Multifunctional integrated miniature in-vivo robot

Abstract

The invention discloses a multifunctional integrated miniature in-vivo robot which comprises a magnetic control robot gripper located at the top and capable of being opened and closed under the control of an external magnetic field to achieve a magnetic control gripping function; the resistance-type temperature sensor is connected to the bottom of the magnetic control robot gripper; the spiral-structure coil is wound on the surface of the resistance-type temperature sensor, and one end of the spiral-structure coil is connected with the resistance-type temperature sensor through an electrode wire; and one end of the tail conductor wire is connected with the resistance-type temperature sensor, and the other end is a free end. According to the invention, functions of cruising in the human body, directional navigation, continuous monitoring of the temperature of the microenvironment in the human body, and continuous monitoring of the conductive and dielectric properties of the microenvironment in the human body can be realized.

Description

Technical Field

[0001] The invention belongs to the field of in-vivo robots, and in particular relates to a multifunctional integrated micro in-vivo robot. Background Art

[0002] Micro-robots are becoming increasingly important in the field of medical diagnosis and treatment. The concentration of biomarkers and temperature near the diseased tissue are significantly increased. Micro-robots can be delivered to the relevant locations almost non-invasively, which is conducive to disease diagnosis, especially in the early stages. In addition to fixed-point detection of the target location, micro-robots can also patrol the human body to detect abnormalities in time. In addition, micro-robots can be used for in situ disease mapping and continuous monitoring of changes in the microenvironment, which is of great significance for the development of treatment methods. The micro-volume and fiber morphology enable micro-robots to perform non-invasive in situ diagnosis and treatment in narrow and complex areas in the human body, which is difficult to do with existing medical equipment. At present, there are many technologies that can realize the navigation and targeted drug delivery of micro-robots in vivo. However, integrating micro-robots into a functional system mainly includes in vivo environmental temperature sensing, biomarker concentration monitoring, and monitoring of the conductive and dielectric properties of the surrounding environment. In addition, in order to achieve non-invasive information detection, wireless passive sensing functions are required, and no technology can meet this requirement. Summary of the invention

[0003] The purpose of the present invention is to provide a multifunctional integrated micro-in-body robot to realize the functions of cruising in the human body, directional navigation, continuous monitoring of the temperature of the microenvironment in the human body, and continuous monitoring of the conductive and dielectric properties of the microenvironment in the human body.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] A multifunctional integrated micro in vivo robot, comprising:

[0006] The magnetically controlled robot gripper, located at the top, can open and close under the control of an external magnetic field to achieve magnetically controlled grasping function;

[0007] A resistive temperature sensor is connected to the bottom of the magnetically controlled robot gripper;

[0008] The spiral structure coil is wound around the surface of the resistance temperature sensor, and one end of the spiral structure coil is connected to the resistance temperature sensor through an electrode wire;

[0009] One end of the tail conductive wire is connected to the resistive temperature sensor, and the other end is a free end.

[0010] Furthermore, the micro intrabody robot is in the form of a fiber as a whole, with a diameter of 500 micrometers to 1.5 millimeters.

[0011] Furthermore, the magnetically controlled robot gripper can realize a directional navigation function under the control of an external magnetic field, and realize a cruising function without the control of a magnetic field.

[0012] Furthermore, the magnetically controlled robot gripper is composed of four magnetic films.

[0013] Furthermore, the magnetic soft film is a magnetic polymer film, which is made by doping a magnetic material with an elastic polymer; the magnetic material is one or more of iron powder, ferrite magnetic powder, neodymium iron boron magnetic powder, and iron nickel molybdenum magnetic powder, and the elastic polymer material is one or more of polydimethylsiloxane (PDMS), Ecoflex, and elastic silicone rubber.

[0014] Furthermore, the resistive temperature sensor is in the form of a fiber with a diameter of 300 microns to 1200 microns.

[0015] Furthermore, the fiber form of the resistive temperature sensor is obtained by doping thermoplastic polyurethane elastomer with graphene conductive filler through wet spinning technology.

[0016] Furthermore, the resistive temperature sensor can realize a wireless local temperature sensing function in the body through the inductive coupling principle of the spiral structure coil.

[0017] Furthermore, the spiral structure coil is a kind of enameled wire or core-wrapped conductive wire.

[0018] Furthermore, the tail conductive line includes four independent conductive strips, one end of each of the four conductive strips is connected to the resistive temperature sensor, and the other end is a free end.

[0019] Furthermore, the tail conductive wire can detect the dielectric and conductive properties of the environmental solution between the tail conductive wire and the spiral structure coil, and realize the wireless sensing function through the inductive coupling principle of the spiral structure coil.

[0020] Beneficial effects: Compared with the existing technology, it has the following advantages:

[0021] 1. The micro in-vivo robot of the present invention is multifunctional and has the functions of cruising, directional navigation, and temperature and environmental conductive dielectric sensing within human blood vessels.

[0022] 2. The micro in vivo robot of the present invention can realize wireless passive sensing in the body through the inductive coupling principle of the coil.

[0023] 3. The overall structure of the micro-intrabody robot of the present invention is in the form of fibers, and the structural dimensions can be designed to be 500 microns to 1.5 millimeters in diameter. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1This is a schematic diagram of the structure of the multifunctional integrated micro-in vivo robot of the present invention;

[0025] Figure 2 It is a schematic diagram of the structure of the multifunctional integrated micro-in-vivo robot of the present invention under magnetic control, with the magnetic gripper opened;

[0026] Figure 3 This is a schematic diagram of electrical connections of the multifunctional integrated micro-in vivo robot of the present invention;

[0027] Figure 4 It is the schematic diagram of wireless passive sensing realized by coil through inductive coupling principle;

[0028] Figure 5 It is a schematic diagram showing that when the ion concentration or composition of the surrounding solution changes, the equivalent resistance and capacitance between electrodes will also change accordingly;

[0029] In the figure, 1-magnetic control robot gripper, 2-resistance temperature sensor, 3-helical structure coil, 4-tail conductive wire; DETAILED DESCRIPTION

[0030] The present invention will be further explained below in conjunction with the accompanying drawings.

[0031] like Figure 1 As shown, a multifunctional integrated micro-intracorporeal robot of the present invention comprises a magnetic control robot gripper 1, a resistive temperature sensor 2, a spiral structure coil 3, and a tail conductive wire 4. The micro-intracorporeal robot is in the form of a fiber as a whole, with a diameter of 500 microns to 1.5 mm.

[0032] The magnetically controlled robot gripper is located at the top and can be opened and closed under the control of an external magnetic field to realize the magnetically controlled grasping function, such as Figure 2 As shown in the figure, the magnetically controlled robot gripper can realize the directional navigation function in human blood vessels under the control of an external magnetic field; and can realize the cruising function in the human body without magnetic field control.

[0033] The magnetic control robot gripper is composed of four magnetic soft sheets. The magnetic soft sheets are preferably magnetic polymer sheets, which are made by mixing magnetic materials and elastic polymers; the magnetic materials are one or more of iron powder, ferrite magnetic powder, neodymium iron boron magnetic powder, and iron nickel molybdenum magnetic powder, and the elastic polymer materials are one or more of polydimethylsiloxane (PDMS), Ecoflex, and elastic silicone rubber.

[0034] The resistive temperature sensor is connected to the bottom of the magnetic control robot gripper. The resistive temperature sensor is in the form of a fiber with a diameter of 300 microns to 1200 microns. The fiber is obtained by wet spinning technology by doping thermoplastic polyurethane elastomer with graphene conductive filler, and its specific size is controlled by the wet spinning needle model. The resistive temperature sensor can realize the wireless local temperature sensing function in the body through the inductive coupling principle of the spiral structure coil.

[0035] The spiral structure coil is wound around the surface of the resistance temperature sensor, and one end of the spiral structure coil is connected to the resistance temperature sensor through an electrode wire. Preferably, the spiral structure coil is a kind of enameled wire or core-wrapped conductive wire.

[0036] The tail conductive wire includes 4 independent conductive strips, one end of each of the 4 conductive strips is connected to the resistive temperature sensor, and the other end is a free end. The tail conductive wire can detect the dielectric and conductive properties of the environmental solution between the spiral structure coil and realize the wireless sensing function through the inductive coupling principle of the spiral structure coil.

[0037] like Figure 3 The figure shows the electrical connection schematic diagram of the multifunctional integrated micro-in-vivo robot of the present invention. The resistive temperature sensor is connected to one end of the spiral structure coil through the electrode wire, and the four tail conductive wires form a path with the other end of the spiral structure coil through the surrounding solution. The resistance of the resistive temperature sensor is recorded as R1, the resistance between the four tail conductive wires and the spiral structure coil is recorded as R2, and the dielectric capacitance between the four tail conductive wires and the spiral structure coil is recorded as C1. The equivalent circuit formed is as follows: Figure 4 shown.

[0038] like Figure 4 As shown, the principle of wireless passive in-body sensing is based on the inductive coupling principle of the coil. When the temperature of the location where the micro-robot arrives and the ion solubility of the surrounding environment change, R1, R2, and C1 will change accordingly, causing the size of the S11 (return loss) signal detected from the external coil and the resonant frequency to change, thereby realizing wireless passive information detection in the human body.

[0039] The multifunctional integrated micro in-vivo robot of the present invention has the functions of cruising in the human body, directionally navigating, continuously monitoring the temperature of the microenvironment in the human body, and continuously monitoring the conductive and dielectric properties of the microenvironment in the human body.

[0040] Example

[0041] Polydimethylsiloxane (PDMS) was selected as an elastic polymer substrate and doped with NdFeB magnetic powder, wherein the mass ratio of NdFeB magnetic powder in the raw material was 10%. Four magnetic rectangular soft films were prepared by mold forming technology and used to assemble into a magnetic control robot gripper. The resistive temperature sensor used thermoplastic polyurethane elastomer (TPU) doped with graphene conductive filler, wherein the mass ratio of graphene conductive filler in the raw material was 5%, and a spinning needle model with an inner diameter of 500 microns was selected through a wet spinning process to manufacture a temperature sensing fiber with a diameter of 500 microns. Four magnetic rectangular soft films were connected to the top of the TPU / graphene temperature sensing fiber with a diameter of 510 microns. The temperature sensing fiber was used as a resistive temperature sensor, and a layer of enameled wire with a diameter of 0.1 mm was wound on its surface as a spiral structure coil. Four copper conductive wires with a diameter of 100 microns were connected to the bottom of the temperature sensor to form a tail conductive wire, and its free end was not constrained.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A multifunctional integrated micro in vivo robot, characterized in that: include: The magnetically controlled robot gripper, located at the top, can open and close under the control of an external magnetic field to achieve magnetically controlled grasping function; A resistive temperature sensor is connected to the bottom of the magnetically controlled robot gripper; The spiral coil is wound around the surface of the resistance temperature sensor, and one end of the spiral coil is connected to the resistance temperature sensor through an electrode wire; One end of the tail conductive wire is connected to the resistive temperature sensor, and the other end is a free end.

2. A multifunctional integrated micro-in-vivo robot according to claim 1, characterized in that: The micro-intrabody robot is in the form of a fiber as a whole, and has a diameter of 500 micrometers to 1.5 millimeters.

3. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The magnetically controlled robot gripper can realize a directional navigation function under the control of an external magnetic field, and can realize a cruising function without the control of a magnetic field.

4. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The magnetic control robot gripper is composed of four magnetic soft sheets.

5. The multifunctional integrated micro-intrabody robot according to claim 4, characterized in that: The magnetic soft film is a magnetic polymer film, which is made by mixing magnetic material and elastic polymer; the magnetic material is one or more of iron powder, ferrite magnetic powder, neodymium iron boron magnetic powder, iron nickel molybdenum magnetic powder, and the elastic polymer material is one or more of polydimethylsiloxane, Ecoflex, and elastic silicone rubber.

6. The multifunctional integrated micro-intrabody robot according to claim 5, characterized in that: The fiber form of the resistive temperature sensor is obtained by doping thermoplastic polyurethane elastomer with graphene conductive filler through wet spinning technology.

7. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The resistive temperature sensor can realize the wireless local temperature sensing function in the body through the inductive coupling principle of the spiral structure coil.

8. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The spiral structure coil is a kind of enameled wire or core-wrapped conductive wire.

9. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The tail conductive line includes four independent conductive strips, one end of each of the four conductive strips is connected to the resistance temperature sensor, and the other ends are free ends.

10. The multifunctional integrated micro-intrabody robot according to claim 1, characterized in that: The tail conductive wire can detect the dielectric and conductive properties of the environmental solution between the tail conductive wire and the spiral structure coil, and realize the wireless sensing function through the inductive coupling principle of the spiral structure coil.

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