Water spider type micro-robot with embedded magnetic poles and magnetic control driving method of water spider type micro-robot

Abstract

The invention discloses a water spider type micro-robot with embedded magnetic poles and a magnetic control driving method of the water spider type micro-robot. The hollow central sphere is connected with at least one hollow cylindrical leg part, one end of each hollow cylindrical leg part is fixedly connected with the hollow central sphere, and the outer surface of the other end of each hollow cylindrical leg part is provided with a triangular fin; a hollow cavity is formed in the hollow center ball body, a magnetic bar hole is formed in each hollow cylindrical leg portion in the axial direction of the hollow cylindrical leg portion, the hollow cavity of the hollow center ball body is communicated with the magnetic bar hole of each hollow cylindrical leg portion, and a magnetic bar is inserted in each magnetic bar hole. The magnetic bar drives the micro-robot to move or rotate in the preset direction under the action of an external magnetic field, and directional movement of the micro-robot is achieved. The directional controlled release of the medicine is realized by utilizing the rotary motion of the micro-robot, and the wide distribution of the medicine in normal tissues is avoided, so that the possible side effects of the medicine on the normal tissues are obviously reduced, and the safety and effectiveness of treatment are further improved.

Description

Technical Field

[0001] This invention belongs to the field of microrobots, and in particular relates to a water spider-type microrobot with embedded magnetic poles and its magnetically controlled drive method. Background Technology

[0002] In the biomedical field, with the ever-increasing demand for minimally invasive treatments and precision medicine, magnetically driven microrobots have emerged and developed rapidly. These robots possess unique advantages: they can be remotely and wirelessly controlled using magnetic fields, allowing them to flexibly navigate complex and confined spaces that are difficult for humans to access directly, such as blood vessels and cavities within the human body. This opens up entirely new avenues for disease diagnosis and treatment. Another significant advantage of magnetically driven microrobots lies in drug delivery. They can carry drugs and precisely deliver them to the lesion site, achieving targeted drug administration. This not only significantly improves treatment efficacy but also effectively reduces the side effects of drugs on normal tissues. However, magnetically driven microrobots also face challenges in their application.

[0003] It is important to note that the human body's immune system possesses a powerful self-protective mechanism. Under normal circumstances, the body will react negatively to any foreign substance. When a magnetically controlled micro-actuator enters the human body, it may inevitably encounter an attack from the immune system, which undoubtedly poses a significant challenge to the long-term stable operation of the magnetically driven microrobot within the body.

[0004] Currently, research on drug-carrying robots is at the forefront of the biomedical field, but it suffers from the following drawbacks: First, directional motion control of microrobots becomes extremely difficult in high-viscosity environments. Because current applications are typically in complex environments with low Reynolds numbers, viscous forces dominate, and inertial forces become negligible. Therefore, the design of microrobots must adhere to asymmetric structural design principles, but this sacrifices directional control performance in high-viscosity environments. This patented design considers the coordination between asymmetric structure and directional control, and extensive experiments have demonstrated that this structural design overcomes these problems to a certain extent. Second, drug delivery typically relies on pretreatment using chemical and biological processes. This means that the clinical trial viability of this technology is in a long-term verification period, and in vivo rejection reactions may be exacerbated by pretreatment techniques. Summary of the Invention

[0005] To address the problems existing in the background art, this invention provides a water spider-type microrobot with embedded magnetic poles and its magnetically controlled drive method, aiming to effectively overcome the shortcomings of the background art and provide a better solution for the precise treatment of diseases.

[0006] The technical solution adopted in this invention is as follows:

[0007] The present invention includes a hollow central sphere, hollow cylindrical legs, triangular ribs and a magnetic rod. At least one hollow cylindrical leg is connected to the hollow central sphere. Each hollow cylindrical leg is fixedly connected to the hollow central sphere at one end and a triangular rib is provided on the outer surface of the other end. The hollow central sphere, hollow cylindrical legs and triangular ribs are all integrally formed.

[0008] The hollow central sphere has a hollow cavity inside. Each hollow cylindrical leg has a through hole along the axial direction of the hollow cylindrical leg as a magnetic rod hole. The hollow cavity of the hollow central sphere is connected to the magnetic rod hole of each hollow cylindrical leg. A magnetic rod is inserted into each magnetic rod hole. The magnetic rod and the magnetic rod hole are interference fit. Under the action of an external magnetic field, the magnetic rod drives the micro-robot to move or rotate in a preset direction, realizing the directional movement of the micro-robot.

[0009] The axes of all the hollow cylindrical legs are located in the same plane.

[0010] The bottom surface of all triangular ribs is fixedly connected to the hollow cylindrical legs, and the center point of the bottom surface of all triangular ribs is located on the plane containing the axis of all hollow cylindrical legs.

[0011] Each triangular rib is located on the same side of its respective hollow cylindrical leg, and the projection angle of the apex of each triangular rib is between 10° and 25°.

[0012] When one or two hollow cylindrical legs are connected to the hollow central sphere, the hollow cavity of the hollow central sphere and the magnetic rod hole of each hollow cylindrical leg are connected to form a straight channel, and a magnetic rod is inserted into the straight channel. The magnetic rod and the straight channel are interference fit.

[0013] The hollow central sphere, hollow cylindrical legs, and triangular ribs are all made of epoxy resin.

[0014] When the hollow central sphere is connected to two or more hollow cylindrical legs, the included angle between any two adjacent hollow cylindrical legs is equal.

[0015] The magnetic drive method for the water spider-type microrobot includes the following steps:

[0016] First, a microrobot and a drug are encapsulated in a capsule. An external magnetic field is used to control the movement of a magnetic rod in the microrobot, which in turn moves the capsule toward a preset position. Once the capsule reaches the preset position and begins to dissolve, the drug is released from the capsule. The external magnetic field is then used to control the movement of the magnetic rod in the microrobot, which in turn rotates the microrobot in a preset direction, creating a horizontal depression at the location of the microrobot, which in turn causes the drug to distribute around the microrobot.

[0017] The specific method for controlling the movement of the magnetic rod in the microrobot using an external magnetic field is as follows: the movement of the magnetic rod is controlled by changing the waveform, phase difference, and magnetic flux of the external magnetic field.

[0018] Based on the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod, the velocity of the magnetic rod can be controlled by changing the magnetic flux of the external magnetic field. The method for obtaining the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod is as follows:

[0019] S1. First, place the micro-robot in a container containing silicone oil, so that the silicone oil submerges the micro-robot.

[0020] S2. Place the container containing the microrobot in the middle of the Helmholtz experimental platform, which is used to generate an external magnetic field.

[0021] S3. Using the Helmholtz experimental platform to control the magnetic flux, magnetic field strength, magnetic field frequency and magnetic field input waveform of the external magnetic field, the micro-robot begins to move under the influence of the external magnetic field.

[0022] S4. Change the magnetic flux of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the microrobot in real time to obtain the motion state of the microrobot under different magnetic fluxes.

[0023] The viscosity of the silicone oil in the container is greater than 1.005 mPa·s.

[0024] The beneficial effects of this invention are:

[0025] 1. The water spider-type robot of this invention innovatively combines fluid dynamics structural design, utilizing the rotational motion of a microrobot to achieve targeted and controlled drug release, preventing drug diffusion into ineffective areas, thereby improving local efficacy and enhancing the spatiotemporal distribution control capability during drug release, unlike traditional simple transport or diffusion release methods. Because the drug can accurately act on diseased tissue, it avoids widespread distribution in normal tissue, significantly reducing potential side effects on normal tissue and further improving the safety and effectiveness of treatment.

[0026] 2. This invention differs from traditional chemical and biological methods for carrying drugs. This invention uses a magnetic field to control a microrobot to interact with a fluid to carry drugs, which fundamentally eliminates the rejection reaction that may occur during pretreatment.

[0027] 3. The water spider-type magnetically controlled micro-actuator of this invention exhibits unique structural advantages. After the gaps are filled with medication, the capsule encapsulating the robot can be regarded as a complete micro-robot. This integrated design allows operators to directly use methods for controlling ordinary robots to precisely manipulate the capsule.

[0028] 4. The magnetically controlled micro-actuator structure not only increases the precision of targeted drug delivery, but also cleverly avoids rejection reactions in the body due to the absorbable nature of its capsule material, thus providing a broader prospect for the application of magnetically driven microrobots in the biomedical field. Attached Figure Description

[0029] Figure 1 It is a single-leg structure of a water spider microrobot;

[0030] Figure 2 It is the two-legged structure of a water spider microrobot;

[0031] Figure 3 It is a three-legged structure of a water spider microrobot;

[0032] Figure 4 This is a structural diagram of the Helmholtz experimental setup;

[0033] Figure 5 This is a schematic diagram of a circular container holding a water spider microrobot;

[0034] Figure 6 This is the velocity-magnetic field frequency diagram of the first specific embodiment;

[0035] Figure 7 This is the velocity-magnetic field frequency diagram of the second specific embodiment;

[0036] In the diagram: 1. Magnetic rod hole; 2. Hollow central sphere; 3. Hollow cylindrical leg; 4. Triangular rib. Detailed Implementation

[0037] The following are specific examples of the invention, along with the accompanying drawings, to further describe the technical solution of the present invention.

[0038] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0039] like Figures 1-3As shown, this embodiment includes a hollow central sphere 2, hollow cylindrical legs 3, triangular ribs 4, and a magnetic rod. At least one hollow cylindrical leg 3 is connected to the hollow central sphere 2. Each hollow cylindrical leg 3 is fixedly connected to the hollow central sphere 2 at one end, and a triangular rib 4 is provided on the outer surface of the other end, that is, the end away from the hollow central sphere 2. The hollow central sphere 2, hollow cylindrical legs 3, and triangular ribs 4 are all integrally formed.

[0040] The hollow central sphere 2 has a hollow cavity inside. Each hollow cylindrical leg 3 has a through hole along the axial direction of the hollow cylindrical leg 3 as a magnetic rod hole 1. The hollow cavity of the hollow central sphere 2 is connected to the magnetic rod hole 1 of each hollow cylindrical leg 3. A magnetic rod is inserted into each magnetic rod hole 1. The magnetic rod and the magnetic rod hole 1 are interference fit. Under the action of an external magnetic field, the magnetic rod drives the micro robot to move or rotate in a preset direction, realizing the directional movement and posture adjustment of the micro robot.

[0041] The axes of all hollow cylindrical legs 3 are located in the same plane.

[0042] The bottom surface of all triangular ribs 4 is fixedly connected to the hollow cylindrical leg 3, and the center point of the bottom surface of all triangular ribs 4 is located on the plane where the axis of all hollow cylindrical leg 3 is located.

[0043] Each triangular rib 4 is located on the same side of its respective hollow cylindrical leg 3, and the projection angle of the apex of each triangular rib 4 is between 10° and 25°.

[0044] The apex projection angle specifically refers to the angle of the apex of the triangle when viewed from the side (in which case the rib projection is a triangle).

[0045] When one or two hollow cylindrical legs 3 are connected to the hollow central sphere 2, the hollow cavity of the hollow central sphere 2 is connected to the magnetic rod hole 1 of each hollow cylindrical leg 3 to form a straight channel. A magnetic rod is inserted into the straight channel, and the magnetic rod and the straight channel are interference fit.

[0046] When the hollow central sphere 2 is connected to more than two hollow cylindrical legs 3, the magnetic rod is only loaded in the magnetic rod hole 1 of the hollow cylindrical leg 3 and does not extend into the hollow cavity of the hollow central sphere 2.

[0047] The hollow central sphere 2, the hollow cylindrical legs 3, and the triangular ribs 4 are all made of epoxy resin.

[0048] When the hollow central sphere 2 is connected to two or more hollow cylindrical legs 3, the included angle between any two adjacent hollow cylindrical legs 3 is equal.

[0049] In this embodiment, the hollow central sphere 2 has a diameter of 1.3 mm; the hollow cylindrical leg 3 has a length of 0.93 mm and a diameter of 0.7 ± 0.25 mm; the magnetic rod hole 1 has a diameter of 0.5 ± 0.25 mm; the magnetic rod is a neodymium iron boron magnetic rod, model N48, with a diameter of 0.5 mm, and the length of the magnetic rod embedded in the magnetic rod hole 1 is 3.16 mm; the triangular rib 4 has a height of 0.38 mm and a width of 0.3 mm, the rib direction is perpendicular to the long axis direction of the cylinder 3, the projection angle of the apex of the triangular rib is required to be in the range of 10° to 25°, and the distance between the center of the attachment position of the rib and the center of the sphere is 1.3 mm.

[0050] When the hollow central sphere 2 is connected to three hollow cylindrical legs 3, the embedded length of the magnetic rod is 0.93 mm. The polarity of the embedded magnetic rod can be selected according to different actual situations.

[0051] A magnetic drive method for a water spider-type magnetically controlled microrobot includes the following steps:

[0052] First, a microrobot and a drug are encapsulated in a capsule. An external magnetic field is used to control the movement of a magnetic rod in the microrobot, which in turn moves the capsule toward a preset position. Once the capsule reaches the preset position and begins to dissolve, the drug is released from the capsule. The external magnetic field is then used to control the movement of the magnetic rod in the microrobot, which in turn rotates the microrobot in a preset direction, creating a horizontal depression at the location of the microrobot, which in turn causes the drug to distribute around the microrobot.

[0053] Specifically, when the microrobot rotates, it operates in a motion mode that involves both splashing water and rotating. Supported by surface tension and buoyancy, the robot remains above the water surface, creating a horizontal depression at its location. Simultaneously, due to the presence of the ribs, the interaction with the fluid during rotation generates a low-pressure zone around the robot. The surrounding fluid has a higher pressure than the fluid near the robot, thereby capturing drugs within an initial distance of 1-3 cm and distributing the drugs around the microrobot.

[0054] The external magnetic field is uniformly distributed in space.

[0055] The specific method for controlling the movement of a magnetic rod in a microrobot using an external magnetic field is as follows: the movement of the magnetic rod is controlled by changing the waveform, phase difference, and magnetic flux of the external magnetic field.

[0056] Based on the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod, the velocity of the magnetic rod can be controlled by changing the magnetic flux of the external magnetic field. The method for obtaining the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod is as follows:

[0057] This implementation uses a miniature robot with only one leg.

[0058] S1. First, place the micro-robot in a container filled with silicone oil, ensuring the silicone oil completely submerges the micro-robot. A square grid is drawn on the bottom of the container, as shown below. Figure 5 As shown, the long axis of the magnetically controlled micro actuator is aligned with the square grid lines to accurately obtain the displacement of the micro robot;

[0059] S2. Place the container containing the microrobot in the center of the Helmholtz experimental platform, which is used to generate an external magnetic field. A schematic diagram of the Helmholtz experimental platform is shown below. Figure 4 As shown;

[0060] S3. Using the Helmholtz experimental platform to control the magnetic flux, magnetic field strength, magnetic field frequency and magnetic field input waveform of the external magnetic field, the micro-robot begins to move under the influence of the external magnetic field.

[0061] This involves adjusting the magnetic field information along the x, y, and z axes using an oscilloscope, including the phase difference, magnetic field strength, magnetic field frequency, and magnetic field input waveform. Simultaneously, the power amplifier for the corresponding axis is turned on, and the amplification power factor is adjusted to regulate the strength of the uniform magnetic field.

[0062] In this context, the direction perpendicular to the ground is taken as the z-direction of the external magnetic field, and according to the right-hand rule, the direction of the right thumb is taken as the x-direction of the external magnetic field, and the direction of the index finger is taken as the y-direction of the external magnetic field.

[0063] Subsequently, an AC magnetic field gaussmeter was used to test and verify the magnetic field strength of each axis.

[0064] S4. Change the magnetic flux of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the microrobot in real time to obtain the motion state (motion speed) of the microrobot under different magnetic fluxes.

[0065] Example 1

[0066] When both the x and z directions are sinusoidal waves, the magnetic flux is 30 Gs, and the phase difference between x and z is 90°, in specific implementation, the magnetic fields in the x and z directions are turned on, and timing begins the instant the magnetic fields are turned on, recording the time it takes for the magnetically controlled micro-actuator to move from its initial position to the specified grid line position. In this embodiment, the motion speed of the magnetically controlled micro-actuator under sinusoidal x and z directions, a phase difference of 90°, and a magnetic flux of 30 Gs is obtained by the formula v = s / t. Here, v represents the motion speed, s represents the motion distance, and t represents the time. In this embodiment, by changing the magnetic field frequencies in the x and z directions and repeating the experiment, the relationship between the motion speed of the magnetically controlled micro-actuator and the magnetic field frequencies in the x and z directions can be obtained, yielding the velocity-magnetic field frequency, as shown below. Figure 6 As shown.

[0067] Example 2

[0068] When both the x and z directions are sinusoidal waves, the magnetic flux is 60 Gs, and the phase difference between x and z is 90°, in specific implementation, the magnetic fields in the x and z directions are turned on, and timing begins the instant the magnetic fields are turned on, recording the time it takes for the magnetically controlled micro-actuator to move from its initial position to the specified grid line position. In this embodiment, the motion speed of the magnetically controlled micro-actuator under sinusoidal x and z directions and a magnetic flux of 60 Gs is obtained by the formula v = s / t. Here, v represents the motion speed, s represents the motion distance, and t represents the time. In this embodiment, by changing the magnetic field frequencies in the x and z directions and repeating the experiment, the relationship between the motion speed of the magnetically controlled micro-actuator and the phase difference of the magnetic fields in the x and z directions can be obtained, yielding the velocity-magnetic field frequency, as shown below. Figure 7 As shown.

[0069] The viscosity of the silicone oil in the container is greater than 1.005 mPa·s.

[0070] This invention relates to a water spider-type magnetically controlled micro-actuator structure, using carefully selected resin as its raw material. This resin material not only possesses excellent biocompatibility but also meets the physical performance requirements of robots operating in complex in vivo environments. During manufacturing, holes are drilled into the resin structure, and magnetic poles are precisely embedded within them, enabling the magnetically controlled micro-actuator to generate precise movement under the influence of an external magnetic field. By changing key parameters such as the waveform, frequency, and flux of the magnetic field, high-precision control of the motion state and trajectory of magnetically controlled micro-actuators with different structures can be achieved. The magnetically controlled micro-actuator structure of this invention includes various forms such as single-leg, double-leg, and triple-leg types. The number of magnetic poles and their arrangement are key factors affecting the motion trajectory of the magnetically controlled micro-actuator.

[0071] This invention enables a water-spider-shaped magnetically controlled micro-actuator to move in silicone oil of a certain viscosity, similar to the fluid environment inside the human body, during experiments. The number of legs and the directional arrangement of each magnetic pole affect the robot's movement, allowing for the classification of this robot into various types for different applications. Compared to traditional microrobot structures, the water-spider-shaped magnetically controlled micro-actuator exhibits unique structural advantages. This integrated design allows operators to precisely manipulate capsules using methods similar to those used for ordinary robots. In this way, the magnetically controlled micro-actuator structure not only increases the accuracy of targeted drug delivery but also cleverly avoids rejection reactions in the body due to the absorbable nature of its outer shell material, providing a broader prospect for the application of magnetically driven microrobots in the biomedical field.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A water spider-type microrobot with embedded magnetic poles, characterized in that: It includes a hollow central sphere (2), hollow cylindrical legs (3), triangular ribs (4) and a magnetic rod. At least one hollow cylindrical leg (3) is connected to the hollow central sphere (2). Each hollow cylindrical leg (3) is fixedly connected to the hollow central sphere (2) at one end and a triangular rib (4) is provided on the outer surface of the other end. The hollow central sphere (2), hollow cylindrical legs (3) and triangular ribs (4) are all integrally formed. The hollow central sphere (2) has a hollow cavity inside. Each hollow cylindrical leg (3) has a through hole along the axial direction of the hollow cylindrical leg (3) as a magnetic rod hole (1). The hollow cavity of the hollow central sphere (2) is connected to the magnetic rod hole (1) of each hollow cylindrical leg (3). A magnetic rod is inserted into each magnetic rod hole (1). The magnetic rod and the magnetic rod hole (1) are interference fit. Under the action of an external magnetic field, the magnetic rod drives the micro robot to move or rotate in a preset direction, thereby realizing the directional movement of the micro robot.

2. The water spider-type microrobot with embedded magnetic poles according to claim 1, characterized in that: The axes of all hollow cylindrical legs (3) are located in the same plane.

3. A water spider-type microrobot with embedded magnetic poles according to claim 2, characterized in that: The bottom surface of all triangular ribs (4) is fixedly connected to the hollow cylindrical leg (3), and the center point of the bottom surface of all triangular ribs (4) is located on the plane where the axis of all hollow cylindrical leg (3) is located. Each triangular rib (4) is located on the same side of its respective hollow cylindrical leg (3), and the projection angle of the apex of each triangular rib (4) is between 10° and 25°.

4. A water spider-type microrobot with embedded magnetic poles according to claim 1, characterized in that: When one or two hollow cylindrical legs (3) are connected to the hollow central sphere (2), the hollow cavity of the hollow central sphere (2) is connected to the magnetic rod hole (1) of each hollow cylindrical leg (3) to form a straight channel. A magnetic rod is inserted into the straight channel, and the magnetic rod and the straight channel are interference fit.

5. A water spider-type microrobot with embedded magnetic poles according to claim 1, characterized in that: The hollow central sphere (2), hollow cylindrical legs (3), and triangular ribs (4) are all made of epoxy resin.

6. A water spider-type microrobot with embedded magnetic poles according to claim 1, characterized in that: When the hollow central sphere (2) is connected to two or more hollow cylindrical legs (3), the included angle between any two adjacent hollow cylindrical legs (3) is equal.

7. A magnetically controlled drive method applied to any one of the water spider-type microrobots described in claims 1-6, characterized in that, Includes the following steps: First, a microrobot and a drug are encapsulated in a capsule. An external magnetic field is used to control the movement of a magnetic rod in the microrobot, which in turn moves the capsule toward a preset position. Once the capsule reaches the preset position and begins to dissolve, the drug is released from the capsule. The external magnetic field is then used to control the movement of the magnetic rod in the microrobot, which in turn rotates the microrobot in a preset direction, creating a horizontal depression at the location of the microrobot, which in turn causes the drug to distribute around the microrobot.

8. The magnetic drive method for the water spider-type magnetically controlled micro actuator according to claim 7, characterized in that: The specific method for controlling the movement of the magnetic rod in the microrobot using an external magnetic field is as follows: the movement of the magnetic rod is controlled by changing the waveform, phase difference, and magnetic flux of the external magnetic field.

9. The magnetic drive method for the water spider-type magnetically controlled micro-actuator according to claim 8, characterized in that: Based on the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod, the velocity of the magnetic rod can be controlled by changing the magnetic flux of the external magnetic field. The method for obtaining the relationship between the magnetic flux of the external magnetic field and the velocity of the magnetic rod is as follows: S1. First, place the micro-robot in a container containing silicone oil, so that the silicone oil submerges the micro-robot. S2. Place the container containing the microrobot in the middle of the Helmholtz experimental platform, which is used to generate an external magnetic field. S3. Using the Helmholtz experimental platform to control the magnetic flux, magnetic field strength, magnetic field frequency and magnetic field input waveform of the external magnetic field, the micro-robot begins to move under the influence of the external magnetic field. S4. Change the magnetic flux of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the microrobot in real time to obtain the motion state of the microrobot under different magnetic fluxes.

10. The magnetic drive method for the water spider-type magnetically controlled micro-actuator according to claim 9, characterized in that: The viscosity of the silicone oil in the container is greater than 1.005 mPa·s.

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