Magnetic continuum robot

Abstract

The invention provides a magnetic continuum robot, and belongs to the technical field of continuum robots, and the magnetic continuum robot is divided into a magnetic medium embedded type magnetic continuum robot and a magnetic medium externally embedded type magnetic continuum robot based on the installation position of a magnetic medium. Preferably, the magnetic medium externally-embedded magnetic continuum robot is divided into a special-shaped magnetic medium magnetic continuum robot, a cylindrical magnetic medium magnetic continuum robot, a staggered grid magnetic continuum robot and a foldable magnetic continuum robot based on a magnetic medium form; the magnetic medium embedded magnetic continuum robot is divided into a spherical magnetic medium magnetic continuum robot and a micro-nano magnetic medium magnetic continuum robot based on a magnetic medium form. Various magnetic continuum robot structures are provided, diversified magnetic continuum robot design is achieved, and adaptability and function expansion capacity of the robot in different application scenes are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of continuum robots, in particular to a magnetic continuum robot. Background Art

[0002] Continuum robots have been widely used in fields such as medical and industrial inspection. However, there are still some inherent deficiencies in their design and application, which limit their further development in fields such as minimally invasive surgery and precision operation. Traditional tendon-driven and rod-driven continuum robots face many challenges in miniaturization: tendon drive relies on complex cable arrangements, which increases the size and complexity of the system, and traditional tendon-driven and rod-driven continuum robots rely on bulky motor-driven bases, resulting in a large overall system size, poor flexibility, and difficulty in adapting to complex and changing operating environments; at the actuator end, the tendons and drive rods require sufficient space for arrangement, so that the actuator diameter usually needs to be greater than 3 mm. This size limitation makes it difficult for the robot to be used in minimally invasive surgeries that require ultra-small size, and rod drive is difficult to provide sufficient driving force and motion accuracy when the size is reduced.

[0003] As an emerging type of continuum robot, the magnetic continuum robot has attracted widespread attention due to its unique way of relying on external magnetic field drive. It abandons the traditional motor drive and no longer requires bulky base equipment. At the execution end, there is no restriction of tendons or rods, making the robot's actuator easier to miniaturize, even to sub-millimeter size. This gives it broad application prospects in medical scenarios such as cardiovascular embolism and microcatheter intervention. In addition, the magnetic drive method also has the advantages of non-contact and remote control, and can achieve high-precision operations in closed or complex environments.

[0004] However, the magnetic continuum robot is currently in the academic research stage, and its basic theory and structure have many shortcomings. In terms of structure, in domestic and foreign research, the common design method is to directly arrange the end or segmented magnets on the circular cross-section elastic rod, or to mix the magnetic medium with silica gel or hydrogel for magnetization. These methods have limitations in structural design. For example, the current magnetic continuum robots mostly use the direct arrangement of the end or segmented magnets on the elastic rod, lack of optimization of the magnet layout, resulting in the failure to fully utilize the magnetic properties, affecting the accuracy and response speed of the robot control; the combination of magnetic materials and base materials is single, and the structural strength cannot be improved while meeting the mechanical flexibility. The durability and controllability of the robot in complex environments are insufficient, which limits its reliability in practical applications. Summary of the invention

[0005] In order to solve the problems of large size and inflexibility of traditional continuum robots and single structure of existing magnetic continuum robots, the present invention provides a magnetic continuum robot, realizes diversified magnetic continuum robot design, and meets different application requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions: The present invention proposes a magnetic continuum robot, which is divided into a magnetic medium embedded magnetic continuum robot and a magnetic medium external magnetic continuum robot based on the installation position of the magnetic medium; The magnetic medium external embedded magnetic continuum robot is divided into special-shaped magnetic medium magnetic continuum robot, cylindrical magnetic medium magnetic continuum robot, staggered grid magnetic continuum robot and foldable magnetic continuum robot based on the form of magnetic medium; The magnetic medium embedded magnetic continuum robot is divided into a spherical magnetic medium magnetic continuum robot and a micro-nano magnetic medium magnetic continuum robot based on the form of the magnetic medium.

[0007] Preferably, the special-shaped magnetic medium magnetic continuum robot includes a staggered embedded special-shaped magnetic medium robot and an offset embedded special-shaped magnetic medium robot; The cylindrical magnetic medium magnetic continuum robot includes a spiral spacer disk magnetic continuum robot and a parallel spacer disk magnetic continuum robot; The spherical magnetic medium magnetic continuum robot includes a straight magnetic chain continuum robot, a woven mesh magnetic chain continuum robot, a spiral magnetic chain continuum robot and a universal joint magnetic chain continuum robot; The micro-nano magnetic medium magnetic continuum robot comprises a hydrogel spiral structure magnetic continuum robot and a hydrogel microsphere magnetic continuum robot.

[0008] Preferably, the staggered embedded special-shaped magnetic medium robot comprises a first continuum skeleton, one end of the first continuum skeleton is connected to a first derivation rod, and the first magnetic medium is staggeredly embedded in the first continuum skeleton; The offset embedded special-shaped magnetic medium robot comprises a second continuum structural frame, on which a second magnetic medium is obliquely mounted, and a second derivation rod is connected to one end of the second continuum structural frame.

[0009] Preferably, the first continuum skeleton comprises a plurality of staggered embedded continuum structural frames, and the plurality of staggered embedded continuum structural frames are linearly connected via structural transverse bones; The staggered embedded continuum structural frame comprises a first staggered frame unit and a second staggered frame unit, wherein the first staggered frame unit and the second staggered frame unit are connected via a structural longitudinal bone; The first magnetic medium includes type I magnetic medium and type II magnetic medium, the type I magnetic medium is installed between the first staggered frame unit and the second staggered frame unit at the longitudinal bone of the structure, and the type II magnetic medium is installed between the two adjacent staggered embedded continuum structure frames at the transverse bone of the structure; Preferably, the second continuum structural frame comprises a terminal continuum offset frame and a continuum offset frame, one end of the continuum offset frame is connected to the terminal continuum offset frame, and the other end of the continuum offset frame is connected to the second derivation rod; The terminal continuum offset skeleton is provided with a terminal continuum offset skeleton frame, and the continuum offset skeleton is provided with a continuum offset skeleton frame. The second magnetic medium is installed in the continuum offset skeleton frame and the terminal continuum offset skeleton frame.

[0010] Preferably, the spiral spacer disk magnetic continuum robot comprises a third continuum skeleton, a third derivation rod is arranged at one end of the third continuum skeleton, a plurality of space-bending spiral guide spacers are arranged on the third continuum skeleton, and a third magnetic medium is arranged between two adjacent space-bending spiral guide spacers on the third continuum skeleton; The parallel spacer disk magnetic continuum robot includes a fourth continuum skeleton, a fourth derivation rod is arranged at one end of the fourth continuum skeleton, a plurality of limited bending angle spacer disks are arranged on the fourth continuum skeleton, and a fourth magnetic medium is installed on the fourth continuum skeleton between two adjacent limited bending angle spacer disks.

[0011] Preferably, the straight magnetic chain continuum robot comprises a fifth continuum skeleton, a plurality of fifth magnetic media arranged linearly are installed in the fifth continuum skeleton, and a fifth derivation rod is connected to one end of the fifth continuum skeleton; The braided mesh magnetic chain continuum robot comprises a sixth continuum skeleton, a plurality of sixth magnetic media arranged linearly are installed in the sixth continuum skeleton, a sixth derivation rod is connected to one end of the sixth continuum skeleton, and a first terminal magnetic medium is connected to the other end of the sixth continuum skeleton; The spiral magnetic chain continuum robot comprises a seventh continuum skeleton, the seventh continuum skeleton is provided with an installation groove, and a plurality of seventh magnetic media are installed in the installation groove; the seventh continuum skeleton is provided with a continuum skeleton skin, and the continuum skeleton skin wraps the seventh magnetic medium, a seventh derivation rod is connected to one end of the seventh continuum skeleton, and a second terminal magnetic medium is connected to the other end of the seventh continuum skeleton; The universal joint magnetic flux continuum robot comprises a plurality of eighth continuum skeletons, the plurality of the eighth continuum skeletons are linearly connected via universal joints, and one end of the eighth continuum skeleton located at the end is connected via an eighth derivation rod of the universal joint.

[0012] Preferably, the hydrogel helical structure magnetic continuum robot comprises a helical structure hydrogel magnetic continuum, a ninth magnetic medium is arranged in the helical structure hydrogel magnetic continuum, and one end of the helical structure hydrogel magnetic continuum is connected to a ninth derivation rod; The hydrogel microsphere magnetic continuum robot comprises a hydrogel microsphere magnetic continuum, and a tenth derivation rod is arranged at one end of the hydrogel microsphere magnetic continuum.

[0013] Preferably, the staggered grid magnetic continuum robot comprises a staggered grid frame, and an eleventh magnetic medium is installed in the staggered grid frame.

[0014] Preferably, the foldable magnetic continuum robot comprises a plurality of twelfth magnetic media, the plurality of twelfth magnetic media are arranged at intervals, and a ninth continuum skeleton is arranged at the interval position between two adjacent twelfth magnetic media.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The magnetic continuum robot proposed in the present invention has the following technical effects: 1. Multi-structure design to adapt to diverse application needs: A variety of magnetic continuum robot structures are proposed, which significantly improves the robot's adaptability and functional expansion capabilities in different application scenarios. Through flexible structural design, the robot can be customized according to specific task requirements, and is particularly suitable for precision operations in complex unstructured environments such as minimally invasive medical treatment.

[0016] 2. Optimize the use of magnetic properties and improve control accuracy and response speed: By optimizing the layout and structural design of magnetic materials, the advantages of magnetic properties are fully utilized. The robot's response sensitivity to external magnetic fields is enhanced, the control accuracy and response speed are improved, and precise control of the robot's movement is achieved to meet the needs of high-precision operations.

[0017] 3. Balance between mechanical flexibility and structural strength to enhance control stability: The robot innovatively achieves a balance between flexibility and strength in mechanical structure design, ensuring that the robot has sufficient structural strength while maintaining necessary flexibility. This improves the robot's control stability and reliability in complex environments, making it suitable for high-demand operating scenarios and reducing operational risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagrams of various embodiments of the magnetic continuum robot proposed by the present invention; Figure 2 This is a schematic diagram of the structure of the staggered embedded special-shaped magnetic medium robot proposed by the present invention; Figure 3 This is a schematic diagram of the connection between the first continuum skeleton and the first derivation rod in the embodiment of the staggered embedded special-shaped magnetic medium robot proposed by the present invention; Figure 4 This is a schematic structural diagram of the first continuum skeleton in the embodiment of the staggered embedded special-shaped magnetic medium robot proposed by the present invention; Figure 5 This is a schematic diagram of the structure of type I magnetic media in an embodiment of a robot for staggered embedding of special-shaped magnetic media proposed by the present invention; Figure 6 This is a schematic diagram of the structure of type I magnetic media in an embodiment of a robot for staggered embedding of special-shaped magnetic media proposed by the present invention; Figure 7 This is a schematic diagram of the structure of the bias-embedded special-shaped magnetic medium magnetic continuous robot proposed by the present invention; Figure 8 It is a schematic diagram of the connection between the end continuum offset skeleton, the second magnetic medium and the continuum offset skeleton frame in the embodiment of the offset embedded special-shaped magnetic medium magnetic continuum robot proposed by the present invention; Fig. 9 It is a connection diagram of the second magnetic medium, the second derivation rod, the continuum offset skeleton and the terminal continuum offset skeleton in the embodiment of the offset embedded special-shaped magnetic medium magnetic continuum robot proposed by the present invention; Fig.10 This is a schematic structural diagram of the spiral spacer disk magnetic continuum robot proposed in the present invention; Fig.11 It is a schematic diagram of the connection between the third continuum skeleton, the space-bending spiral guide spacer disk and the third derivation rod in the embodiment of the spiral spacer disk magnetic continuum robot proposed by the present invention; Fig.12 This is a schematic diagram of the structure of the parallel spacer disk magnetic continuum robot proposed by the present invention; Fig.13 It is a schematic diagram of the connection between the fourth continuum skeleton, the bending angle limiting spacer disk and the fourth derivation rod in the embodiment of the parallel spacer disk magnetic continuum robot proposed by the present invention; Fig.14 This is a schematic diagram of the structure of the straight magnetic chain continuum robot proposed in the present invention; Fig.15 This is a schematic cross-sectional structure diagram of the straight magnetic chain continuum robot proposed by the present invention; Fig.16 This is a schematic diagram of the structure of the braided mesh magnetic chain continuum robot proposed in the present invention; Fig.17 This is a schematic diagram of the connection between the sixth continuum skeleton and the terminal magnetic medium in the embodiment of the braided mesh magnetic chain continuum robot proposed by the present invention; Fig.18 This is a schematic diagram of the structure of the spiral magnetic chain continuum robot proposed in the present invention; Fig.19 This is a schematic diagram of the internal structure of the spiral magnetic flux continuum robot proposed in the present invention; Fig. 20 This is a schematic structural diagram of the seventh derivation rod in the embodiment of the spiral magnetic flux continuum robot proposed by the present invention; Fig.21 This is a schematic structural diagram of the universal joint magnetic flux continuum robot proposed in the present invention; Fig. 22 A schematic diagram of the connection between the universal joint and the eighth derivation rod of the universal joint magnetic flux continuum robot proposed in the present invention; Fig.23 It is a schematic cross-sectional structure diagram of the universal joint magnetic flux continuum robot proposed in the present invention; Fig.24 This is a schematic structural diagram of the hydrogel helical structure magnetic continuum robot proposed in the present invention; Fig.25 This is a schematic diagram of the cross-sectional structure of the hydrogel helical structure magnetic continuum robot proposed in the present invention; Fig.26 This is a schematic diagram of the structure of the hydrogel microsphere magnetic continuum robot proposed in the present invention; Fig. 27 The cross-sectional structure and partial structural schematic diagram of the hydrogel microsphere magnetic continuum robot proposed in the present invention; Fig.28 This is one of the structural schematic diagrams of the staggered grid magnetic continuum robot proposed in the present invention; Fig.29 This is the second structural schematic diagram of the staggered grid magnetic continuum robot proposed by the present invention; Fig.30 This is a front view structural schematic diagram of the staggered grid magnetic continuum robot proposed by the present invention; Fig.31 This is a schematic diagram of the structure of the foldable magnetic continuum robot proposed by the present invention; Fig.32 This is one of the schematic diagrams of the deformation structure of the foldable magnetic continuum robot proposed in the present invention; Fig.33 This is the second schematic diagram of the deformation structure of the foldable magnetic continuum robot proposed by the present invention; In the attached drawings: 1, magnetic continuum robot; 10, staggered embedded special-shaped magnetic medium robot; 101, first magnetic medium; 10111, type I magnetic medium; 1012, type II magnetic medium; 102, first continuum skeleton; 1021, staggered embedded continuum structural frame; 1022, structural transverse bone; 1023, structural longitudinal bone; 103, first derivation rod; 20, offset embedded special-shaped magnetic medium magnetic continuum robot; 201, second magnetic medium; 202, second continuum structural frame; 2021, end continuum offset skeleton; 2022, end continuum offset skeleton frame; 2023, continuum Continuum bias skeleton; 2024, continuum bias skeleton frame; 203, second derivation rod; 30, spiral spacer disk magnetic continuum robot; 301, third magnetic medium; 302, third continuum skeleton; 303, space bending spiral guide spacer disk; 304, third derivation rod; 40, parallel spacer disk magnetic continuum robot; 401, fourth magnetic medium; 402, fourth continuum skeleton; 403, limited bending angle spacer disk; 404, fourth derivation rod; 50, straight magnetic chain continuum robot; 501, fifth magnetic medium; 502, fifth continuum skeleton; 503, fifth derivation rod; 60 , braided mesh magnetic continuum robot; 601, sixth magnetic medium; 602, sixth continuum skeleton; 603, sixth derivation rod; 604, first end magnetic medium; 70, spiral magnetic continuum robot; 701, seventh magnetic medium; 702, second end magnetic medium; 703, continuum skeleton skin; 704, seventh continuum skeleton; 705, seventh derivation rod; 80, universal joint magnetic continuum robot; 801, eighth magnetic medium; 802, eighth continuum skeleton; 803, universal joint; 804, eighth derivation rod; 90, hydrogel spiral structure magnetic continuum robot; 901 , the ninth magnetic medium; 9011, micro-nano magnetic medium; 902, spiral structure hydrogel magnetic continuum; 903, the ninth derivation rod; *10, hydrogel microsphere magnetic continuum robot; *101, hydrogel microsphere magnetic continuum; *1011, the tenth magnetic medium; *10111, microsphere magnetic medium connector; *102, the tenth derivation rod; *20, staggered grid magnetic continuum robot; *201, the eleventh magnetic medium; *202, staggered grid frame; *30, foldable magnetic continuum robot; *301, the twelfth magnetic medium; *302, the ninth continuum skeleton; *303, the tenth derivation rod. DETAILED DESCRIPTION

[0019] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0021] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0022] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0024] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] In order to solve the problems of bulky motor drive, insufficient flexibility, and the need for the diameter of the actuator rod to be greater than 3 mm at the drive end of the traditional continuum robot to ensure sufficient space for the tendon and the drive rod. These limitations lead to challenges for continuum robots in small-size application scenarios (such as catheter interventional surgery). Although the concept of magnetic continuum robots has been proposed in academia, the existing schemes usually directly arrange magnets at the end or segmented position of the circular cross-section elastic rod, or mix silicone or hydrogel with magnetic medium and further magnetize for exploration. However, these methods have not yet provided a better solution for magnetic continuum robots. Based on this, the present invention proposes a series of magnetic continuum robots 1 for practical applications. To achieve the above purpose, the present invention proposes a magnetic continuum robot 1, realizes a diversified magnetic continuum robot 1, and meets different application requirements. The magnetic continuum robot 1 uses a continuous soft material as a continuum to carry the magnetic medium. The deformation driving force of the magnetic continuum robot 1 is realized by the external magnetic field acting on the magnetic medium, and the magnetic medium acts on the soft continuum material. In addition, in addition to providing driving force, the magnetic medium also gives the magnetic continuum robot the function of perception and control. By connecting different types of external sensors, the magnetic field information of the magnetic medium can be detected; the magnetic field data obtained by the sensor can be used to accurately estimate the configuration and posture of the magnetic continuum robot; at the same time, according to the read magnetic field information, the magnetic continuum robot 1 can also be effectively controlled. Therefore, the magnetic continuum robot 1 of the present invention can realize the integration of drive, perception and control, and provide a new idea for the development of the next generation of continuum robot technology. The magnetic continuum robot of the present invention involves the core part of the continuum robot to perform tasks, and combined with the external magnetic field system, it constitutes a magnetic continuum robot that meets different application requirements.

[0026] The magnetic continuum robot 1 achieves continuous deformation by driving the magnetic soft body through an external magnetic field. The core of its working principle lies in the response mechanism and precise control of the magnetic soft body to the external magnetic field: External magnetic field drive: The deformation of the magnetic continuum robot 1 is regulated by an external magnetic field. The magnetic particles or components contained in the magnetic continuum robot 1 generate forces under the action of the magnetic field, thereby driving the overall shape to change. Permanent magnet drive: A constant magnetic field is generated by a fixed permanent magnet to provide a continuous driving force, which is suitable for simple deformation operations. Helmholtz coil drive: The intensity and direction of the magnetic field generated by the coil are precisely controlled by programmable current to achieve more complex dynamic deformation. The intensity and direction of the external magnetic field control the stress distribution inside the magnetic medium in the magnetic continuum robot 1, generating continuous deformations such as bending, stretching, and torsion, which meets the requirements of flexible structures. The external permanent magnet controls the deformation of the magnetic soft body through trajectory planning. The principle is to change the direction and magnitude of the force by adjusting the position trajectory of the permanent magnet relative to the magnetic soft body, thereby achieving different forms of deformation control. The core lies in the precise planning of the permanent magnet trajectory. The permanent magnet is usually fixed at the end of a conventional industrial robot arm, and the trajectory planning is performed through the movement of the robot arm to achieve efficient regulation of the deformation of the magnetic soft body. The second method is to control the magnetic field through a programmable DC power supply to achieve the drive of the magnetic continuum robot. The specific principle is: control the direct current through scripting language programming, adjust the current size of the coil with a specific number of turns, and generate a magnetic field of the required strength. The magnetic field acts on the magnetic medium in the magnetic continuum robot to generate magnetic drive, thereby realizing the continuous deformation of the magnetic soft body. In the application scenario, Raman spectroscopy can be used for real-time position feedback, and the magnetic continuum robot can be precisely controlled through dynamic linkage with the magnetic field. The magnetic continuum robot 1 itself has magnetism, and its magnetic material is naturally suitable as a sensor signal source. Combined with the magnetic source detection hardware, the magnetic properties of the magnetic continuum at different positions can be directly calculated through a specific algorithm, and the position information can be estimated without an external sensor device, thereby achieving precise control. The magnetic continuum robot is a unique robot. Unlike traditional robots that rely on direct or indirect motor drive, its motion control relies on an external magnetic field. Specifically, it is driven and regulated by the magnetic field generated by an external moving permanent magnet or a programmable Helmholtz coil to achieve complex continuous deformation.

[0027] The magnetic continuum robot 1 of the present invention includes twelve different forms of magnetic media, which are arranged on continua of various structures in an embedded or external manner to form a variety of magnetic continuum robots 1. Based on the form of the magnetic media, the present invention describes twelve kinds of magnetic continuum robots 1, including: (1) Special-shaped magnetic medium magnetic continuum robots (two types): including staggered embedded special-shaped magnetic medium robots 10 and offset embedded special-shaped magnetic medium robots 20.

[0028] (2) Cylindrical magnetic medium magnetic continuum robots (two types): including a spiral spacer disk magnetic continuum robot 30 and a parallel spacer disk magnetic continuum robot 40.

[0029] (3) Spherical magnetic medium magnetic continuum robots (four types): including straight magnetic flux continuum robot 50, woven mesh magnetic flux continuum robot 60, spiral magnetic flux continuum robot 70 and universal joint magnetic flux continuum robot 80.

[0030] (4) Micro-nano magnetic medium magnetic continuum robots (two types): including hydrogel spiral structure magnetic continuum robot 90 and hydrogel microsphere magnetic continuum robot*10.

[0031] (5) Staggered grid magnetic continuum robot*20 and foldable magnetic continuum robot*30.

[0032] Specifically, the magnetic continuum robot 1 of the present invention is divided into a magnetic medium embedded magnetic continuum robot and a magnetic medium external embedded magnetic continuum robot based on the installation position of the magnetic medium. The magnetic medium external embedded magnetic continuum robot is divided into a special-shaped magnetic medium magnetic continuum robot, a cylindrical magnetic medium magnetic continuum robot, a staggered grid magnetic continuum robot*20 and a foldable magnetic continuum robot*30 based on the form of the magnetic medium; the magnetic medium embedded magnetic continuum robot is divided into a spherical magnetic medium magnetic continuum robot and a micro-nano magnetic medium magnetic continuum robot based on the form of the magnetic medium. The special-shaped magnetic medium magnetic continuum robot includes a staggered embedded special-shaped magnetic medium robot 10 and an offset embedded special-shaped magnetic medium robot 20; the cylindrical magnetic medium magnetic continuum robot includes a spiral spacer disk magnetic continuum robot 30 and a parallel spacer disk magnetic continuum robot 31. The disk magnetic continuum robot 40; the spherical magnetic medium magnetic continuum robot includes a straight magnetic chain continuum robot 50, a woven mesh magnetic chain continuum robot 60, a spiral magnetic chain continuum robot 70 and a universal joint magnetic chain continuum robot 80; the micro-nano magnetic medium magnetic continuum robot includes a hydrogel spiral structure magnetic continuum robot 90 and a hydrogel microsphere magnetic continuum robot*10. The working principles of the above-mentioned magnetic continuum robots 1 are all based on the interaction between the external magnetic field and the magnetic medium inside the robot. The external magnetic field acts on the magnetic medium to generate magnetic force, which in turn drives the magnetic continuum robot to bend and deform to achieve the expected motion function.

[0033] Embodiment 1, as Figure 2~Figure 6As shown, the staggered embedded special-shaped magnetic medium robot 10 includes a first continuum skeleton 102, one end of the first continuum skeleton 102 is connected to a first derivation rod 103, and the first magnetic medium 101 is staggered and embedded in the first continuum skeleton 102; the first continuum skeleton 102 includes a plurality of staggered embedded continuum structural frames 1021, the plurality of staggered embedded continuum structural frames 1021 are linearly connected through a structural transverse bone 1022, and one end of the plurality of staggered embedded continuum structural frames 1021 connected linearly is connected to the first derivation rod 103 through the structural transverse bone 1022; the staggered embedded continuum structural frame 1021 includes a first staggered frame unit and a second staggered frame unit, and the first staggered frame unit and the second staggered frame unit are connected through The first magnetic medium 101 comprises a type I magnetic medium 10111 and a type II magnetic medium 1012. The type I magnetic medium 10111 is installed between the first staggered frame unit and the second staggered frame unit and is located at the position of the structural longitudinal bone 1023. The type II magnetic medium 1012 is installed between two adjacent staggered embedded continuum structural frames 1021 and is located at the position of the structural transverse bone 1022. Under the action of the external magnetic field, the first magnetic medium 101 generates a magnetic force acting on the first continuum skeleton 102, so that the first continuum skeleton 102 is bent and deformed, and has a high bearing capacity and structural stiffness. In practical applications, the size and direction of the external magnetic field need to be adjusted to achieve a specific bending deformation state of the first continuum skeleton 102.

[0034] Compared with the prior art, the first invention scheme has the following technical effects: this embodiment is a magnetic continuum robot 10 composed of an interlaced layout of special-shaped strong magnetic media; the first continuum skeleton 102 provides higher rigidity for the magnetic continuum robot 10, and the magnetic continuum robot can be used as a minimally invasive surgical robot to perform specific surgical tasks.

[0035] Embodiment 2, as Figure 7~Figure 9As shown, the offset embedded special-shaped magnetic medium robot 20 includes a second continuum structural frame 202, on which a second magnetic medium 201 is obliquely installed, and a second derivation rod 203 is connected to one end of the second continuum structural frame 202. The second continuum structural frame 202 includes a terminal continuum offset skeleton 2021, and a plurality of terminal continuum offset skeleton frames 2022 are evenly spaced on the terminal continuum offset skeleton 202. The plurality of terminal continuum offset skeleton frames 2022 are linearly arranged in a row on the terminal continuum offset skeleton 2021, and a continuum offset skeleton 2023 is connected to one end of the terminal continuum offset skeleton frame 2022. A plurality of continuum offset skeleton frames 2024 are arranged on the outer wall of the continuum offset skeleton 2023, and the plurality of continuum offset skeleton frames 2024 are arranged on the outer wall of the continuum offset skeleton 2023. The continuum offset skeleton 2023 is arranged linearly in a row, and the continuum offset skeleton frame 2024 is located on different sides from the terminal continuum offset skeleton 2021. The second derivation rod 203 is connected to the end of the continuum offset skeleton 2023 away from the terminal continuum offset skeleton 2021. The terminal continuum offset skeleton frame 2022 and the continuum offset skeleton frame 2024 are both installed with a second magnetic medium 201. Under the action of an external magnetic field, the second magnetic medium 201 generates a magnetic force acting on the second continuum structure frame 202, so that the second continuum structure frame 202 is bent and deformed to one side. Compared with the prior art, the second embodiment of the present invention has the following technical effects: a magnetic continuous robot with an offset embedded special-shaped magnetic medium is used, and the adjustable stiffness and multi-angle bending of the continuum skeleton are realized through the design of the skeleton frame structure. In addition, the structure allows different numbers of magnetic media to be arranged as needed to achieve different driving forces. Under the action of an external magnetic field, a spatial "S"-shaped configuration can be formed. The offset embedded special-shaped magnetic medium robot 20 of this embodiment takes into account a larger driving interval, thereby improving the flexibility of the structure and being suitable for laser surgery. By increasing the number of second magnetic media 201, it can be used for robot-assisted minimally invasive surgery.

[0036] Embodiment three, as Fig.10 and Fig.11As shown, the spiral spacer disk magnetic continuum robot 30 includes a third continuum skeleton 302, one end of the third continuum skeleton 302 is provided with a third derivation rod 304, a plurality of space-bending spiral guide spacer disks 303 are provided on the third continuum skeleton 302, and a third magnetic medium 301 is provided on the third continuum skeleton 302 between two adjacent space-bending spiral guide spacer disks 303. Under the action of the external magnetic field, the third magnetic medium 301 generates a magnetic force acting on the third continuum skeleton 302, and under the action of the space-bending spiral guide spacer disk 303, the third continuum skeleton 302 can realize space-bending deformation. Compared with the prior art, the spiral spacer disk magnetic continuum robot 30 has the following technical effects: it can realize complex space deformation through the space-bending spiral guide spacer disk under the action of a single-direction magnetic field, and under restricted conditions, this configuration can still perform certain space tasks.

[0037] Embodiment 4, as Fig.12 and Fig.13 As shown, the parallel spacer disk magnetic continuum robot 40 includes a fourth continuum skeleton 402, a fourth derivation rod 404 is provided at one end of the fourth continuum skeleton 402, a plurality of bending angle limiting spacer disks 403 are provided on the fourth continuum skeleton 402, and a fourth magnetic medium 401 is installed between two adjacent bending angle limiting spacer disks 403 on the fourth continuum skeleton 402. Under the action of the external magnetic field, the fourth magnetic medium 401 generates a magnetic force acting on the fourth continuum skeleton 402. Under the action of the bending angle limiting spacer disk 403, the further bending of the fourth continuum skeleton 402 can be limited to achieve structural self-locking. Compared with the prior art, the parallel spacer disk magnetic continuum robot 40 is characterized in that the magnetic continuum is prevented from infinite bending by limiting the parallel spacer disk, the maximum angle of the working bending is limited, and the bending angle of the magnetic continuum does not exceed the set maximum value, thereby avoiding the situation of infinite bending. This feature is suitable for surgical tasks of specific tissue structures, such as bronchial surgery. At the same time, the limitation of the working space of the magnetic continuum helps to reduce the potential risks caused by improper operation.

[0038] Embodiment 5, as Fig.14 and Fig.15As shown, the straight magnetic flux continuum robot 50 includes a fifth continuum skeleton 502, in which a plurality of linearly arranged fifth magnetic media 501 are installed, the fifth magnetic media 501 is spherical, and a fifth derivation rod 503 is connected to one end of the fifth continuum skeleton 502; under the action of the external magnetic field, the fifth magnetic medium 501 generates a magnetic force acting on the fifth continuum skeleton 502, so as to achieve the bending deformation of the fifth continuum skeleton 502. Compared with the prior art, the straight magnetic flux continuum robot 50 is simple in structure, wherein the magnetic sphere is equivalent to a magnetic dipole, and the magnetic field strength of the magnetic flux can be detected by means of a magnetic detection sensor. Based on the magnetic field data, the posture estimation and control of the straight magnetic flux continuum robot 50 can be realized, and the robot posture can be sensed without additional sensors.

[0039] Embodiment six, as Fig.16 and Fig.17 As shown, the woven mesh magnetic chain continuum robot 60 includes a sixth continuum skeleton 602, which is in the shape of a woven mesh magnetic chain. A plurality of linearly arranged sixth magnetic media 601 are installed in the sixth continuum skeleton 602, and a sixth derivation rod 603 is connected to one end of the sixth continuum skeleton 602, and a first end magnetic medium 604 is connected to the other end of the sixth continuum skeleton 602; under the action of an external magnetic field, the first end magnetic medium 604 and the sixth magnetic medium 601 generate a magnetic force acting on the sixth continuum skeleton 602, so as to realize the bending deformation of the sixth continuum skeleton 602. Compared with the prior art, the woven mesh magnetic chain continuum robot 60 has a grid structure that can provide a certain flexibility and ensure the stable connection of the magnetic ball chain, and is suitable for harsh environments, such as detection or safety detection tasks in unstructured environments.

[0040] Embodiment seven, as Figure 18~Figure 20 As shown, the spiral magnetic continuum robot 70 includes a seventh continuum skeleton 704, and the seventh continuum skeleton 704 is provided with an installation groove, in which a plurality of seventh magnetic media 701 are installed; the seventh continuum skeleton 704 is provided with a continuum skeleton skin 703, and the continuum skeleton skin 703 wraps the seventh magnetic medium 701, and a seventh derivation rod 705 is connected to one end of the seventh continuum skeleton 704, and a second end magnetic medium 702 is connected to the other end of the seventh continuum skeleton 704; under the action of the external magnetic field, the seventh magnetic medium 701 and the second end magnetic medium 702 generate magnetic force acting on the seventh continuum skeleton 704, so as to realize the bending deformation of the seventh continuum skeleton 704. Compared with the prior art, the spiral magnetic continuum robot 70 is capable of realizing spatial deformation under the action of a single-direction magnetic field, so that it can still complete certain spatial tasks under limited conditions.

[0041] Embodiment eight, as Figure 21~Figure 23As shown, the universal joint magnetic flux continuum robot 80 includes a plurality of eighth continuum skeletons 802, and the plurality of eighth continuum skeletons 802 are linearly connected through a universal joint 803. One end of the eighth continuum skeleton 802 located at the end is connected to an eighth derivation rod 804 through the universal joint 803. A plurality of eighth magnetic media 801 are linearly installed in the continuum skeleton 802. The eighth magnetic medium 801 is a spherical magnetic medium. Under the action of an external magnetic field, the eighth magnetic medium 801 generates a magnetic force acting on the plurality of eighth continuum skeletons 802 connected through the universal joint 803. A large range of motion can be achieved at the universal joint 803, and a small range of bending and deformation can be achieved at the eighth continuum skeleton 802. Compared with the prior art, the universal joint magnetic flux continuum robot 80 utilizes universal joints to achieve a large range of spatial motion, so that the eighth continuum skeleton 802 can cope with complex tasks by bending and deformation under special restricted conditions, and is suitable for detection tasks in confined spaces.

[0042] Embodiment 9, as Fig.24 and Fig.25 As shown, the hydrogel helical structure magnetic continuum robot 90 includes mixing and cross-linking materials and reagents by direct mixing dispersion, colloidal dispersion method and gradient embedding method to prepare a helical structure hydrogel magnetic continuum 902 with magnetic responsiveness, a plurality of irregularly arranged ninth magnetic media 901 are arranged in the helical structure hydrogel magnetic continuum 902, the ninth magnetic medium 901 is a helical magnetic medium, a plurality of micro-nano magnetic media 9011 are arranged in the helical magnetic medium, and one end of the helical structure hydrogel magnetic continuum 902 is connected to a ninth derivation rod 903; under the action of an external magnetic field, the ninth magnetic medium 901 causes the helical structure hydrogel magnetic continuum 902 to produce a magnetic hydrogel soft structure deformation. Compared with the prior art, the hydrogel helical structure magnetic continuum robot 90 is to embed a helical magnetic particle chain in the soft rod to imitate the helical muscle or structure in nature, so as to achieve a twisting or bending effect similar to that of a living thing. This structure is particularly suitable for bionic applications and can provide a more natural way of movement.

[0043] Embodiment ten, as Fig.26 and Fig. 27As shown, the hydrogel microsphere magnetic continuum robot *10 includes a hydrogel microsphere magnetic continuum *101, one end of the hydrogel microsphere magnetic continuum *101 is provided with a tenth derivation rod *102, a tenth magnetic medium *1011 is provided in the hydrogel microsphere magnetic continuum *101, the tenth magnetic medium *1011 is a microsphere magnetic medium, the microsphere magnetic medium is connected by a microsphere magnetic medium connector *10111, and the microsphere magnetic medium connector *10111 is prepared by mixing and cross-linking materials and reagents to form a magnetically responsive microsphere magnetic medium. The hydrogel is responsive to the magnetic field, and then a microsphere magnetic medium *1011 is prepared by microfluidic technology. Under the action of the external magnetic field, the tenth magnetic medium *1011 causes the hydrogel microsphere magnetic continuum *101 to bend and deform. Compared with the existing technology, the hydrogel microsphere magnetic continuum robot *10 has high biocompatibility and flexible magnetic control, which enables it to achieve precise control and contactless operation in complex environments. Its flexibility, responsiveness and degradability have potential application prospects in medical drug delivery or drug controlled release.

[0044] Embodiment eleven, as Figure 28~Figure 30 As shown, the staggered grid magnetic continuum robot *20 includes a staggered grid frame *202, in which an eleventh magnetic medium *201 is installed. Under the action of an external magnetic field, the eleventh magnetic medium *201 generates a magnetic force, causing the staggered grid *202 to generate a bending deformation movement. Compared with the prior art, the staggered grid magnetic continuum robot *20 has both flexible movement and structural stability by embedding magnetic blocks in the grid, so that it can achieve precise manipulation in complex paths. Its high response speed and flexibility make it suitable for a variety of tasks in dynamic environments. The modular grid makes the staggered grid magnetic continuum robot *20 reconfigurable and suitable for application in drug delivery or bionic soft robots.

[0045] Embodiment 12, as Fig.31 and Fig.33 As shown, the foldable magnetic continuum robot *30 includes a plurality of twelfth magnetic media *301, and the plurality of twelfth magnetic media *301 are arranged at intervals, and a ninth continuum skeleton *302 is arranged at the interval between two adjacent twelfth magnetic media *301. Under the action of an external magnetic field, the twelfth magnetic medium *301 generates a magnetic force acting on the ninth continuum skeleton *302, thereby realizing the bending deformation of the foldable magnetic continuum robot *30. By further adjusting the magnetic field, the foldable magnetic continuum robot *30 can be folded in space. Compared with the prior art, the foldable magnetic continuum robot *30 controls the attraction of the magnetic blocks through an external magnetic field to achieve flexible configuration changes, thereby adapting to complex environments and narrow channels. Its contactless remote control feature enables it to perform delicate operations in sensitive or closed environments. Its reconfigurability gives it versatility, and without the need for additional drive, it is very suitable for complex intracavitary surgery.

[0046] One of the major advantages of the magnetic continuum robot 1 is the existence of magnetic field characteristics inside it. The magnetic continuum robot 1 is not only driven by an external magnetic field, but can also use its own magnetic field as a natural sensor signal source, so that the magnetic continuum robot 1 can build non-contact control and signal collection, and achieve high-precision control of its state, especially in sub-millimeter or even micro-nanoscale applications, so that the magnetic continuum robot 1 can achieve real-time perception and precise control, providing it with significant technical advantages in the fields of minimally invasive medical treatment, micro-operation, etc.

[0047] The present invention improves the adaptability and precise control ability of continuum robots in various application scenarios through multi-structure magnetic continuum design. The optimized magnetic performance layout achieves higher control accuracy and response speed, while ensuring operational stability in terms of flexibility and strength balance. It combines multi-disciplinary knowledge such as magnetic materials, mechanical engineering, medicine and chemistry to overcome the technical difficulties of multi-structure design and implementation. It promotes the progress of magnetic continuum robots from theoretical research to practical application, provides advanced technical solutions for minimally invasive surgery, precision detection and other fields, and has important innovative significance and application value. The present invention provides efficient and flexible technical solutions for minimally invasive medical treatment and precision operation, and has significant application value.

[0048] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0049] In addition, it should be understood that although this specification is described in accordance with the implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation modes that can be understood by those skilled in the art. The above content is only to illustrate the technical idea of ​​the present invention, and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. A magnetic continuum robot, characterized in that: The magnetic continuum robot (1) is divided into a magnetic medium embedded magnetic continuum robot and a magnetic medium external magnetic continuum robot based on the installation position of the magnetic medium; The magnetic medium external embedded magnetic continuum robot is divided into a special-shaped magnetic medium magnetic continuum robot, a cylindrical magnetic medium magnetic continuum robot, a staggered grid magnetic continuum robot (*20) and a foldable magnetic continuum robot (*30) based on the form of the magnetic medium. The magnetic medium embedded magnetic continuum robot is divided into a spherical magnetic medium magnetic continuum robot and a micro-nano magnetic medium magnetic continuum robot based on the form of the magnetic medium.

2. The magnetic continuum robot according to claim 1, characterized in that: The special-shaped magnetic medium magnetic continuum robot comprises a staggered embedded special-shaped magnetic medium robot (10) and an offset embedded special-shaped magnetic medium robot (20); The cylindrical magnetic medium magnetic continuum robot comprises a spiral spacer disk magnetic continuum robot (30) and a parallel spacer disk magnetic continuum robot (40); The spherical magnetic medium magnetic continuum robot comprises a straight magnetic flux continuum robot (50), a woven mesh magnetic flux continuum robot (60), a spiral magnetic flux continuum robot (70) and a universal joint magnetic flux continuum robot (80); The micro-nano magnetic medium magnetic continuum robot comprises a hydrogel spiral structure magnetic continuum robot (90) and a hydrogel microsphere magnetic continuum robot (*10).

3. The magnetic continuum robot according to claim 2, characterized in that: The staggered embedded special-shaped magnetic medium robot (10) comprises a first continuum skeleton (102), one end of the first continuum skeleton (102) is connected to a first derivation rod (103), and a first magnetic medium (101) is staggeredly embedded in the first continuum skeleton (102); The offset embedded special-shaped magnetic medium robot (20) comprises a second continuum structural frame (202), a second magnetic medium (201) is obliquely mounted on the second continuum structural frame (202), and a second derivation rod (203) is connected to one end of the second continuum structural frame (202).

4. The magnetic continuum robot according to claim 3, characterized in that: The first continuum skeleton (102) comprises a plurality of staggered embedded continuum structural frames (1021), wherein the plurality of staggered embedded continuum structural frames (1021) are linearly connected via structural transverse bones (1022); The staggered embedded continuum structural frame (1021) comprises a first staggered frame unit and a second staggered frame unit, wherein the first staggered frame unit and the second staggered frame unit are connected via a structural longitudinal bone (1023); The first magnetic medium (101) comprises a type I magnetic medium (10111) and a type II magnetic medium (1012); the type I magnetic medium (10111) is installed between the first staggered frame unit and the second staggered frame unit at a position on the longitudinal bone (1023) of the structure, and the type II magnetic medium (1012) is installed between two adjacent staggered embedded continuum structural frames (1021) at a position on the transverse bone (1022) of the structure.

5. The magnetic continuum robot according to claim 3, characterized in that: The second continuum structural frame (202) comprises a terminal continuum offset frame (2021) and a continuum offset frame (2023), one end of the continuum offset frame (2023) is connected to the terminal continuum offset frame (2021), and the other end of the continuum offset frame (2023) is connected to the second derivation rod (203); The terminal continuum offset skeleton frame (2022) is provided on the terminal continuum offset skeleton (2021), the continuum offset skeleton frame (2024) is provided on the continuum offset skeleton (2023), and the second magnetic medium (201) is installed in the continuum offset skeleton frame (2024) and the terminal continuum offset skeleton frame (2022).

6. The magnetic continuum robot according to claim 2, characterized in that: The spiral spacer disk magnetic continuum robot (30) comprises a third continuum skeleton (302), one end of the third continuum skeleton (302) is provided with a third derivation rod (304), a plurality of space-bending spiral guide spacer disks (303) are provided on the third continuum skeleton (302), and a third magnetic medium (301) is provided between two adjacent space-bending spiral guide spacer disks (303) on the third continuum skeleton (302); The parallel spacer disk magnetic continuum robot (40) comprises a fourth continuum skeleton (402), a fourth derivation rod (404) is arranged at one end of the fourth continuum skeleton (402), a plurality of spacer disks (403) with limited bending angles are arranged on the fourth continuum skeleton (402), and a fourth magnetic medium (401) is installed between two adjacent spacer disks (403) with limited bending angles on the fourth continuum skeleton (402).

7. The magnetic continuum robot according to claim 2, characterized in that: The straight magnetic chain continuum robot (50) comprises a fifth continuum skeleton (502), a plurality of linearly arranged fifth magnetic media (501) are installed in the fifth continuum skeleton (502), and a fifth derivation rod (503) is connected to one end of the fifth continuum skeleton (502); The braided mesh magnetic chain continuum robot (60) comprises a sixth continuum skeleton (602), a plurality of sixth magnetic media (601) arranged linearly are installed in the sixth continuum skeleton (602), a sixth derivation rod (603) is connected to one end of the sixth continuum skeleton (602), and a first terminal magnetic medium (604) is connected to the other end of the sixth continuum skeleton (602); The spiral magnetic chain continuum robot (70) comprises a seventh continuum skeleton (704), the seventh continuum skeleton (704) is provided with an installation groove, and a plurality of seventh magnetic media (701) are installed in the installation groove; the seventh continuum skeleton (704) is provided with a continuum skeleton skin (703), the continuum skeleton skin (703) wraps the seventh magnetic medium (701), one end of the seventh continuum skeleton (704) is connected to a seventh derivation rod (705), and the other end of the seventh continuum skeleton (704) is connected to a second terminal magnetic medium (702); The universal joint magnetic flux continuum robot (80) comprises a plurality of eighth continuum skeletons (802), wherein the plurality of eighth continuum skeletons (802) are linearly connected via a universal joint (803), and an end of the eighth continuum skeleton (802) is connected to an eighth derivation rod (804) via the universal joint (803).

8. The magnetic continuum robot according to claim 2, characterized in that: The hydrogel helical structure magnetic continuum robot (90) comprises a helical structure hydrogel magnetic continuum (902), a ninth magnetic medium (901) is arranged in the helical structure hydrogel magnetic continuum (902), and a ninth derivation rod (903) is connected to one end of the helical structure hydrogel magnetic continuum (902); The hydrogel microsphere magnetic continuum robot (*10) comprises a hydrogel microsphere magnetic continuum (*101), and a tenth derivation rod (*102) is provided at one end of the hydrogel microsphere magnetic continuum (*101).

9. The magnetic continuum robot according to claim 1, characterized in that: The staggered grid magnetic continuum robot (*20) comprises a staggered grid frame (*202), and an eleventh magnetic medium (*201) is installed in the staggered grid frame (*202).

10. The magnetic continuum robot according to claim 1, characterized in that: The foldable magnetic continuum robot (*30) comprises a plurality of twelfth magnetic media (*301), the plurality of twelfth magnetic media (*301) are arranged at intervals, and a ninth continuum skeleton (*302) is arranged at the interval between two adjacent twelfth magnetic media (*301).

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