Micron-sized multi-degree-of-freedom flexible micromanipulation instrument, control method and control system

Abstract

The invention provides a micron-sized multi-degree-of-freedom flexible micromanipulation instrument, a control method and a control system, and belongs to the technical field of micromanipulation. The micron-sized multi-degree-of-freedom flexible micromanipulation instrument comprises a multi-degree-of-freedom moving platform and a T-axis moving platform, the T-axis moving platform is connected to one end of the multi-degree-of-freedom moving platform, and the T-axis moving platform drives a flexible continuum module to bend by adopting a first driving motor and a second driving motor, so that the adjustment of the operation direction is realized; and the tail end of the flexible continuum module can be detachably connected with the actuator, so that the universality is effectively improved, and the problems of poor universality, tedious measurement and low precision of a micron-sized micromanipulation instrument are solved. The method and the device are suitable for micromanipulation and control of an operation instrument.

Description

Technical Field

[0001] The present application belongs to the field of micromanipulation technology, and in particular relates to a micron-level multi-degree-of-freedom flexible micromanipulator, a control method and a control system. Background Art

[0002] In recent years, researchers have developed various micromanipulation devices. For example, micromanipulators driven by piezoelectric ceramics can provide high-precision displacement control, but their degrees of freedom are limited, and they can usually only achieve simple two-dimensional or linear three-dimensional movements. At the same time, the range of motion is greatly reduced with the improvement of accuracy. For large-scale microorganisms such as nematodes, piezoelectric ceramics are difficult to move accurately from head to tail. In general, the current scheme requires the production of operating equipment according to specific scenarios, and it is difficult to achieve universal adaptation for complex organisms of different scales. They often need to be redesigned for different operating objects or simplify the details of operating microorganisms and make effective assumptions in order to obtain corresponding operations and measurements. Summary of the invention

[0003] The present application provides a micron-level multi-degree-of-freedom flexible micromanipulator, a control method and a control system, in order to solve the problems of poor versatility, cumbersome measurement and low precision existing in micron-level micromanipulation equipment.

[0004] The first aspect of the present application provides a micron-level multi-degree-of-freedom flexible micromanipulator, comprising:

[0005] Multi-degree-of-freedom mobile platform,

[0006] A T-axis mobile platform is connected to one end of the multi-degree-of-freedom mobile platform, and the T-axis mobile platform includes a flexible continuum module, a coupling, a first drive motor and a second drive motor; wherein,

[0007] The flexible continuum module comprises a first flexible tube and a second flexible tube, the first flexible tube and the second flexible tube are arranged in a nested manner, the first flexible tube and the second flexible tube respectively comprise a free end and a fixed end, the free end of the first flexible tube is connected to the free end of the second flexible tube, and the fixed end of the second flexible tube is connected to one end of the coupling;

[0008] The second driving motor is connected to the fixed end of the first flexible tube, and can drive the first flexible tube to expand and contract along the axial direction of the coupling to drive the second flexible tube to bend;

[0009] The first driving motor is connected to the other end of the coupling and can drive the coupling and the flexible continuum module to rotate.

[0010] In a possible design, the second flexible tube is sleeved outside the first flexible tube;

[0011] The second driving motor drives the first flexible tube to perform telescopic movement in the axial direction of the coupling, thereby driving the second flexible tube to bend;

[0012] The other end of the coupling is connected to the first driving motor. The rotation of the first driving motor drives the coupling and the second flexible tube to rotate. The rotation of the second flexible tube drives the first flexible tube to rotate.

[0013] In a possible design, one side of the tube wall of the first flexible tube and the second flexible tube is respectively provided with a cutout, the sides of the cutouts of the first flexible tube and the second flexible tube correspond to each other, and the cutouts are adjacent to the free ends of the first flexible tube and the second flexible tube.

[0014] In some embodiments, the length of the second flexible tube is shorter than the length of the first flexible tube.

[0015] In a possible design, the micron-level multi-degree-of-freedom flexible micromanipulator further includes:

[0016] A linkage member, the front end of which is movably connected to a fixed structure, the fixed end of the first flexible tube is clamped in the fixed structure, and the rear end of the linkage member is drivingly connected to the second drive motor.

[0017] In a possible design, the micron-level multi-DOF flexible micromanipulator further includes: a fixed frame, a limit plate perpendicular to the fixed frame is fixed at the front end of the fixed frame, a through hole is opened at the center of the limit plate, the coupling is fixed in the through hole, and the rear end of the fixed frame is connected to the rectangular connector;

[0018] The rectangular connecting piece is connected to one end of the multi-degree-of-freedom mobile platform; the output shaft of the second drive motor drives the rectangular connecting piece to move, the linkage piece is connected to the side of the rectangular connecting piece, and the second drive motor drives the linkage piece to extend and retract in the axial direction of the second drive motor.

[0019] In a possible design, the multi-degree-of-freedom mobile platform is provided with a rotating seat, and the multi-degree-of-freedom platform is fixed on the operating platform through the rotating seat; wherein, an adjustable knob is provided on the side of the rotating seat, and the adjustable knob is used to rotationally adjust and position the rotating position of the rotating seat.

[0020] In a possible design, the flexible continuum module also includes a third flexible tube, which is nested with the first flexible tube and the second flexible tube. The third flexible tube includes a free end and a fixed end. The free end of the third flexible tube is connected to the free end of the first flexible tube and the free end of the second flexible tube, and the fixed end of the third flexible tube is connected to one end of the coupling.

[0021] In some embodiments, the flexible continuum module may further include more flexible tubes, which are nested with the first flexible tube, the second flexible tube, and the third flexible tube. This application does not limit this.

[0022] In a possible design, the micrometer-level multi-degree-of-freedom flexible micromanipulator further includes: an actuator, which is detachably connected to the free end of the second flexible tube.

[0023] The second aspect of the present application provides a control method for the micron-level multi-degree-of-freedom flexible micromanipulator as described in the first aspect of the present application, the control method comprising:

[0024] Controlling the movement of the actuator of the micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end position;

[0025] Controlling the angle between the actuator operating end and the operating platform of the micrometer-level multi-degree-of-freedom flexible micromanipulator and the direction of the actuator operating end according to the actuator end angle and direction desired signal;

[0026] Capturing an image of the actuator and extracting image information, wherein the image information includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end;

[0027] The coordinates of the actuator operating end, and the angle and direction between the actuator operating end and the operating table are adjusted in real time according to the image information.

[0028] The third aspect of the present application provides a control system for the micron-level multi-degree-of-freedom flexible micromanipulator as described in the first aspect of the present application, the control system comprising: a coordinate control system, an image acquisition and processing system, and an actuator operation end control system; wherein,

[0029] The coordinate control system is used to control the movement of the actuator of the multi-degree-of-freedom micromanipulator according to the desired signal of the actuator end position;

[0030] The actuator operating end control system is used to control the angle between the actuator operating end and the operating table and the direction of the actuator operating end according to the desired angle and direction signal of the actuator end;

[0031] The image acquisition and processing system is used to acquire the image of the actuator and extract image information, wherein the image information includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end;

[0032] The coordinate control system and the actuator operating end control system are also used to adjust the coordinates of the actuator operating end, and the angle and direction between the actuator operating end and the operating table in real time according to the image information.

[0033] The micron-level multi-degree-of-freedom flexible micromanipulator described in this application can complete the multi-degree-of-freedom movement of the flexible end through the flexible continuum module arranged in a nested manner. Specifically, the multi-degree-of-freedom movement of the flexible end is completed by the flexible outer tube and the inner tube incision correspondingly. Through the design of the incision, the stress bending deformation between the inner and outer tubes is concentrated on one plane, which solves the torsional deformation of the flexible large deformation material during the movement process, so that the flexible end operating arm can form an accurate corresponding relationship according to the displacement of the motor and the end movement. The control system described in this application first adjusts the angle and direction of the actuator, adopts image acquisition, obtains the position of the manipulator by image processing, and then controls the coordinate operating system, effectively realizing the precise positioning of the actuator. In addition, the structure of the actuator can be quickly replaced at the flexible end, which increases the versatility of the micromanipulator. Compared with the existing specific glass needles and smart material micromanipulators, it has higher degrees of freedom and accuracy, so that the application can use the existing mature materials and processing equipment on the market, which can greatly reduce the cost of the micromanipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A front view of a micrometer-level multi-degree-of-freedom flexible micromanipulator provided in this application;

[0035] Figure 2 A rear view of a micrometer-level multi-degree-of-freedom flexible micromanipulator provided in the present application;

[0036] Figure 3 This is a schematic diagram of the flexible continuum module in the micron-level multi-degree-of-freedom flexible micromanipulator provided in the present application in a bent state;

[0037] Figure 4 This is the disassembly diagram of the T-axis moving platform;

[0038] Figure 5 Schematic diagram of the cutout of the outer tube;

[0039] Figure 6 This is a schematic diagram of the application of the micron-level multi-degree-of-freedom flexible micromanipulator described in this application;

[0040] Figure 7A schematic flow chart of a control method for a micron-level multi-degree-of-freedom flexible micromanipulator provided in the present application;

[0041] Figure 8 A principle block diagram of a micron-level multi-degree-of-freedom flexible micromanipulator control system provided in this application. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of this application. It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict.

[0043] Micromanipulation technology is an important means to explore and study micro-scale organisms such as tissues, cells, and sub-cells. Through this method, we can study many fields such as microbiology, cell biology, developmental biology, and medicine. Microscopy technology can not only operate micro-scale organisms, but also sense and image their physical characteristics such as stiffness and viscosity in three dimensions. At present, with the development of science and technology, many manipulation methods have emerged, such as magnetic field, sound field, light field, high-precision micromanipulator, microrheology and other manipulation methods.

[0044] High-precision micromanipulators are the most mature micromanipulation methods on the market. They can replace the end according to different objects to achieve high-precision operation effects, but their overall rigid structure limits their operational flexibility. For microorganisms of different scales or complex forms, more equipment and tools are needed to achieve the corresponding operations. Subsequently, micromanipulation technology based on physical fields has also been widely developed. Magnetic fields, acoustic fields, and light fields can all perform non-contact operations on objects. Due to the lack of operating force, light fields are difficult to operate on larger microorganisms and may even cause thermal damage to organisms. Acoustic field and magnetic field operation instruments are mostly set according to specific scenarios, and it is difficult to achieve flexible and robust operation capabilities for different organisms. In addition, some existing flexible operation instruments have improved the flexibility of micromanipulation manipulators by combining flexible materials. However, since the improvement in flexibility is accompanied by a decrease in operating accuracy, there are still challenges in achieving micron-level accuracy and multi-degree-of-freedom motion. The limitations of these technologies often require cumbersome adjustments and calibrations during micromanipulation, affecting operational efficiency and accuracy.

[0045] In recent years, researchers have developed various multi-degree-of-freedom micromanipulators. There are micromanipulators driven by piezoelectric ceramics that can provide high-precision displacement control, but their degrees of freedom are limited, and they can usually only achieve simple two-dimensional or linear XYZ three-dimensional movements. At the same time, the range of motion is greatly reduced with the improvement of accuracy. For large-scale microorganisms such as nematodes, piezoelectric ceramics are difficult to move accurately from head to tail. In addition, some studies have attempted to apply flexible materials to micromanipulation systems, such as operating drives constructed using shape memory alloys or flexible polymer materials. These flexible materials can provide a certain degree of freedom and flexibility, but their driving sources require constant high and low temperature switching, making it difficult to achieve rapid movement, and they still face challenges in achieving micron-level precision. At the same time, it is difficult for them to combine various end effectors at the end of the flexible material, such as force sensors, microinjection needles with liquid paths, etc.

[0046] In general, current technologies are operating devices made for specific scenarios, and it is difficult to achieve universal adaptability for complex organisms of different scales. They often need to be redesigned for different operating objects or simplify the details and make effective assumptions for operating micro-organisms in order to obtain corresponding operations and measurements.

[0047] In view of this, the present application provides a micron-level multi-degree-of-freedom flexible micromanipulator, control method and control system to solve the problems of poor versatility, cumbersome measurement and low precision of micron-level micromanipulation equipment. The solution of the present application will be described in detail below in conjunction with the drawings and the specification.

[0048] Specific implementation method 1: Combination Figures 1 to 6 This embodiment is described. A micron-level multi-degree-of-freedom flexible micromanipulator described in this embodiment includes:

[0049] Multi-degree-of-freedom mobile platform 1;

[0050] The T-axis mobile platform 2 is connected to one end of the multi-degree-of-freedom mobile platform 1. The T-axis mobile platform 2 includes a flexible continuum module 200, a coupling 203, a first drive motor 204 and a second drive motor 209; wherein,

[0051] The flexible continuum module 200 includes a first flexible tube 201 and a second flexible tube 202, the first flexible tube 201 and the second flexible tube 202 are arranged in a nested manner, the first flexible tube 201 and the second flexible tube 202 respectively include a free end and a fixed end, the free end of the first flexible tube 201 is connected to the free end of the second flexible tube 202, and the fixed end of the second flexible tube is connected to one end of the coupling 203;

[0052] The second driving motor 209 is connected to the fixed end of the first flexible tube 201, and can drive the first flexible tube to expand and contract along the axial direction of the coupling 203, so as to drive the second flexible tube 202 to bend;

[0053] The first driving motor 204 is connected to the other end of the coupling 203 and can drive the coupling 203 and the flexible continuum module 200 to rotate.

[0054] In some examples, the multi-degree-of-freedom mobile platform 1 in this embodiment can be a three-degree-of-freedom mobile platform, a six-degree-of-freedom mobile platform, or other multi-degree-of-freedom mobile platforms, and this application does not limit this. For example, when the multi-degree-of-freedom mobile platform 1 is a three-degree-of-freedom mobile platform, the three-degree-of-freedom mobile platform can drive the T-axis mobile platform 2 to move along the three spatial directions of X, Y, and Z. Specifically, the X-axis high-precision mobile motor of the three-degree-of-freedom mobile platform adopts a second drive motor coupled linear guide mode, and integrates an encoder to achieve high-precision control of the X-axis. The T-axis mobile platform adopts a T-axis high-precision mobile motor, which controls the flexible continuum module 200, and realizes micron-level bending movement by moving the submicron-level motion accuracy and the flexible continuum module 200, which increases the flexibility of the instrument. The Z-axis high-precision mobile motor is responsible for controlling the Z-axis submicron-level movement of the instrument.

[0055] In some examples, the first drive motor 204 may be a rotary motor, and the second drive motor 209 may be a stepper motor. Of course, the first drive motor 204 and the second drive motor 209 may also be other types of drive motors, which are not limited in the present application.

[0056] In some examples, the flexible continuum module 200 may further include a third flexible tube, which is nested with the first flexible tube 201 and the second flexible tube 202, and includes a free end and a fixed end, the free end of the third flexible tube is connected to the free end of the first flexible tube 201 and the free end of the second flexible tube 202, and the fixed end of the third flexible tube is connected to one end of the coupling 203. It should be noted that the flexible continuum module may further include more flexible tubes, which are nested with the first flexible tube 201, the second flexible tube 202, and the third flexible tube, and this application does not limit this.

[0057] Furthermore, combined with Figure 4 To illustrate this embodiment, in some examples, the second flexible tube 202 is sleeved outside the first flexible tube 201;

[0058] The second driving motor 209 drives the first flexible tube 201 to perform telescopic movement in the axial direction of the coupling 203, driving the second flexible tube 202 to bend leftward or rightward;

[0059] The other end of the coupling 203 is connected to the first drive motor 204. The rotation of the first drive motor 204 drives the coupling 203 and the second flexible tube 202 to rotate. The rotation of the second flexible tube 202 drives the first flexible tube 201 to rotate. The other end of the coupling 203 and the first drive motor 204 can be connected by a transmission shaft or other connection methods, which are not limited in this application.

[0060] Furthermore, combined with Figure 4 and Figure 5 To illustrate this embodiment, in some examples, a cutout is provided on one side of the tube wall of the first flexible tube 201 and the second flexible tube 202 , the sides of the cutouts provided on the first flexible tube 201 and the second flexible tube 202 correspond to each other, and the cutouts are adjacent to the free ends of the first flexible tube 201 and the second flexible tube 202 .

[0061] In this embodiment, the first flexible tube 201 can be made of shape memory alloy as a manufacturing material, which can achieve high elasticity and large-scale movement. Through the hollow design, it provides placement space for the end effectors of remote line equipment, fluids, etc. The hollow tube adopts a terminal gradient design to increase the installation range of the end effector. The second flexible tube 202 can also be made of shape memory alloy as a manufacturing material to achieve a large deformation range of movement. With the corresponding incision technology, the uncontrollability of the flexible continuum module 200 is limited to achieve the precision transmission of the high-precision linear motor. The coupling connects the second flexible tube 202 with the first drive motor to achieve the transmission of rotation. Among them, the above-mentioned shape memory alloy can specifically be nickel-titanium alloy or other types of alloys. Of course, in this embodiment, the first flexible tube 201 and the second flexible tube 202 can also be made of other flexible materials besides shape memory alloys, which is not limited in this application.

[0062] In some examples, the length of the second flexible tube 202 is shorter than the length of the first flexible tube 201. In other examples, the length of the second flexible tube 202 may also be longer than the length of the first flexible tube 201, or the length of the second flexible tube 202 is equal to the length of the first flexible tube 201.

[0063] In some examples, the micron-level multi-DOF flexible micromanipulator of this embodiment may further include: a linkage 207, the front end of the linkage 207 is movably connected with a fixed structure 206, the fixed end of the first flexible tube 201 is clamped in the fixed structure 206, and the rear end of the linkage 207 is connected to the second drive motor 209. In this embodiment, the rear end of the first flexible tube 201 for T-axis linear motion is connected to the fixed structure 206 through a protruding structure and transmits the T-axis linear motion to the first flexible tube 201. The fixed structure 206 only controls the linear motion of the first flexible tube 201 and does not limit the rotational motion of the first flexible tube 201. Therefore, when the second flexible tube 202 rotates, it can drive the first flexible tube 201 to complete the rotational motion together, thereby improving the control accuracy. In some embodiments, the fixed structure 206 can be a horseshoe fixed structure, for example, a symmetrical horseshoe fixed structure. Of course, it can also be other fixed structures, which are not limited by this application.

[0064] In some examples, the micron-level multi-DOF flexible micromanipulator of this embodiment may further include: a fixing frame 205, a limiting plate perpendicular to the fixing frame 205 is fixed at the front end thereof, a through hole is opened at the center of the limiting plate, the coupling 203 is fixed in the through hole, and the rear end of the fixing frame 205 is connected to the rectangular connecting piece (208);

[0065] The rectangular connector 208 is connected to one end of the multi-degree-of-freedom mobile platform 1; the output shaft of the second drive motor 209 drives the rectangular connector 208 to move, the linkage member 207 is fixed on the side of the rectangular connector 208, and the second drive motor 209 drives the linkage member 207 to extend and retract in the axial direction of the second drive motor 209.

[0066] In some examples, the multi-degree-of-freedom mobile platform 1 is provided with a rotating base 3, and the multi-degree-of-freedom platform is fixed on the operating platform through the rotating base 3; wherein, an adjustable knob is provided on the side of the rotating base 3, and the adjustable knob is used to perform rotation adjustment and positioning of the rotating position of the rotating base 3. The rotating base of this embodiment is provided with an adjustable knob, and the rotation movement and fixation of the base can be completed by controlling the knob, so as to realize the base angle of the flexible robotic arm, thereby improving the flexibility of the instrument.

[0067] In some examples, the micron-level multi-DOF flexible micromanipulator of this embodiment may further include: an actuator, which is detachably connected to the free end of the second flexible tube. In some examples, the second drive motor 209 is a stepper motor, and the stepper motor has a travel range of 2 cm.

[0068] In some examples, the first drive motor 204 adopts a hollow shaft rotary motor. Specifically, the first flexible tube 201 passes through the hollow shaft of the hollow shaft rotary motor to improve the overall operable range and working range of the instrument. The Y-axis high-precision mobile motor realizes the high-precision Y-axis movement of the multi-degree-of-freedom flexible micromanipulation instrument through the combined design of the submicron motor and the linear module. The fixed frame 205 is used to connect the high-precision three-axis linear motion module with the second drive motor 209. Through the hollow design, the load at the end of the instrument is reduced to achieve the lightweight design of the overall instrument. There is a boss in the first flexible tube 201 connected to the T-shaped structure. When the reciprocating motion of the T-shaped structure is driven by the linear motion of the first flexible tube 201, it also completes the reciprocating motion. The hollow shaft rotary motor is installed at the end position of the fixed frame 205 by M3 screws. The coupling 203 is fixed to the hollow shaft rotary motor by a hexagon socket screw, and the flexible second flexible tube 202 is fixed by a universal hexagon socket. The connection between the first flexible tube 201 and the second flexible tube 202 can be completed by the shape of structural glue or welding. The free ends of the first flexible tube 201 and the second flexible tube 202 are provided with end effectors. The end effectors can be replaced with different effectors according to the operation requirements, such as a glass needle with a liquid path to complete the capture, injection, transfer, etc. of microorganisms, by installing an optical fiber module, the flexible cutting function of microorganisms can be realized, and by installing a physical feature sensing sensor, the physical feature extraction of microorganisms can be realized.

[0069] Specific implementation method 2: Combination Figure 7 This embodiment describes a control method for a micron-level multi-degree-of-freedom flexible micromanipulator, and the control method includes:

[0070] Controlling the movement of the actuator of a micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end position;

[0071] Controlling the angle between the actuator operating end and the operating platform and the direction of the actuator operating end of the micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end angle and direction;

[0072] Collecting images of the actuator and extracting image information, the image information includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end;

[0073] The coordinates of the actuator operating end, the angle and direction between the actuator operating end and the operating table are adjusted in real time according to the image information.

[0074] This embodiment is applied to the micron-level multi-degree-of-freedom flexible micromanipulator as described in Specific Embodiment 1, and may also include steps for implementing multiple control functions of the micron-level multi-degree-of-freedom flexible micromanipulator of the above-mentioned Specific Embodiment 1. For details, please refer to the relevant description in Specific Embodiment 3 below, which will not be repeated here.

[0075] Specific implementation method 3: Combination Figure 8 This embodiment is described. The control system of a micron-level multi-degree-of-freedom flexible micromanipulator described in this embodiment is used to control the micron-level multi-degree-of-freedom flexible micromanipulator as in the first embodiment. The control system includes: a coordinate control system, an image acquisition and processing system, and an actuator operation end control system; wherein,

[0076] The coordinate control system is used to control the movement of the actuator of the micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end position;

[0077] The actuator operating end control system is used to control the angle between the actuator operating end and the operating table and the direction of the actuator operating end according to the desired angle and direction signal of the actuator end;

[0078] The image acquisition and processing system is used to acquire images of the actuator and extract image information, which includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end;

[0079] The coordinate control system and the actuator operating end control system are also used to adjust the coordinates of the actuator operating end, and the angle and direction between the actuator operating end and the operating table in real time according to the image information.

[0080] In some examples, the coordinate control system may be an XYZ control system, which is specifically used to control the actuator of a micron-level multi-DOF flexible micromanipulator to move in three spatial directions of X, Y, and Z according to a desired signal of the actuator end position.

[0081] In some examples, the image acquisition and processing system includes an image processing module I10, an operating end offset calculation module 14, and a camera 17;

[0082] The camera 17 is arranged at the lower side of the operating platform and is used to collect images of the actuator operating end in real time;

[0083] The image processing module I10 is used to extract the position coordinates of the current actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end from the image captured by the camera 17;

[0084] The image processing module I10 also transmits the actuator operation end direction signal to the operation end offset calculation module 14, compares the current operation end direction with the operation end direction at the previous moment, obtains the operation end direction offset; and feeds back the operation end direction offset to the actuator operation end control system;

[0085] The image processing module I10 also feeds back the angle between the actuator operating end and the operating table and the direction of the actuator operating end to the actuator operating end control system in real time.

[0086] The actuator operating end control system includes three adders, an angle controller 7 and a direction controller 8;

[0087] The desired signal of the actuator end angle and direction is added by the first adder 4 to the negative signal of the angle between the actuator operating end and the operating table and the direction of the actuator operating end output by the image processing module I10, so as to obtain the angle compensation signal between the actuator operating end and the operating table and the direction compensation signal of the actuator operating end;

[0088] The angle compensation signal is summed with the desired angle signal of the actuator end by the second adder 5 and then output to the angle controller 7; the angle controller 7 controls the angle of the actuator end according to the received sum signal;

[0089] The actuator operating end direction compensation signal is summed with the actuator direction desired signal and the operating end direction offset by the third adder 6 and then output to the direction controller 8; the direction controller 8 controls the direction of the actuator operating end according to the received sum signal.

[0090] The XYZ coordinate control system includes an XYZ coordinate controller 12 and a fourth adder 11;

[0091] The fourth adder 11 adds the negative signal of the position coordinate of the actuator operation end to the expected position coordinate to obtain the coordinate offset, and then outputs the coordinate offset to the XYZ coordinate controller 12;

[0092] The XYZ coordinate controller 12 controls the actuator operating end to move in the X, Y, and Z directions according to the coordinate offset and the actuator end position desired signal.

[0093] The micron-level multi-degree-of-freedom flexible micromanipulator of this embodiment further includes a display screen, which is used to display the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating platform, and the direction of the actuator operating end in real time.

[0094] The micron-level multi-degree-of-freedom flexible micromanipulator of this embodiment also includes an encoder I9; the encoder I9 is ​​used to collect the actual angle of the actuator end and feed the actual angle back to the angle controller 7, and the angle controller 7 adjusts according to the received actual angle of the actuator end and the angle of the actuator end.

[0095] Encoder group II16 includes three encoders, which respectively collect actual displacements in the X, Y, and Z directions and transmit the displacements in the X, Y, and Z directions to the XYZ coordinate controller 12. The XYZ coordinate controller 12 adjusts the position of the actuator end in real time according to the actual displacements in the X, Y, and Z directions.

[0096] The present application directly obtains the coordinate values ​​of the plane coordinates X and Y and the angle of the actuator end projected onto the plane through a microscope camera. The coordinate of the Z axis is obtained by identifying the clarity of the end effector, and the angle between the actuator end and the operating platform is obtained by calculating the difference in the projection clarity from the end to the root.

[0097] The operation process of the specific embodiment:

[0098] When the desired angle is input, the bending angle of the flexible tube is controlled by controlling the movement of the T-axis, and the microscope camera is used to identify the flexible tube driving the end effector to reach the operating posture position (the angle between the operating table), where the encoder is used to compensate for the movement distance deviation of the motor. When the flexible tube is bent, it will affect the posture, angle and three-dimensional coordinates of the actuator at the same time. It is necessary to compensate the position of the end effector in real time so that it is in the operating field of the microscope. The actual desired angle in the microscope is compensated by controlling the first drive motor. When the first drive motor rotates, it will also cause the three-dimensional coordinates of the end effector in the field of view to move. Therefore, when rotating, the XYZ three-axis moving motor is required to compensate for its position.

[0099] The present application also relates to a robot control system for micromanipulation, which ensures high precision and stability through a multi-level feedback control mechanism. The control system includes multiple key components and control loops, aiming to achieve multi-angle micromanipulation of different micro-organisms. The system is suitable for fine manipulation in the biomedical field, such as cell manipulation, new drug development, brain, heart, liver, etc. Specific applications such as Figure 6 As shown:

[0100] Main components and functions: Expected angle input, receiving the expected angle signal from the upper system as the target input of the controller, real-time data correction, and improving input accuracy. The input signal supports multiple formats, which is convenient for integration with different systems. Supports dynamic adjustment to adapt to different working environments.

[0101] Angle controller: The angle controller is responsible for adjusting the deviation between the desired angle and the actual angle between the actuator end and the operating table, and outputting the control signal to the T-axis stepper motor. A variety of control strategies can be used, such as proportional-integral-derivative (PID) control or model predictive control (MPC) to optimize control performance.

[0102] PID control: Suitable for stable control of linear and nonlinear systems, optimizing control effects by adjusting proportional, integral and differential parameters. PID control is simple and effective, and widely used in industrial automation. Parameters can be adjusted online to adapt to different working environments. It has strong anti-interference ability to ensure system stability.

[0103] MPC control: Applicable to predictive control of complex systems, it predicts future states by building mathematical models and optimizes control sequences to achieve more precise control. MPC control is particularly suitable for application scenarios that require long-term prediction and optimization, such as delicate operations in the biomedical field. It can handle constraints to ensure that operations are within a safe range. It provides real-time optimization paths and enhances control flexibility.

[0104] T-axis stepper motor: This motor is responsible for implementing the motion instructions output by the attitude controller and changing the angle of the end effector by controlling the bending of the flexible tube. The encoder resolution reaches the sub-micron level to ensure high-precision positioning. The motor has a low inertia design and fast response speed. It supports high-speed operation to meet the needs of fast positioning.

[0105] Direction controller: The direction controller corrects and adjusts the deviation between the desired direction and the actual direction of the actuator terminal, and outputs a control signal to the rotating motor. PID or MPC control strategies can also be used to improve the accuracy and response speed of angle control.

[0106] Rotary motor: This motor is responsible for implementing the rotation command output by the operating angle controller, and drives the flexible tube to complete the rotation movement, thereby achieving different operating angles in the field of view. The encoder resolution reaches the sub-radian level to ensure high-precision rotation. The motor has a low-friction design and rotates smoothly without jitter. It supports high torque output to ensure stable rotation.

[0107] XYZ three-axis high-precision mobile motor: XYZ three-axis high-precision mobile motor is responsible for realizing the three-dimensional movement of the robot in space, ensuring that the end effector can accurately reach the target position, and accurately compensate the end position of the actuator. This motor is usually equipped with an encoder to provide real-time position feedback. Through multi-axis collaboration, accurate tracking of complex spatial trajectories can be achieved. The encoder resolution reaches the sub-micron level to ensure high-precision positioning. The motor has a high-rigidity design to reduce the impact of vibration. It supports high-speed and high-precision motion to meet complex trajectory requirements.

[0108] Visual feedback: The visual feedback system obtains the actual position information of the end effector through the microscope camera and feeds it back to the control system for correction and optimization of the control effect. Visual feedback provides additional closed-loop control, enhancing the robustness and adaptability of the system. The high-resolution microscope camera provides clear image feedback. The real-time image processing algorithm responds quickly to position changes. At the same time, the design has an interface that supports multiple sensor fusions, which can add multiple sensing methods when replacing the end effector to enhance system reliability.

[0109] End effector end position: The tip position of the end effector is the key output point of the entire control system. Through the coordinated work of the above links, it is ensured that it can accurately reach and maintain the desired position. Precise control of this position is essential for high-precision operation. The end effector adopts a lightweight design to reduce the impact of load. It supports multiple tool replacements to adapt to different application scenarios.

[0110] The working principle of the control system is as follows:

[0111] The desired direction and operating angle signals are input to the direction controller and angle controller respectively. The controller calculates the control signal based on the deviation and drives the corresponding motor to make adjustments. The stepper motor of the T axis changes the angle of the end effector by controlling the bending of the flexible tube. The rotary motor drives the flexible tube to complete the rotational movement to achieve different operating angles in the field of view. The XYZ three-axis high-precision mobile motor is responsible for the three-dimensional movement of the end effector in space and accurately compensates the end position of the actuator.

[0112] The encoder and visual feedback system monitor the actual position and posture in real time and feed the data back to the controller to form a closed-loop control. This application ensures that the end effector can accurately reach and maintain the desired position through multi-level feedback and fine adjustment.

[0113] In the micromanipulation robot system, the spatial coordinate transformation from the coupling to the end effector is achieved through a series of kinematic equations. These equations describe the positional relationship between each joint and component, ensuring that the end effector can accurately reach the target position. The following are the specific kinematic equations:

[0114]

[0115] Indicates the position change from the base of the coupling to the end of the actuator. z,a The flexible continuum module 200 is represented as a translation matrix to the cutout. This matrix describes the relative position relationship between the flexible tube and the first cutout, ensuring that the flexible tube can be correctly positioned at the cutout. Represents the rotation matrix from cut j to cut j+1. This matrix describes the rotation relationship between two adjacent cuts. By multiplying multiple such matrices, the rotation state of the entire flexible tube can be obtained. z,c Represents the translation matrix of the uncut part. This matrix describes the position relationship of the uncut part of the flexible pipe relative to the cut part, ensuring the integrity of the overall structure and the high accuracy of the control model. z,b-c Represents the translation matrix from the last cut to the end of the flexible tube. This matrix describes the relative position relationship between the last cut and the end of the flexible tube, ensuring that the end effector can be accurately positioned. z,e Represents the end effector, which needs to be set according to the different end effectors installed. This matrix describes the positional relationship of the end effector relative to the end of the flexible tube. It is adjusted according to different end effectors (such as grippers, microinjectors, flexible electrodes, etc.) to adapt to different operating requirements.

[0116] The robot control system provided by this application realizes high-precision control of multi-angle micromanipulation of different micro-organisms through the combination of multi-level feedback control and multiple control strategies. The system is not only suitable for fine operations in the biomedical field, but also for other complex application scenarios that require high-precision control. Through a highly integrated control architecture and advanced control algorithms, the system significantly improves the accuracy and reliability of operations.

[0117] Although the present application is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present application. It should therefore be understood that many modifications may be made to the exemplary embodiments, and other arrangements may be devised, without departing from the spirit and scope of the present application as defined by the appended claims. It should be understood that the different dependent claims and features described herein may be combined in a manner different from that described in the original claims. It will also be understood that the features described in conjunction with the individual embodiments may be used in other described embodiments.

Claims

1. A micron-level multi-degree-of-freedom flexible micromanipulator, characterized in that: include: Multi-degree-of-freedom mobile platform (1); A T-axis mobile platform (2) is connected to one end of the multi-degree-of-freedom mobile platform (1), wherein the T-axis mobile platform (2) comprises a flexible continuum module (200), a coupling (203), a first drive motor (204) and a second drive motor (209); wherein: The flexible continuum module (200) comprises a first flexible tube (201) and a second flexible tube (202), the first flexible tube (201) and the second flexible tube (202) are arranged in a nested manner, the first flexible tube (201) and the second flexible tube (202) respectively comprise a free end and a fixed end, the free end of the first flexible tube (201) is connected to the free end of the second flexible tube (202), and the fixed end of the second flexible tube (202) is connected to one end of the coupling (203); The second driving motor (209) is connected to the fixed end of the first flexible tube (201), and can drive the first flexible tube (201) to expand and contract along the axial direction of the coupling (203), so as to drive the second flexible tube (202) to bend; The first driving motor (204) is connected to the other end of the coupling (203), and can drive the coupling (203) and the flexible continuum module (200) to rotate.

2. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 1, characterized in that: The second flexible tube (202) is sleeved outside the first flexible tube (201); The second driving motor (209) drives the first flexible tube (201) to perform telescopic movement in the axial direction of the coupling (203), thereby driving the second flexible tube (202) to bend; The other end of the coupling (203) is connected to the first drive motor (204), and the first drive motor (204) rotates to drive the coupling (203) and the second flexible tube (202) to rotate, and the second flexible tube (202) rotates to drive the first flexible tube (201) to rotate.

3. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 2, characterized in that: One side of the tube wall of the first flexible tube (201) and the second flexible tube (202) is respectively provided with an incision, the sides of the incisions of the first flexible tube (201) and the second flexible tube (202) correspond to each other, and the incisions are adjacent to the free ends of the first flexible tube (201) and the second flexible tube (202).

4. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 2, characterized in that: The length of the second flexible tube (202) is shorter than the length of the first flexible tube (201).

5. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 2, characterized in that: Also includes: A linkage member (207), wherein the front end of the linkage member (207) is movably connected to a fixed structure (206), the fixed end of the first flexible tube (201) is clamped in the fixed structure (206), and the rear end of the linkage member (207) is drivingly connected to the second drive motor (209).

6. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 5, characterized in that: Also includes: A fixing frame (205), wherein a limiting plate perpendicular to the fixing frame (205) is fixed at the front end thereof, a through hole is provided at the center of the limiting plate, the coupling (203) is fixed in the through hole, and the rear end of the fixing frame (205) is connected to a rectangular connecting piece (208); The rectangular connecting member (208) is connected to one end of the multi-degree-of-freedom mobile platform (1); the output shaft of the second drive motor (209) drives the rectangular connecting member (208) to move, the linkage member (207) is connected to the side of the rectangular connecting member (208), and the second drive motor (209) drives the linkage member (207) to extend and retract in the axial direction of the second drive motor (209).

7. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 1, characterized in that: The multi-degree-of-freedom mobile platform (1) is provided with a rotating seat (3), and the multi-degree-of-freedom platform is fixed on the operating platform through the rotating seat (3); wherein an adjustable knob is provided on the side of the rotating seat (3), and the adjustable knob is used to rotationally adjust and position the rotating position of the rotating seat (3).

8. The micron-level multi-degree-of-freedom flexible micromanipulator according to claim 1, characterized in that: The flexible continuum module (200) further comprises a third flexible tube, wherein the third flexible tube is nested with the first flexible tube (201) and the second flexible tube (202), and the third flexible tube comprises a free end and a fixed end, wherein the free end of the third flexible tube is connected to the free end of the first flexible tube (201) and the free end of the second flexible tube (202), and the fixed end of the third flexible tube is connected to one end of the coupling (203).

9. A control method for a micron-level multi-degree-of-freedom flexible micromanipulator according to any one of claims 1 to 8, characterized in that: The control method comprises: Controlling the movement of the actuator of the micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end position; Controlling the angle between the actuator operating end and the operating platform of the micrometer-level multi-degree-of-freedom flexible micromanipulator and the direction of the actuator operating end according to the actuator end angle and direction desired signal; Capturing an image of the actuator and extracting image information, wherein the image information includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end; The coordinates of the actuator operating end, and the angle and direction between the actuator operating end and the operating table are adjusted in real time according to the image information.

10. A control system for a micron-level multi-degree-of-freedom flexible micromanipulator according to any one of claims 1 to 8, characterized in that: The control system includes: a coordinate control system, an image acquisition and processing system and an actuator operation end control system; wherein, The coordinate control system is used to control the movement of the actuator of the micrometer-level multi-degree-of-freedom flexible micromanipulator according to the desired signal of the actuator end position; The actuator operating end control system is used to control the angle between the actuator operating end and the operating table and the direction of the actuator operating end according to the desired angle and direction signal of the actuator end; The image acquisition and processing system is used to acquire the image of the actuator and extract image information, wherein the image information includes the position coordinates of the actuator operating end, the angle between the actuator operating end and the operating table, and the direction of the actuator operating end; The coordinate control system and the actuator operating end control system are also used to adjust the coordinates of the actuator operating end, and the angle and direction between the actuator operating end and the operating table in real time according to the image information.

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