A multifunctional integrated micro in-vivo robot

Abstract

The application discloses a multifunctional integrated micro 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 realize a magnetic control grabbing function, a resistance temperature sensor connected to the bottom of the magnetic control robot gripper, a spiral structure coil wound on the surface of the resistance temperature sensor and connected to the resistance temperature sensor through an electrode wire at one end, and a tail conductive wire connected to the resistance temperature sensor at one end and having a free end at the other end. The application can realize the functions of cruising in the human body, directional navigation, continuously monitoring the temperature of the micro environment in the human body, and continuously monitoring the conductive and dielectric properties of the micro environment in the human body.

Description

Technical Field

[0001] This invention belongs to the field of in vivo robotics, and specifically relates to a multifunctional integrated micro in vivo robot. Background Technology

[0002] Miniature in vivo robots are playing an increasingly important role in medical diagnosis and treatment. Information such as biomarker concentrations and temperature significantly increases near diseased tissues, allowing miniature robots to be delivered almost non-invasively to these locations, which is beneficial for disease diagnosis, especially in the early stages. Besides pinpoint detection at target locations, miniature robots can also patrol the human body to promptly detect abnormalities. Furthermore, miniature robots can be used for in-situ disease mapping and continuous monitoring of changes in the microenvironment, which is significant for the development of treatment methods. Their miniature size and fibrous morphology enable miniature robots to perform non-invasive in-situ diagnosis and treatment in narrow and complex areas within the human body, a feat difficult to achieve with existing medical devices. Currently, many technologies enable navigation and targeted drug delivery using miniature in vivo robots. However, integrating miniature robots into a functional system—primarily including in vivo temperature sensing, biomarker concentration monitoring, and monitoring of the conductivity and dielectric properties of the surrounding environment—and requiring wireless passive sensing capabilities for non-invasive information detection, is a challenge that no current technology can meet. Summary of the Invention

[0003] The purpose of this invention is to provide a multifunctional integrated micro-in vivo robot that can perform functions such as cruising, directional navigation, continuous monitoring of the temperature of the microenvironment inside the human body, and continuous monitoring of the electrical conductivity and dielectric properties of the microenvironment inside the human body.

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

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

[0006] The magnetically controlled robotic 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] A spiral coil is wound around the surface of a resistive temperature sensor, with one end connected to the resistive temperature sensor via an electrode wire.

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

[0010] Furthermore, the micro-in vivo robot is fibrous in shape and has a diameter of 500 micrometers to 1.5 millimeters.

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

[0012] Furthermore, the magnetically controlled robot gripper consists of four magnetic sheets.

[0013] Furthermore, the magnetic film is a magnetic polymer sheet, made by doping magnetic materials with elastic polymers; 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 300-1200 micrometers.

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

[0016] Furthermore, the resistive temperature sensor can achieve wireless local temperature sensing within the body through the inductive coupling principle of the spiral coil.

[0017] Furthermore, the spiral coil is either enameled wire or cored conductive wire.

[0018] Furthermore, the tail conductive wire includes four independent conductive strips, one end of each of the four conductive strips is connected to a 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 itself and the spiral coil, and realize wireless sensing function through the inductive coupling principle of the spiral coil.

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

[0021] 1. The miniature in vivo robot of the present invention is a multifunctional integrated robot with the functions of navigation, orientation, temperature and environmental conductivity sensing within human blood vessels.

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

[0023] 3. The micro in vivo robot of the present invention has an overall fiber-like structure, and its structural size can be designed to be 500 micrometers to 1.5 millimeters in diameter. Attached Figure Description

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

[0025] Figure 2 This is a schematic diagram of the structure of the multifunctional integrated micro internal robot of the present invention, in which the magnetic gripper opens under magnetic control;

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

[0027] Figure 4 This is a schematic diagram illustrating the principle of wireless passive sensing achieved by a coil through inductive coupling.

[0028] Figure 5 This is a schematic diagram illustrating how the equivalent resistance and capacitance between electrodes change when the ion concentration or composition of the surrounding solution changes.

[0029] In the diagram, 1-magnetically controlled robot gripper, 2-resistive temperature sensor, 3-spiral coil, 4-tail conductive wire; Detailed Implementation

[0030] The invention will now be further explained with reference to the accompanying drawings.

[0031] like Figure 1 As shown, the present invention discloses a multifunctional integrated micro in vivo robot, comprising a magnetically controlled robotic gripper 1, a resistive temperature sensor 2, a helical coil 3, and a tail conductive wire 4. The micro in vivo robot is fibrous in shape and has a diameter of 500 micrometers to 1.5 millimeters.

[0032] The magnetically controlled robotic gripper is located at the top and can open and close under the control of an external magnetic field to achieve magnetically controlled grasping function, such as... Figure 2 As shown, the magnetically controlled robotic gripper can achieve directional navigation within human blood vessels under the control of an external magnetic field; and can cruise within the human body without magnetic field control.

[0033] The magnetically controlled robot gripper consists of four magnetic sheets. The magnetic sheets are preferably magnetic polymer sheets, made by doping magnetic materials with 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 attached to the bottom of the magnetically controlled robot gripper. The sensor is fibrous in shape, with a diameter ranging from 300 to 1200 micrometers. This fibrous structure is achieved by wet spinning of thermoplastic polyurethane elastomer doped with graphene conductive filler, with its dimensions controlled by the type of wet spinning needle. The resistive temperature sensor utilizes the inductive coupling principle of a helical coil to achieve wireless, localized temperature sensing within the body.

[0035] A spiral coil is wound around the surface of a resistive temperature sensor, with one end connected to the sensor via an electrode wire. Preferably, the spiral coil is made of enameled wire or cored conductive wire.

[0036] The tail conductive wire consists of four independent conductive strips, one end of which is connected to a resistive temperature sensor, while the other end remains free. The tail conductive wire can detect the dielectric and conductive properties of the surrounding solution between itself and the spiral coil, and achieves wireless sensing functionality through the inductive coupling principle of the spiral coil.

[0037] like Figure 3 The diagram shown is a schematic of the electrical connections of the multifunctional integrated micro in vivo robot of this invention. A resistive temperature sensor is connected to one end of a spiral coil via electrode wires. Four tail conductive wires form a circuit with the other end of the spiral coil through the surrounding solution. The resistance of the resistive temperature sensor is denoted as R1, the resistance between the four tail conductive wires and the spiral coil is denoted as R2, and the dielectric capacitance between the four tail conductive wires and the spiral coil is denoted as C1. The equivalent circuit is shown below. Figure 4 As shown.

[0038] like Figure 4 As shown, the principle of wireless passive in vivo sensing is based on the inductive coupling principle of coils. When the temperature and ion concentration of the surrounding environment change at the location reached by the microrobot, R1, R2, and C1 will change accordingly, causing the magnitude of the S11 (return loss) signal and the resonant frequency detected by the external coil to change, thereby realizing wireless passive information detection inside the human body.

[0039] The multifunctional integrated micro in vivo robot of the present invention has the functions of cruising and directional navigation within the human body, continuously monitoring the temperature of the microenvironment within the human body, and continuously monitoring the electrical conductivity and dielectric properties of the microenvironment within the human body.

[0040] Example

[0041] Polydimethylsiloxane (PDMS) was selected as the elastic polymer substrate, doped with neodymium iron boron (NdFeB) magnetic powder, with NdFeB magnetic powder accounting for 10% of the raw material by mass. Four magnetic rectangular flexible sheets were fabricated using a molding technique for assembly into a magnetically controlled robot gripper. The resistive temperature sensor uses thermoplastic polyurethane elastomer (TPU) doped with graphene conductive filler, with graphene conductive filler accounting for 5% of the raw material by mass. A wet spinning process was used, employing a spinning needle with an inner diameter of 500 micrometers to manufacture a 500-micrometer diameter temperature sensing fiber. Four magnetic rectangular flexible sheets were attached to the top of a 510-micrometer diameter TPU / graphene temperature sensing fiber. This temperature sensing fiber, serving as a resistive temperature sensor, has a 0.1 mm diameter enameled wire wound around its surface as a spiral coil. Four 100-micrometer diameter copper conductive wires were connected to the bottom of the temperature sensor to form the tail conductive wire, with its free ends unconstrained.

[0042] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A multifunctional integrated micro in vivo robot, characterized in that: include: A magnetically controlled robotic gripper, located at the top, can open and close under the control of an external magnetic field to achieve magnetically controlled grasping function; the magnetically controlled robotic gripper is composed of four magnetic sheets; A resistive temperature sensor is connected to the bottom of a magnetically controlled robot gripper; the resistive temperature sensor is in the form of fibers with a diameter of 300-1200 micrometers; the fiber form of the resistive temperature sensor is obtained by wet spinning technology using thermoplastic polyurethane elastomer doped with graphene conductive filler. A spiral coil is wound around the surface of a resistive temperature sensor, with one end connected to the resistive temperature sensor via an electrode wire. The tail conductive wire is connected to a resistive temperature sensor at one end and is a free end at the other end. The tail conductive wire includes four independent conductive strips, one end of each of the four conductive strips is connected to a 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 itself and the spiral coil, and realize wireless sensing function through the inductive coupling principle of the spiral coil. The micro-in vivo robot is fibrous in shape and has a diameter of 500 micrometers to 1.5 millimeters.

2. The multifunctional integrated micro in vivo robot according to claim 1, characterized in that: The magnetically controlled robot gripper can achieve directional navigation under the control of an external magnetic field; and can achieve cruising without the control of a magnetic field.

3. The multifunctional integrated micro in vivo robot according to claim 1, characterized in that: The magnetic film is a magnetic polymer sheet, made by doping magnetic materials with elastic polymers; 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, Ecoflex, and elastic silicone rubber.

4. The multifunctional integrated micro in vivo robot according to claim 1, characterized in that: The resistive temperature sensor can achieve wireless local temperature sensing within the body through the inductive coupling principle of a spiral coil.

5. The multifunctional integrated micro in vivo robot according to claim 1, characterized in that: The spiral coil is a type of enameled wire or cored conductive wire.

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