instructions, the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array are respectively controlled to generate corresponding multi-magnetic field superimposed magnetic force signals and ultrasonic signals.

[0096] In this preferred embodiment, the obstacle avoidance loss function can reflect the specific boundaries of the obstacle. When the position of the organoid robot can satisfy the constraint of the obstacle function during its operation, it can be considered that it will not collide with the obstacle in the current state, that is, it can pass normally. In specific applications, when the organoid robot moves toward the target, if some organoid cell clusters have passed the obstacle but the tail organoid cell cluster cannot successfully pass, the robot's posture (especially the tail posture) can be changed by ultrasonic control, and the path can be replanned so that its movement can satisfy the obstacle avoidance loss function, satisfy the path constraint, and not collide with the obstacle. Slack variables are added to obtain the loss function after adding redundancy, allowing the path to deviate to a certain extent so as to bypass obstacles more flexibly.

[0097] By comprehensively considering various requirements and indicators in the multi-mode motion loss function, accurate posture adjustment and obstacle avoidance are finally achieved. Through the intelligent obstacle avoidance algorithm, obstacles can be avoided; through the path optimization algorithm, a path with better comprehensive performance can be obtained without encountering obstacles.

[0098] Furthermore, the intelligent obstacle avoidance algorithm is implemented using the IL-CBFs algorithm based on the integral local control obstacle function.

[0099] In this preferred embodiment, the IL-CBFs algorithm based on the integral local control obstacle function contains an integral term. When certain conditions are met, the robot is considered to be in a safe area. When the function is calculated to meet the constraint conditions, a safety set corresponding to the safe area is generated.

[0100] Furthermore, the magnetic particles have at least one of chemical plating, functional coating and nanolayer; specifically, by chemically plating the surface of the magnetic particles, specifically: using chemical deposition or electrodeposition methods to cover a layer of metal, such as gold, silver, etc., on the surface of the magnetic particles, enhancing the functional coating of magnetism and conductivity, specifically: grafting functional molecules, such as polymers, antibodies, etc., on the surface of the magnetic particles through chemical reactions to improve stability and selectivity in the environment, nano surface modification, specifically, coating the surface of the magnetic particles with a layer of nanomagnetic material, such as cobalt, etc., to further improve the magnetic responsiveness, the above chemical plating, functional coating or nanolayer can significantly enhance its response to the magnetic field.

[0101] Specific embodiment three: a computer program product, comprising a computer program, which, when executed, implements an organoid robot manipulation method as described in specific embodiment one.

[0102] Specific embodiment 4. A computer-readable medium storing a program code executable by a processor, wherein when the program code is executed by the processor, the processor executes an organoid robot manipulation method described in specific embodiment 1.

[0103] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A method for manipulating an organoid robot, characterized in that: The control method comprises: Sending an injection signal to inject magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, respectively, and obtaining an organoid robot; wherein the magnetic particles and microbubbles serve as the first and last effectors of the organoid robot, respectively; and the microbubbles are submicron-level bubbles; Set target location; Monitoring current posture data of the organoid robot; monitoring obstacle boundary data of the organoid robot; The path of the organoid robot is planned according to the set target position and obstacle boundary data, and a magnetic signal and an ultrasonic signal with multiple magnetic fields superimposed are generated in combination with the current posture data of the organoid robot. The magnetic signal and the ultrasonic signal respectively control the posture of the head and end effectors, thereby controlling the organoid robot to move to the target position.

2. The organoid robot manipulation method according to claim 1, characterized in that: The specific process of planning the path of the organoid robot is as follows: The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position; The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined; Construct a multi-modal motion loss function and introduce slack variables into it to obtain a loss function with increased redundancy; Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

3. The organoid robot manipulation method according to claim 2, characterized in that: The implementation method of constructing the multi-modal motion loss function is: The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

4. The organoid robot manipulation method according to claim 1, characterized in that: The implementation methods of generating magnetic signals and ultrasonic signals with multiple magnetic field superposition include: Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning; Corresponding magnetic force signals and ultrasonic signals with multiple magnetic fields superimposed are generated according to the electromagnetic instructions and the ultrasonic instructions.

5. The organoid robot manipulation method according to claim 2, characterized in that: The intelligent obstacle avoidance algorithm is implemented using the IL-CBFs algorithm based on the integral local control obstacle function.

6. The organoid robot manipulation method according to claim 1, characterized in that: The magnetic particles have at least one of a chemical plating layer, a functional coating layer and a nanolayer.

7. An organoid robot manipulation system, characterized in that: It includes a host computer, an ultrasonic phased array, a multi-magnetic field fusion electromagnetic generating device, a micro-manipulation actuator and a sensor monitoring device; The host computer is used to send an injection signal to the micromanipulation actuator to inject magnetic particles and microbubbles into the first and last organoids of the organoid chain structure, respectively, and obtain an organoid robot; wherein the magnetic particles and microbubbles serve as the first and last actuators of the organoid robot, respectively; and the microbubbles are submicron-level bubbles; The sensor monitoring device is used to monitor the current posture data and obstacle boundary data of the organoid robot and send them to the host computer; The host computer is also used to plan the path of the organoid robot according to the set target position and obstacle boundary data, and control the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array to generate magnetic signals and ultrasonic signals of multi-magnetic field superposition respectively in combination with the current posture data of the organoid robot. The magnetic signals and ultrasonic signals respectively control the postures of the head and end effectors, thereby controlling the organoid robot to move to the target position.

8. The organoid robot manipulation system according to claim 7, characterized in that: The specific process of planning the path of the organoid robot is as follows: The intelligent obstacle avoidance algorithm updates its obstacle avoidance loss function according to the obstacle boundary data and the set target position; The obstacle avoidance loss function is used as the path constraint of the path optimization algorithm, and the speed / acceleration constraint and the start / end point constraint are defined; Construct a multi-modal motion loss function and introduce slack variables into it to obtain a loss function with increased redundancy; Combine all constraints to solve the loss function after adding redundancy and obtain the optimal path.

9. The organoid robot manipulation system according to claim 8, characterized in that: The implementation method of constructing the multi-modal motion loss function is: The energy consumption, tracking error, path smoothness and various obstacle constraints of the organoid robot during movement are summarized to form a multi-modal motion loss function.

10. The organoid robot manipulation system according to claim 7, characterized in that: The implementation methods of generating magnetic signals and ultrasonic signals with multiple magnetic field superposition include: Generate electromagnetic instructions and ultrasonic instructions according to the current posture data of the organoid robot and the deviation between the posture of the target node at the next moment on the optimal path obtained after path planning; According to the electromagnetic instructions and the ultrasonic instructions, the multi-magnetic field fusion electromagnetic generating device and the ultrasonic phased array are respectively controlled to generate corresponding multi-magnetic field superimposed magnetic force signals and ultrasonic signals.

11. A computer program product, comprising a computer program, characterized in that When the computer program is executed, an organoid robot manipulation method as described in any one of claims 1 to 6 is implemented.

12. A computer-readable medium, characterized in that The computer-readable medium stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the organoid robot manipulation method as described in any one of claims 1 to 6.

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