Electromagnetic driving device and robot system

Abstract

The invention provides an electromagnetic driving device and a robot system, and relates to the technical field of medical surgery, and the electromagnetic driving device comprises an electromagnetic driving unit and a control unit. The electromagnetic driving unit serves as an execution unit and comprises a positioning frame, an adjusting assembly connected with the positioning frame and an electromagnetic coil assembly connected with the positioning frame and the adjusting assembly. The control unit comprises a master controller and a coil angle controller electrically connected with the master controller. On the basis, the coil angle controller is electrically connected with the adjusting assembly and used for adjusting the angle between the electromagnetic coil assembly and the positioning frame through the adjusting assembly so as to adjust the magnetic field direction of the electromagnetic coil assembly and drive the magnetic micro-robot to move, and therefore the magnetic micro-robot is driven to move in the human body to complete different medical functions.

Description

Technical Field

[0001] The present invention relates to the field of medical surgery technology, and in particular to an electromagnetic drive device and a robot system. Background Art

[0002] As an emerging non-contact driving method, magnetic induction driving technology has rapidly emerged in recent years with the development of material science and electromagnetism. This technology mainly relies on the interaction between the magnetic field generated by the electromagnetic coil and the magnetic material inside or on the surface of the target object, thereby achieving precise control and driving of the target object. It can be used in the field of medical treatment and the driving and control of micro robots.

[0003] However, most magnetic drive systems on the market currently use a fixed structure design, in which the position and direction of the electromagnetic coil cannot be changed or the range of change is limited. This design results in a relatively simple magnetic field generated by the system, making it difficult to form a complex spatial magnetic field distribution and making it difficult for magnetic micro-robots to achieve different functions. Summary of the invention

[0004] The purpose of the present invention includes providing an electromagnetic drive device and a robot system, which can adjust the posture or angle of the electromagnetic coil assembly, adjust the direction of the magnetic field, form different rotating magnetic fields or gradient magnetic fields, and improve the above-mentioned problems of single magnetic field form, difficulty in forming complex spatial magnetic field distribution, and difficulty in enabling the micro-robot to realize different functions.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides an electromagnetic drive device, comprising:

[0007] An electromagnetic drive unit, the electromagnetic drive unit comprising a positioning frame, an adjustment component connected to the positioning frame, and an electromagnetic coil component connected to the positioning frame and the adjustment component;

[0008] A control unit includes a main controller and a coil angle controller electrically connected to the main controller, and the coil angle controller is electrically connected to an adjustment component, and is used to adjust the angle between the electromagnetic coil component and the positioning frame through the adjustment component to adjust the magnetic field direction of the electromagnetic coil component to drive the movement of the magnetic micro robot.

[0009] In an optional embodiment, the adjustment assembly includes a motor, a screw and a nut; wherein the motor is electrically connected to the coil angle controller and fixedly connected to the positioning frame, the screw is connected to the motor and is used to rotate under the drive of the motor, the nut is connected to the electromagnetic coil assembly and is slidably connected to the screw, and is used to move along the axial direction of the screw as the screw rotates to adjust the angle between the electromagnetic coil assembly and the positioning frame.

[0010] In an optional embodiment, the adjustment assembly further includes a slider and a guide column; the guide column is connected to the positioning frame and extends axially along the positioning frame, the slider is slidably connected to the guide column, and the electromagnetic coil assembly is connected to the nut via the slider.

[0011] In an optional embodiment, the electromagnetic coil assembly includes a coil connection frame, a connecting rod, and an electromagnetic coil; wherein the coil connection frame is connected to the positioning frame, the two ends of the connecting rod are respectively hinged to the coil connection frame and the corresponding adjustment assembly, the electromagnetic coil is arranged in the coil connection frame, and is used to generate a magnetic field.

[0012] In an optional embodiment, the coil connection frame includes a first plate portion, a second plate portion, and a third plate portion which are connected at an angle in sequence, and the first plate portion, the second plate portion, and the third plate portion together form a U-shaped structure for accommodating the electromagnetic coil, and the second plate portion is connected to the positioning frame and the connecting rod.

[0013] In an optional embodiment, the coil assembly further includes a first limit plate and a second limit plate; wherein the first limit plate is connected to the first plate portion and to one end of the electromagnetic coil, and the second limit plate is connected to the second plate portion and to the other end of the electromagnetic coil.

[0014] In an optional embodiment, the positioning frame is cylindrical, the number of adjustment components and electromagnetic coil components are multiple, and the multiple adjustment components are arranged at intervals along the circumference of the positioning frame, and the multiple coil components are connected to the positioning frame and are connected one-to-one with the adjustment components.

[0015] In an optional embodiment, the control unit also includes a current controller electrically connected to the main controller, and the current controller is electrically connected to the electromagnetic coil assembly for adjusting the current of the electromagnetic coil assembly to adjust the magnetic field of the electromagnetic coil assembly to drive the movement of the magnetic micro robot.

[0016] In an optional embodiment, the electromagnetic drive device also includes a moving unit, the moving unit includes a multi-degree-of-freedom robotic arm connected to the positioning frame, the control unit also includes a robotic arm controller electrically connected to the main controller, the robotic arm controller is electrically connected to the multi-degree-of-freedom robotic arm, and is used to adjust the posture of the multi-degree-of-freedom robotic arm to adjust the position of the electromagnetic coil assembly to drive the movement of the magnetic micro robot.

[0017] In a second aspect, the present invention provides a robot system, comprising a magnetic microrobot and an electromagnetic drive device as described in any one of the aforementioned embodiments; wherein the magnetic microrobot is used to move under the action of the electromagnetic drive device.

[0018] The beneficial effects of the electromagnetic drive device and the robot system provided by the embodiments of the present invention include:

[0019] The present invention provides an electromagnetic drive device and a robot system, wherein the electromagnetic drive device includes an electromagnetic drive unit and a control unit. The electromagnetic drive unit, as an execution unit, specifically includes a positioning frame, an adjustment component connected to the positioning frame, and an electromagnetic coil component connected to the positioning frame and the adjustment component. The control unit includes a master controller and a coil angle controller electrically connected to the master controller. Based on the above, the coil angle controller is electrically connected to the adjustment component, and is used to adjust the angle between the electromagnetic coil component and the positioning frame through the adjustment component to adjust the magnetic field direction of the electromagnetic coil component to drive the movement of the magnetic micro robot. That is to say, under the action of the coil angle controller, the adjustment component adjusts the angle between the electromagnetic coil component and the positioning frame, and realizes precise control of the magnetic field direction generated by the electromagnetic coil component. Therefore, the electromagnetic coil component can form different rotating magnetic fields or gradient magnetic fields to drive the movement of the magnetic micro robot in the human body to complete different medical functions. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of an application of the electromagnetic drive device provided in this embodiment;

[0022] Figure 2 A schematic diagram of the structure of the electromagnetic drive unit provided in this embodiment;

[0023] Figure 3 A schematic diagram of the structure of a control unit provided in this embodiment;

[0024] Figure 4 Another schematic diagram of the structure of the electromagnetic drive unit provided in this embodiment;

[0025] Figure 5 A schematic diagram of the structure of the electromagnetic coil assembly provided in this embodiment;

[0026] Figure 6 A schematic diagram of a partial structure of the electromagnetic coil assembly provided in this embodiment;

[0027] Figure 7 A schematic diagram of the structure of the positioning framework provided in this embodiment;

[0028] Figure 8 A schematic diagram of the structure of the adjustment component provided in this embodiment.

[0029] Icons: 10-electromagnetic drive unit; 30-control unit; 31-master controller; 33-coil angle controller; 35-current controller; 37-robotic arm controller; 50-moving unit; 51-multi-degree-of-freedom robotic arm; 53-surgical trolley; 55-surgical bed; 100-positioning frame; 110-center column; 130-first positioning plate; 150-second positioning plate; 300-adjustment assembly; 310-motor; 330-screw rod; 350-nut; 370-slider; 390-guide column; 500-electromagnetic coil assembly; 510-coil connecting frame; 511-first plate; 513-second plate; 515-third plate; 530-connecting rod; 550-electromagnetic coil; 571-first limit plate; 573-second limit plate. DETAILED DESCRIPTION

[0030] In the related art, the position and direction of the electromagnetic coil are immutable or have a limited range of variation, and the generated magnetic field is relatively simple in form, which makes it difficult to form a complex spatial magnetic field distribution and to enable the micro-robot to realize different functions.

[0031] In response to the above problems, the present invention provides an electromagnetic drive device and a robot system, which can adjust the posture or angle of the electromagnetic coil assembly, adjust the direction of the magnetic field, form different rotating magnetic fields or gradient magnetic fields, and improve the above-mentioned problems of single magnetic field form, difficulty in forming complex spatial magnetic field distribution, and difficulty in enabling the micro-robot to realize different functions.

[0032] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0035] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear to indicate an orientation or position relationship, they are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when used. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0036] In addition, the terms “first”, “second”, etc., if used, are merely used to distinguish between the descriptions and should not be understood as indicating or implying relative importance.

[0037] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0038] The overall structure, working principle and technical effects of the electromagnetic drive device and the robot system provided by the present invention are described in detail below through embodiments and in conjunction with the accompanying drawings. Figure 1 The application diagram of the electromagnetic drive device provided in this embodiment is as follows: Figure 2 This is a schematic diagram of the structure of the electromagnetic drive unit 10 provided in this embodiment. Figure 3 This is a schematic diagram of the structure of the control unit 30 provided in this embodiment.

[0039] See also Figures 1 to 3 The present invention provides an electromagnetic drive device, which is applied to a robot system and is used to improve the problem that the magnetic field has a single form, it is difficult to form a complex spatial magnetic field distribution, and it is difficult to enable a micro robot to achieve different functions. The robot system includes the electromagnetic drive device and a magnetic micro robot. In addition, the magnetic micro robot is used to move under the action of the electromagnetic drive device.

[0040] Applied in practical scenarios, for example, in targeted drug delivery, the magnetic microrobot can carry drugs and, under the guidance of the magnetic field of the electromagnetic drive device, accurately reach the lesion location to achieve targeted drug release. For example, in minimally invasive surgeries such as vascular intervention, the magnetic microrobot can be used as a substitute for guidewires or catheters. Under the guidance of the magnetic field of the electromagnetic drive device, it can flexibly shuttle in the blood vessels to perform treatment and diagnosis at the lesion site.

[0041] like Figure 2 and Figure 3As shown, the electromagnetic drive device for generating a guide magnetic field provided by the present invention includes an electromagnetic drive unit 10 and a control unit 30. The electromagnetic drive unit 10, as an execution unit, specifically includes a positioning frame 100, an adjustment component 300 connected to the positioning frame 100, and an electromagnetic coil component 500 connected to the positioning frame 100 and the adjustment component 300. The control unit 30 includes a master controller 31 and a coil angle controller 33 electrically connected to the master controller 31.

[0042] Based on the above, the coil angle controller 33 is electrically connected to the adjustment component 300, and is used to adjust the angle between the electromagnetic coil component 500 and the positioning frame 100 through the adjustment component 300 to adjust the magnetic field direction of the electromagnetic coil component 500 to drive the movement of the magnetic micro-robot. That is to say, under the action of the coil angle controller 33, the adjustment component 300 adjusts the angle between the electromagnetic coil component 500 and the positioning frame 100, and accurately controls the direction of the magnetic field generated by the electromagnetic coil component 500. Therefore, the electromagnetic coil component 500 can form different rotating magnetic fields or gradient magnetic fields to perform different functions. Exemplarily, the electromagnetic coil component 500 can adapt to the needs of minimally invasive surgeries such as magnetically driven guided vascular interventional surgery or endoscopic examinations.

[0043] In some embodiments, such as Figure 3 As shown, the positioning frame 100 is cylindrical, and the number of adjustment components 300 and electromagnetic coil components 500 are both multiple. On this basis, multiple adjustment components 300 are arranged at intervals along the circumference of the positioning frame 100, and multiple coil components are connected to the positioning frame 100, and are connected to the adjustment components 300 one by one. It is easy to understand that all adjustment components 300 are connected to the coil angle controller 33, so that under the action of the coil angle controller 33, the angle between each electromagnetic coil component 500 and the positioning frame 100 is coordinated and adjusted, so that the electromagnetic coil components 500 can work together to form a more uniform composite rotating magnetic field or gradient magnetic field distribution in three-dimensional space, so that the magnetically driven magnetic micro robot can achieve more precise and accurate surgical operations. Optionally, as Figure 4 As shown, in order to facilitate the guidance, separation control and rotation functions of the magnetic micro-robot, the number of the adjustment components 300 and the number of the electromagnetic coil components 500 are both four.

[0044] Please refer again Figure 2The control unit 30 also includes a current controller 35 electrically connected to the main controller 31. In addition, the current controller 35 is electrically connected to the electromagnetic coil assembly 500, and is used to adjust the current of the electromagnetic coil assembly 500 to adjust the magnetic field of the electromagnetic coil assembly 500 to drive the movement of the magnetic micro-robot. It should be noted that the current controller 35 can quickly adjust the current of the electromagnetic coil assembly 500 according to actual needs, thereby dynamically changing the strength of the magnetic field. In other words, the magnetic micro-robot can quickly respond to environmental changes or changes in task requirements to achieve highly flexible and efficient surgical operations.

[0045] Further, in order to enable the electromagnetic coil assembly 500 to achieve a wider range of spatial movement, the electromagnetic drive device also includes a mobile unit 50, and the mobile unit 50 includes a multi-degree-of-freedom mechanical arm 51 connected to the positioning frame. Based on this, compared with a fixed or low-degree-of-freedom drive device, the introduction of the multi-degree-of-freedom mechanical arm 51 greatly improves the adaptability of the electromagnetic drive device to complex environments. In the embodiment of the present application, the multi-degree-of-freedom mechanical arm 51 is a six-degree-of-freedom mechanical arm, and the specific model is a JAKA PR016 mechanical arm, which has a load capacity of 16kg and can handle heavier workpieces and tools. In other embodiments, it can also be a large-load mechanical arm of other models, ensuring that it can carry a certain number of electromagnetic coil assemblies 500, heat dissipation devices and control devices. In addition, it is also necessary to supplement that the mobile unit 50 can also include a surgical trolley 53 and an operating bed 55. Among them, the surgical trolley 53 is fixedly connected to one end of the multi-degree-of-freedom mechanical arm 51 away from the positioning frame 100.

[0046] On the basis of the above, in order to facilitate the control of the electromagnetic drive assembly to move to the target position through remote teleoperation, the control unit 30 also includes a manipulator controller 37 electrically connected to the master controller 31. In detail, the manipulator controller 37 is electrically connected to the multi-degree-of-freedom manipulator 51, and is used to adjust the posture of the multi-degree-of-freedom manipulator 51 to adjust the position of the electromagnetic coil assembly 500 to drive the movement of the magnetic micro-robot. It should be noted that, on the one hand, the manipulator controller 37 can achieve fine-tuning control of the multi-degree-of-freedom manipulator 51, thereby ensuring that the electromagnetic coil assembly 500 always maintains the optimal working distance and angle relative to the magnetic micro-robot; on the other hand, the manipulator controller 37 can improve the effective working range and working flexibility of the electromagnetic coil assembly 500 by adjusting the multi-degree-of-freedom manipulator 51, so that the electromagnetic drive device can be further applied to long-distance surgery similar to vascular intervention surgery. Exemplarily, as the multi-degree-of-freedom manipulator 51 moves, the electromagnetic coil assembly 500 can guide the magnetic micro-robot to complete the catheter-guided surgery from the brain to the root of the thigh.

[0047] Based on the above, if Figure 2As shown, the master controller 31 provided in the present application is electrically connected with the coil angle controller 33, the current controller 35 and the manipulator controller 37 to form a centralized management module. Optionally, the master controller 31 remotely interacts with the coil management system through the ROS system (Robot Operating System, an open source meta-operating system suitable for robots) to obtain the real-time status of the current, voltage and temperature of the coil assembly of the motor 310, and perform fault processing accordingly. In addition, the master controller 31 interacts with the manipulator controller 37 through the TCP / IP protocol (Transmission Control Protocol / Internet Protocol, a group of communication protocols for the Internet and other similar networks) to control and manage the manipulator in the Move it system to control the position of the electromagnetic coil assembly 500 accordingly. In addition, the master controller 31 also interacts with the current controller 35 and the coil angle controller 33 through Ethercat (Ethernet for Control Automation Technology, a high-performance, real-time Ethernet communication protocol designed specifically for industrial automation) to control the size and direction of the composite magnetic field generated by the electromagnetic coil assembly 500 accordingly.

[0048] See also Figure 5 and Figure 6 , the electromagnetic coil assembly 500 includes a coil connection frame 510, a connecting rod 530, and an electromagnetic coil 550. Among them, the coil connection frame 510 is connected to the positioning frame 100 to provide stable mechanical support. The two ends of the connecting rod 530 are respectively hinged to the coil connection frame 510 and the corresponding adjustment component 300, so that under the action of the adjustment component 300, the angle between the coil connection frame 510 and the positioning frame 100 can be adjusted. The electromagnetic coil 550 is arranged in the coil connection frame 510 and is used to generate a magnetic field. It is easy to understand that the current controlled by the aforementioned current controller 35 is specifically the current in the electromagnetic coil 550, and the aforementioned coil angle controller 33 adjusts the angle between the coil connection frame 510 and the positioning frame 100 by controlling the adjustment component 300 to adjust the posture and angle of the electromagnetic coil 550.

[0049] Furthermore, the coil connection frame 510 includes a first plate portion 511, a second plate portion 513, and a third plate portion 515 connected in sequence at an angle. The second plate portion 513 is connected to the positioning frame 100 and the connecting rod 530. The first plate portion 511, the second plate portion 513, and the third plate portion 515 are as shown in FIG. Figure 6As shown, they are surrounded together to form a U-shaped structure for accommodating the electromagnetic coil 550. It is easy to understand that the U-shaped structure tightly surrounds the electromagnetic coil 550, thereby reducing external interference and providing a more ideal magnetic field generation environment. In addition, it should be noted that the electromagnetic coil 550 in the present application is a cylindrical structure, specifically including an iron core and a multi-turn coil wound on the iron core, and the iron core is connected to the coil connection frame 510. To ensure that the range of coil winding does not exceed the predetermined range. In addition, the electromagnetic coil assembly 500 also includes a first limit plate 571 and a second limit plate 573, and the first limit plate 571 is connected to the first plate portion 511 and is connected to one end of the electromagnetic coil 550. Correspondingly, the second limit plate 573 is connected to the second plate portion 513 and is connected to the other end of the electromagnetic coil 550.

[0050] Considering that the positioning frame 100 needs to provide stable support performance for the electromagnetic coil assembly 500 and the adjustment assembly 300, such as Figure 7 As shown, the positioning frame 100 includes a central column 110, a first positioning plate 130 and a second positioning plate 150. Furthermore, the first positioning plate 130 and the second positioning plate 150 are sequentially arranged along the axial direction of the central column 110 so as to form a layered structure, respectively providing stable support for corresponding elements. Specifically, the adjustment component 300 is arranged on the first positioning plate 130, and the first positioning plate 130 is partially penetrated and extends along the axial direction of the positioning frame 100. The electromagnetic coil component 500 is connected to the second positioning plate 150 and is partially connected to the adjustment component 300 to jointly form a variable triangular structure with only one side length adjustable.

[0051] It is easy to understand that, based on the adjustment function of the adjustment component 300, the shape of the triangle changes accordingly, and the complex magnetic field formed by the electromagnetic coil component 500 also changes accordingly. That is, the adjustment component 300 is the core component for completing the transformation and construction of the complex magnetic field. Figure 8 As shown, in some optional embodiments, the adjustment assembly 300 includes a motor 310, a screw rod 330 and a nut 350. The motor 310 is electrically connected to the coil angle controller 33 and fixedly connected to the positioning frame 100, the screw rod 330 is connected to the motor 310, and the nut 350 is connected to the electromagnetic coil assembly 500 and slidably connected to the screw rod 330. In addition, the screw rod 330 is used to rotate under the driving action of the motor 310, and the nut 350 is used to move along the axial direction of the screw rod 330 as the screw rod 330 rotates, so as to adjust the length of one side of the deformable triangle, so as to adjust the angle between the electromagnetic coil assembly 500 and the positioning frame 100.

[0052] Applied in actual scenarios, when the motor 310 drives the screw rod 330 to rotate, the thread on the screw rod 330 meshes with the thread inside the nut 350. According to the principle of spiral transmission, the rotational motion of the screw rod 330 will be converted into the linear motion of the nut 350 along the axial direction of the screw rod 330. And because the nut 350 is connected to the electromagnetic coil assembly 500, the electromagnetic coil assembly 500 will adjust its posture with the linear motion of the nut 350. Specifically, when the nut 350 moves upward, the angle between the electromagnetic coil assembly 500 and the positioning frame 100 becomes smaller and snaps inward; when the nut 350 moves downward, the angle between the electromagnetic coil assembly 500 and the positioning frame 100 increases and opens outward.

[0053] Further, in order to reduce the influence of the vibration of the nut 350 on the coil assembly, the adjustment assembly 300 also includes a slider 370, and the electromagnetic coil assembly 500 is connected to the nut 350 through the slider 370. It is easy to understand that the slider 370 can absorb part of the vibration energy and improve the stability of the coil assembly adjustment. Correspondingly, the adjustment assembly 300 also includes a guide column 390. The guide column 390 is connected to the positioning frame 100 and extends along the axial direction of the positioning frame 100. The slider 370 is slidably connected to the guide column 390. Based on this, the combination of the slider 370 and the guide column 390 provides a high-precision linear guide function, ensuring that the coil assembly strictly moves axially along a predetermined path during movement, avoiding radial offset or shaking caused by the rotation of the screw rod 330.

[0054] Taking the electromagnetic drive device provided in this application as an example, its specific working principle and workflow are as follows:

[0055] The multi-angle robotic arm is remotely controlled by the robotic arm controller 37, so that the electromagnetic coil assembly 500 moves to the target position. The motor 310 is remotely controlled by the coil angle controller 33 to start, and the slider 370 moves up and down along the guide column 390 with the nut 350. Accordingly, when the slider 370 moves, the connecting rod 530 hinged thereon moves accordingly, thereby driving the coil connection frame 510 frame to rotate relative to the positioning frame 100, thereby adjusting the angle between the electromagnetic coil 550 and the positioning frame 100, and adjusting the direction of the magnetic field. Afterwards, the current in the electromagnetic coil 550 is adjusted by the current controller 35, thereby adjusting the magnetic field strength generated by the electromagnetic coil 550 accordingly. Therefore, based on the adjustment of the above-mentioned controller, the electromagnetic coil 550 generates different magnetic field sizes and magnetic field directions, constructs a complex composite magnetic field, and enables the magnetic microrobot to achieve different medical functions and be applied to different surgical scenarios.

[0056] In summary, the present invention provides an electromagnetic drive device and a robot system, the electromagnetic drive device includes an electromagnetic drive unit 10 and a control unit 30. Among them, the electromagnetic drive unit 10, as an execution unit, specifically includes a positioning frame 100, an adjustment component 300 connected to the positioning frame 100, and an electromagnetic coil component 500 connected to the positioning frame 100 and the adjustment component 300. The control unit 30 includes a master controller 31 and a coil angle controller 33 electrically connected to the master controller 31. Based on the above, the coil angle controller 33 is electrically connected to the adjustment component 300, and is used to adjust the angle between the electromagnetic coil component 500 and the positioning frame 100 through the adjustment component 300 to adjust the magnetic field direction of the electromagnetic coil component 500 to drive the movement of the magnetic micro robot. That is to say, under the action of the coil angle controller 33, the adjustment component 300 adjusts the angle between the electromagnetic coil component 500 and the positioning frame 100, and realizes precise control of the magnetic field direction generated by the electromagnetic coil component 500. Therefore, the electromagnetic coil assembly 500 can form different rotating magnetic fields or gradient magnetic fields to drive the movement of the magnetic microrobot in the human body to perform different medical functions.

[0057] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. An electromagnetic drive device, characterized in that: include: An electromagnetic drive unit, the electromagnetic drive unit comprising a positioning frame, an adjustment component connected to the positioning frame, and an electromagnetic coil component connected to the positioning frame and the adjustment component; A control unit, the control unit includes a main controller and a coil angle controller electrically connected to the main controller, and the coil angle controller is electrically connected to the adjustment component, and is used to adjust the angle between the electromagnetic coil component and the positioning frame through the adjustment component to adjust the magnetic field direction of the electromagnetic coil component to drive the movement of the magnetic micro robot.

2. The electromagnetic drive device according to claim 1, characterized in that: The adjustment component includes a motor, a screw and a nut; wherein the motor is electrically connected to the coil angle controller and fixedly connected to the positioning frame, the screw is connected to the motor and is used to rotate under the drive of the motor, the nut is connected to the electromagnetic coil assembly and is slidably connected to the screw, and is used to move along the axial direction of the screw as the screw rotates to adjust the angle between the electromagnetic coil assembly and the positioning frame.

3. The electromagnetic drive device according to claim 2, characterized in that: The adjustment assembly also includes a slider and a guide column; the guide column is connected to the positioning frame and extends along the axial direction of the positioning frame, the slider is slidably connected to the guide column, and the electromagnetic coil assembly is connected to the nut through the slider.

4. The electromagnetic drive device according to claim 1, characterized in that: The electromagnetic coil assembly includes a coil connection frame, a connecting rod, and an electromagnetic coil; wherein the coil connection frame is connected to the positioning frame, the two ends of the connecting rod are respectively hinged to the coil connection frame and the corresponding adjustment assembly, and the electromagnetic coil is arranged in the coil connection frame and is used to generate a magnetic field.

5. The electromagnetic drive device according to claim 4, characterized in that: The coil connection frame includes a first plate portion, a second plate portion and a third plate portion which are connected at an angle in sequence, the first plate portion, the second plate portion and the third plate portion together form a U-shaped structure for accommodating the electromagnetic coil, and the second plate portion is connected to the positioning frame and the connecting rod.

6. The electromagnetic drive device according to claim 5, characterized in that: The coil assembly also includes a first limiting plate and a second limiting plate; wherein the first limiting plate is connected to the first plate portion and to one end of the electromagnetic coil, and the second limiting plate is connected to the second plate portion and to the other end of the electromagnetic coil.

7. The electromagnetic drive device according to claim 1, characterized in that: The positioning frame is cylindrical, the number of the adjustment components and the electromagnetic coil components are both multiple, and the multiple adjustment components are arranged at intervals along the circumference of the positioning frame, and the multiple coil components are connected to the positioning frame and are connected to the adjustment components one by one.

8. The electromagnetic drive device according to any one of claims 1 to 7, characterized in that: The control unit also includes a current controller electrically connected to the main controller, and the current controller is electrically connected to the electromagnetic coil assembly for adjusting the current of the electromagnetic coil assembly to adjust the magnetic field of the electromagnetic coil assembly to adjust the movement of the magnetic micro robot.

9. The electromagnetic drive device according to any one of claims 1 to 7, characterized in that: The electromagnetic drive device also includes a moving unit, which includes a multi-degree-of-freedom robotic arm connected to the positioning frame. The control unit also includes a robotic arm controller electrically connected to the main controller. The robotic arm controller is electrically connected to the multi-degree-of-freedom robotic arm and is used to adjust the posture of the multi-degree-of-freedom robotic arm to adjust the position of the electromagnetic coil assembly to adjust the movement of the magnetic micro robot.

10. A robot system, characterized in that: It comprises a magnetic microrobot and an electromagnetic driving device as described in any one of claims 1 to 9; wherein the magnetic microrobot is used to move under the action of the electromagnetic driving device.

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