Motion-sampling dual-mode micro-robot

Abstract

The invention provides a motion-sampling dual-mode micro-robot which comprises a cylindrical outer cylinder and a cylindrical inner cylinder, the inner cylinder is detachably sleeved with the outer cylinder, a plurality of one-way inclined cutting edges are evenly arranged on the outer wall of the outer cylinder in the tangential direction to serve as sampling tools, micron magnetic particles are doped in the inner cylinder, and the micron magnetic particles are evenly distributed on the outer wall of the outer cylinder. After the micro-robot is magnetized, the internal magnetic moment is oriented to be orthogonal to the long central axis, and when an external rotating magnetic field is applied, a magnetic field vector rotates around the axis at a certain angular speed and forms a dynamic phase difference with the magnetic moment. According to the invention, the micro-robot can be endowed with multi-mode motion functions such as driving, sampling and recycling, the motion modes of the micro-robot are enriched, sampling is realized in a complex biological environment, and an important reference is provided for realizing multifunctional integration of the micro-robot in future.

Description

Technical Field

[0001] The present invention relates to the technical field of micro-robots, and in particular to a motion-sampling dual-mode micro-robot. Background Art

[0002] Multi-modal micro-robots can be designed according to different motion modes and can perform tasks in complex environments through multiple motion modes (such as swimming, crawling, rolling, jumping, etc.). Their multi-modal characteristics enable them to adapt to different environmental and task requirements and show broad application potential in the fields of medicine, environment, and industry.

[0003] The development of micro-robot technology provides a new perspective and tool for clinical medical technology to enter the era of nano-scale medical operations. Micro-robots usually have the characteristics of small size, good biocompatibility, and externally controllable driving, and can enter small spaces that cannot be reached by traditional medical devices to perform operation tasks. Driven by an external physical field (such as a magnetic field, light field, or ultrasonic wave), a micro-robot can become a new tool for controllable targeted sampling, realizing minimally invasive and high-precision sampling of small lung lesions.

[0004] At present, most micro-robots mainly achieve single manipulation and grasping actions through external stimuli, with a single motion mode and unable to perform multiple samplings efficiently. There are bottlenecks such as poor sampling accuracy and low efficiency, which restrict their practical applications in complex biological environments.

[0005] Therefore, endowing micro-robots with multi-modal motion functions such as driving, sampling, and recovery has important research significance and application value for achieving high-precision positioning and efficient sampling of small lung lesions. Summary of the Invention

[0006] The main purpose of the present invention is to provide a motion-sampling dual-mode micro-robot, aiming to endow the micro-robot with multi-modal motion functions such as driving, sampling, and recovery, enrich the motion modes of the micro-robot, and realize sampling in a complex biological environment.

[0007] To achieve the above purpose, the present invention proposes a motion-sampling dual-mode micro-robot, including: a cylindrical outer cylinder and a cylindrical inner cylinder. The inner cylinder is detachably sleeved inside the outer cylinder. A plurality of unidirectional inclined edges are evenly arranged tangentially on the outer wall of the outer cylinder as sampling tools. The inner cylinder is doped with micron magnetic particles. After the micro-robot is magnetized, the internal magnetic moments are oriented orthogonally to the long central axis. When an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moments.

[0008] A further technical solution of the present invention is that when the unidirectional inclined edge contacts the tissue, the case where the edge direction is parallel to the movement direction is forward rolling; when the edge contacts the tissue, the case where the edge direction is perpendicular to the movement direction and embeds the tissue surface to form a directional cutting force is reverse rolling.

[0009] A further technical solution of the present invention is that it further includes a motor controller for controlling the rotation direction and frequency of the magnetic field.

[0010] A further technical solution of the present invention is that the outer cylinder is a hollow structure with distributed open windows, both ends of the outer cylinder are open, and a plurality of windows are arranged longitudinally on both the outer cylinder and the inner cylinder so that the sample can enter the inside of the inner cylinder for storage.

[0011] A further technical solution of the present invention is that the outer surface of the outer cylinder is arranged with micro-spiny structures.

[0012] A further technical solution of the present invention is that the inner cylinder and the outer cylinder are assembled by a mortise and tenon structure.

[0013] A further technical solution of the present invention is that the mortise and tenon structure includes a plurality of protrusions longitudinally and fixedly arranged on the inner wall of the outer cylinder, and a plurality of grooves longitudinally and fixedly arranged on the outer wall of the inner cylinder, and the plurality of protrusions and the plurality of grooves are arranged at intervals in the plurality of windows.

[0014] The beneficial effects of the motion-sampling dual-mode micro-robot of the present invention are:

[0015] Through the above technical solutions, the present invention includes: a cylindrical outer cylinder and a cylindrical inner cylinder, the inner cylinder is detachably sleeved inside the outer cylinder, a plurality of unidirectional inclined edges are evenly arranged tangentially on the outer wall of the outer cylinder as sampling tools, the inner cylinder is doped with micron magnetic particles, after the micro-robot is magnetized, the internal magnetic moments are oriented orthogonally to the long central axis, when an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moments, which can endow the micro-robot with multi-modal motion functions such as driving, sampling and recovery, enrich the motion modes of the micro-robot, so as to realize sampling in a complex biological environment, and provide an important reference for the future realization of multi-functional integration of micro-robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the overall structure of a preferred embodiment of the motion-sampling dual-mode micro-robot of the present invention;

[0017] Figure 2 is a front view of a preferred embodiment of the motion-sampling dual-mode micro-robot of the present invention;

[0018] Figure 3It is a top view of a preferred embodiment of the motion-sampling dual-mode micro-robot of the present invention;

[0019] Figure 4 It is a bottom view of a preferred embodiment of the motion-sampling dual-mode micro-robot of the present invention;

[0020] Figure 5 It is a top view of the outer cylinder;

[0021] Figure 6 It is a schematic diagram of the overall structure of the outer cylinder;

[0022] Figure 7 It is a schematic diagram of the overall structure of the inner cylinder;

[0023] Figure 8 It is a schematic diagram of the rolling speed of the motion-sampling dual-mode micro-robot of the present invention in different directions in mucus;

[0024] Figure 9 It is a schematic diagram of the confocal fluorescence images of the motion-sampling dual-mode micro-robot of the present invention before and after sampling.

[0025] Explanation of the reference numerals in the drawings:

[0026] Outer cylinder 10; Inner cylinder 20; Blade edge 30; Micro-spiky structure 40; Protrusion 50; Groove 60; Window 70.

[0027] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Detailed implementation manners

[0028] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0029] The present invention provides a motion-sampling dual-mode micro-robot. As Figures 1 to 9 shown, a preferred embodiment of the motion-sampling dual-mode micro-robot of the present invention includes a cylindrical drum body and a cylindrical inner cylinder 20. The inner cylinder 20 is detachably sleeved inside the outer cylinder 10. A plurality of unidirectional inclined blade edges 30 are evenly arranged tangentially on the outer wall of the outer cylinder 10 as sampling tools. The inner cylinder 20 is doped with micron magnetic particles. The inner cylinder 20 realizes the doping of high-content magnetic micron particles through ultraviolet light curing 3D printing technology, improving the magnetic response performance and the sample storage capacity.

[0030] After the micro-robot is magnetized, the internal magnetic moments are oriented orthogonally to the long central axis. When an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moments.

[0031] In this embodiment, when the unidirectional inclined edge 30 contacts the tissue, the case where the direction of the edge 30 is parallel to the moving direction is forward rolling; when the edge 30 contacts the tissue, the case where the direction of the edge 30 is perpendicular to the moving direction and embeds the tissue surface to form a directional cutting force is reverse rolling.

[0032] As an implementation scheme, in this embodiment, the motion-sampling dual-mode micro-robot further includes a motor controller for controlling the rotation direction and frequency of the magnetic field.

[0033] The motion-sampling dual-mode micro-robot proposed in this embodiment has a hollow structure with a cylindrical shape and distributed open holes 70. As the drum body of the micro-robot, it meets the requirements of absorbing and storing samples after scraping samples. Micron magnetic particles are doped in the inner cylinder 20 to make the micro-robot have high magnetic responsiveness and be able to achieve precise motion and targeted positioning under the action of an external magnetic field. An edge 30 with unidirectional inclination is designed on the outer cylinder 10, which serves as a tool for targeted scraping of samples and at the same time ensures that the tissue cutting function is triggered only during reverse rolling. After the micro-robot is magnetized, its internal magnetic moment is oriented orthogonally to the long central axis. When an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moment of the robot. According to the magnetic torque formula T = m × B (m is the magnetic moment, B is the magnetic field strength), the robot is driven to rotate around the axis by the periodic torque action. The rotation direction of the magnetic field determines the direction of the magnetic torque, and thus determines the rotation and rolling direction of the robot. It is defined that when the inclined edge 30 of the outer cylinder 10 of the robot contacts the tissue, the case where the direction of the edge 30 is parallel to the moving direction is forward rolling; when the edge 30 contacts the tissue, the case where the direction of the edge 30 is perpendicular to the moving direction and embeds the tissue surface to form a directional cutting force is reverse rolling. By controlling the rotation direction and frequency of the magnetic field through the motor controller, the modal switching logic of forward rolling and reverse rolling of the robot is established; by controlling the movement direction and movement speed of the magnetic field through the robotic arm control software CR Studio, the motion modes such as forward rolling forward drive, reverse rolling forward sampling, and forward rolling backward recovery of the robot are further realized, so as to control the functional modes of the micro-robot in different scenarios as needed, which can provide an important reference for the future realization of multi-functional integration of micro-robots.

[0034] Further, in this embodiment, the outer cylinder 10 is a hollow structure with distributed open holes 70. Both ends of the outer cylinder 10 are open, and a plurality of windows 70 are arranged longitudinally on both the outer cylinder 10 and the inner cylinder 20 to facilitate samples to enter the interior of the inner cylinder 20 for storage.

[0035] In this embodiment, micro-spike structures 40 are arranged on the outer surface of the outer cylinder 10, and the outer cylinder 10 is prepared by high-precision two-photon printing technology.

[0036] Two-photon absorption is a non-linear optical effect: photosensitive materials need to simultaneously absorb two low-energy photons (usually near-infrared light with a wavelength of about 700 - 1100 nm), and the total energy reaches the excitation threshold of the photoinitiator.

[0037] Since the two-photon absorption probability is proportional to the square of the light intensity, effective polymerization only occurs within an extremely small volume (sub-micron level) at the laser focus, enabling three-dimensional structure processing with ultra-high resolution (usually in the nano to micron range).

[0038] The surface micro-spiky structure 40 is similar to the bionic structure of the micro-protrusions 50 on the surface of a bee wing. Verification of the surface contact angle proves that the micro-spiky structure 40 can achieve superhydrophobicity. And the mucus environment inside the trachea has many hydrophilic groups, and the superhydrophobic surface can effectively reduce the blockage of mucus.

[0039] Furthermore, in this embodiment, the inner cylinder 20 and the outer cylinder 10 are assembled using a mortise and tenon structure.

[0040] The mortise and tenon structure includes a number of protrusions 50 longitudinally and fixedly arranged on the inner wall of the outer cylinder 10, and a number of grooves 60 longitudinally and fixedly arranged on the outer wall of the inner cylinder 20. The number of protrusions 50 and the number of grooves 60 are arranged at intervals in the number of windows 70.

[0041] This embodiment uses a mortise and tenon structure to effectively lock the inner cylinder 20 and the outer cylinder 10, and can accurately anchor the inner and outer windows 70 to be aligned to form a locked integral lung sampling magnetic robot for sampling tasks. After returning from sampling, the samples inside the inner cylinder 20 can be collected by unlocking the protrusions 50 and the grooves 60.

[0042] The beneficial effects of the motion-sampling dual-mode micro-robot of the present invention are:

[0043] Through the above technical solutions, the present invention includes: a cylindrical outer cylinder and a cylindrical inner cylinder. The inner cylinder is detachably sleeved inside the outer cylinder. A number of one-way inclined cutting edges are evenly arranged tangentially on the outer wall of the outer cylinder as sampling tools. The inner cylinder is doped with micron magnetic particles. After the micro-robot is magnetized, the magnetic moments inside are oriented orthogonally to the long central axis. When an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moments, which can endow the micro-robot with multi-modal motion functions such as driving, sampling, and recovery, enriching the motion modes of the micro-robot to achieve sampling in a complex biological environment, providing an important reference for the future realization of multi-functional integration of micro-robots.

[0044] The above are only the preferred embodiments of the present invention, and do not thereby limit the patent scope of the present invention. Any equivalent structure or process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall similarly be included within the patent protection scope of the present invention.

Claims

1. A motion-sampling dual-modal micro-robot, characterized in that, Comprising: A cylindrical outer cylinder and a cylindrical inner cylinder, the inner cylinder is detachably sleeved inside the outer cylinder, and a plurality of unidirectional inclined cutting edges are evenly arranged tangentially on the outer wall of the outer cylinder as a sampling tool. The inner cylinder is doped with micron magnetic particles. After the micro-robot is magnetized, the internal magnetic moment is oriented orthogonal to the long central axis. When an external rotating magnetic field is applied, the magnetic field vector rotates around the axis at a certain angular velocity, forming a dynamic phase difference with the magnetic moment.

2. The motion-sampling dual-modal micro-robot according to claim 1, wherein When the unidirectional inclined cutting edge contacts the tissue, the situation where the cutting edge direction is parallel to the movement direction is forward rolling; when the cutting edge contacts the tissue, the situation where the cutting edge direction is perpendicular to the movement direction and embeds the tissue surface to form a directional cutting force is reverse rolling.

3. The motion-sampling dual-modal micro-robot according to claim 2, wherein It also includes a motor controller for controlling the rotation direction and frequency of the magnetic field.

4. The motion-sampling dual-mode micro-robot according to claim 1, wherein The outer cylinder is a hollow structure with distributed open windows, both ends of the outer cylinder are open, and a plurality of windows are arranged longitudinally on both the outer cylinder and the inner cylinder to allow samples to enter the interior of the inner cylinder for storage.

5. The motion-sampling dual-mode micro-robot according to claim 1, wherein The outer surface of the outer cylinder is provided with micro-spiny structures.

6. The motion-sampling dual-mode micro-robot according to claim 1, wherein The inner cylinder and the outer cylinder are assembled using a mortise and tenon structure.

7. The motion-sampling dual-modal micro-robot according to claim 6, characterized in that The mortise and tenon structure includes a plurality of protrusions longitudinally and fixedly arranged on the inner wall of the outer cylinder, and a plurality of grooves longitudinally and fixedly arranged on the outer wall of the inner cylinder. The plurality of protrusions and the plurality of grooves are arranged at intervals in the plurality of windows.

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