Millebogramma-imitating magnetic control micro-robot and control method thereof

Abstract

The invention belongs to the technical field of magnetic control micro-robots and intelligent control, and relates to a mudskipper-imitating magnetic control micro-robot and a control method thereof.The mudskipper-imitating magnetic control micro-robot system comprises a robot body and a control part, and the robot body is composed of two magnetic driving sub-modules and an energy storage module; the two magnetic driving sub-modules are symmetrically fixed at two ends of the energy storage module at a preset interval, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the control part comprises a magnetic field generation module for forming a driving magnetic field around the robot body and a controller for adjusting the magnetic field generation module to change the magnetic field intensity and direction so as to drive the robot body to realize jumping motion; the robot designed by the invention can adapt to large deformation of intestinal peristalsis, efficiently cross mucous membrane wrinkles, adapt to unstructured characteristics of intestinal tracts, and can accurately reach a focus area to provide a path for accurate diagnosis and treatment of intestinal diseases.

Description

Technical Field

[0001] This invention relates to the field of magnetically controlled microrobots and intelligent control technology, and in particular to a magnetically controlled microrobot that mimics a mudskipper and its control method. Background Technology

[0002] Intestinal diseases are prevalent worldwide, and endoscopy is commonly used in clinical practice for early diagnosis. However, traditional endoscopic examinations can easily cause patient discomfort and carry risks such as intestinal bleeding and perforation, making them unsuitable for the diagnosis and treatment of complex intestinal diseases. In recent years, microrobots, with their advantages of small size, flexible movement, and high control precision, can adapt to the complex physiological environment of the intestine and have shown great application potential in the field of precision diagnosis and treatment of intestinal diseases. Among the many driving methods for microrobots, magnetic field actuation, due to its strong penetration ability, high control precision, remote control capability, and high safety of human-computer interaction, is well-suited to the special environment of intestinal applications and has become the preferred driving method for the application of microrobots in the precision diagnosis and treatment of intestinal diseases.

[0003] Currently, commonly used magnetically controlled robots primarily achieve movement through crawling, rolling, and helical propulsion. However, the intestines possess complex physiological characteristics such as large deformations during peristalsis and folds and protrusions on the mucosal surface, posing significant challenges to the intestinal applications of magnetically controlled microrobots. Crawling robots rely on contact friction with the intestinal mucosa for propulsion, but are easily affected by intestinal mucus secretions. The adhesive resistance generated by the mucus can cause the robot to become stuck at mucosal folds due to uneven friction, hindering continuous and stable propulsion and severely impacting movement efficiency. Rolling robots move by rolling and conforming to the intestinal wall, requiring a high degree of smoothness of the intestinal wall. At folds and protrusions in the intestinal mucosa, the robot is prone to lateral slippage, deviating from its preset trajectory. Helical propulsion robots rely on their helical structure for propulsion. During intestinal peristalsis, their helical structure is prone to getting stuck in intestinal folds, preventing the robot from flexibly adjusting its posture and ultimately hindering precise targeting of lesion areas, greatly limiting their application in targeted diagnosis and treatment.

[0004] In summary, designing a magnetically controlled microrobot that can adapt to large deformations caused by intestinal peristalsis, efficiently traverse mucosal folds and protrusions, and thus accurately reach the lesion area, is a pressing issue that needs to be addressed to provide a novel, safe, and reliable technical approach for the precise diagnosis and treatment of intestinal diseases. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the problem that the magnetically controlled robots in the prior art cannot adapt to the large deformation of intestinal peristalsis and cross the folds and protrusions of the mucosal surface, thus failing to accurately reach the lesion area and provide a technical path for the precise diagnosis and treatment of intestinal diseases.

[0006] To solve the above-mentioned technical problems, the present invention provides a magnetically controlled microrobot that mimics a mudskipper, comprising: The magnetic drive module includes two magnetic drive sub-modules, which are symmetrically fixed to the same surface of the energy storage module at a preset distance. The energy storage module is used to enable the non-magnetic connection between the two magnetic drive submodules; The magnetic field generation module is used to generate a magnetic field around the magnetic drive module and the energy storage module under the control of the controller, and to adjust the direction and intensity of the magnetic field. The controller, connected to the magnetic field generation module, is used during the jump preparation phase to control the magnetic field generation module to form a magnetic field along the positive Z-axis and gradually increase the magnetic field strength until both ends of the energy storage module, driven by the two magnetic drive sub-modules, rotate in the positive Z-axis direction, forming a V-shaped bending configuration. This allows the energy storage module located between the magnetic drive sub-modules to store elastic potential energy. During the jump phase, the controller first controls the magnetic field generation module to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive sub-module closer to the positive X-axis to drive its connected energy storage module to rotate in the positive X-axis direction and strike the platform. The platform's reaction force and the elastic potential energy stored in the energy storage module cause the magnetic drive module and energy storage module to jump. Then, the controller controls the magnetic field generation module to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength, causing the magnetic drive module and energy storage module to move in the negative X-axis direction. After the jump, the controller controls the magnetic field generation module to reduce the magnetic field strength to 0, allowing the magnetic drive module and energy storage module to fall back onto the platform under the influence of gravity. When the lower surfaces of the two magnetic drive sub-modules are on the same horizontal plane, the magnetization direction of each magnetic drive sub-module is a horizontal direction away from the other magnetic drive sub-module, the center of symmetry of the two magnetic drive sub-modules is the origin, the direction of the connecting line between the two magnetic drive sub-modules is the X-axis, and the vertical direction is the Z-axis.

[0007] Preferably, when the magnetic drive submodule and its connected energy storage module rotate near the positive X-axis, the absolute acceleration of its center of mass is divided into translational acceleration and rotational acceleration. Specifically, it is expressed as follows: , , in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located closer to the positive X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the positive X-axis, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis.

[0008] Preferably, when the magnetic drive submodule near the positive X-axis rotates its connected energy storage module in the positive X-axis direction and strikes the platform, the acceleration of the center of mass of the magnetic drive submodule near the positive X-axis and its connected energy storage module satisfies: , , in, This represents the platform's elasticity coefficient; This represents the damping coefficient of the platform; This represents the horizontal component of the internal force at the center of mass of the energy storage module. This represents the vertical component of the internal force at the center of mass of the energy storage module. This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the positive X-axis. Represents gravitational acceleration; The expression for the resultant torque of the magnetic drive submodule and its connected energy storage module when rotating near the positive X-axis is: , in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the positive X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. .

[0009] Preferably, when the magnetic drive submodule and its connected energy storage module rotate near the negative X-axis, the absolute acceleration of its center of mass is divided into translational acceleration and rotational acceleration. Specifically, it is expressed as follows: , , in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the negative X-axis direction, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction.

[0010] Preferably, when the magnetic drive submodule near the positive X-axis rotates its connected energy storage module in the positive X-axis direction and strikes the platform, the acceleration of the center of mass of the magnetic drive submodule near the negative X-axis and its connected energy storage module satisfies: , , in, This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This represents the frictional force experienced by the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This indicates the supporting force experienced by the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. The expression for the resultant torque of the magnetic drive submodule and its connected energy storage module when rotating near the negative X-axis direction is: , in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. .

[0011] Preferably, the energy storage module has a convex cross-sectional shape along its length, with the protruding portion located between the two magnetic drive sub-modules. The energy storage module is 15mm long, 4mm wide, and has a raised portion with a height of 0.5mm and a non-raised portion with a height of 0.5mm. The magnetic drive submodule is a cuboid with a length of 5mm, a width of 4mm, and a height of 1mm.

[0012] Preferably, the magnetic drive submodule is made of a composite material of neodymium iron boron magnetic particles and PDMS matrix; the energy storage module is made of PDMS material.

[0013] Preferably, during the jump preparation phase, the angle between the magnetic drive submodule and the positive Z-axis is inversely proportional to the magnetic field strength. During the jump phase, the jump height of the magnetic drive submodule and the energy storage module, as well as the distance they move along the negative X-axis, are both proportional to the magnetic field strength.

[0014] Preferably, when the magnetic field strength is 10mT~15mT, the jump height between the magnetic drive submodule and the energy storage module is 1.8mm~4.7mm, and the movement distance along the negative X-axis is 6mm~20mm.

[0015] This invention also provides a control method for a magnetically controlled microrobot that mimics mudskippers. The method is applied to the controller in the aforementioned magnetically controlled microrobot that mimics mudskippers, and includes: During the jump preparation phase, the control magnetic field generation module forms a magnetic field along the positive Z-axis and gradually increases the magnetic field strength until the two magnetic drive sub-modules drive both ends of the energy storage module to rotate in the positive Z-axis direction, forming a V-shaped bending configuration, so that the energy storage module located between the magnetic drive sub-modules partially stores elastic potential energy. During the jumping phase, the magnetic field generation module is first controlled to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive sub-module, which is close to the positive X-axis, to rotate the connected energy storage module in the positive X-axis direction and hit the platform. The reaction force of the platform and the elastic potential energy stored in the energy storage module cause the magnetic drive module and the energy storage module to jump. Then, the magnetic field generation module is controlled to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength. This causes the magnetic drive module and the energy storage module to move along the negative X-axis direction. After the jump, the control magnetic field generation module reduces the magnetic field strength to 0, causing the magnetic drive module and energy storage module to fall back onto the platform under the influence of gravity.

[0016] The mudskipper-inspired magnetically controlled microrobot provided in this application includes a magnetic drive module, an energy storage module, a magnetic field generation module, and a controller. The magnetic drive module comprises two magnetic drive sub-modules, which are symmetrically fixed to the same surface of the energy storage module at a predetermined distance. The energy storage module enables a non-magnetic connection between the two magnetic drive sub-modules. The magnetic field generation module, under the control of the controller, generates a magnetic field around the magnetic drive module and the energy storage module, and adjusts the direction and intensity of the magnetic field. The controller changes the intensity and direction of the magnetic field by controlling the magnetic field generation module, enabling the mudskipper-inspired magnetically controlled microrobot to achieve jumping motion. This mudskipper-inspired magnetically controlled microrobot, designed by drawing inspiration from the jumping mechanism of mudskippers, features an external... Under the influence of a rotating magnetic field, the magnetic drive module deflects due to the magnetic torque, causing the robot to quickly slap the ground. The connected energy storage module undergoes elastic deformation and accumulates elastic energy during the movement, which is then rapidly released to achieve a jump. This not only possesses stable and efficient jumping capabilities, but also demonstrates through experiments that a single complete jump takes only 0.55 seconds, with a take-off response time of 0.3 seconds, effectively overcoming the shortcomings of slow robot movement and weak traversal ability. Furthermore, the robot designed in this application can adapt to the large deformations of intestinal peristalsis through jumping, efficiently traversing mucosal folds, solving the problems of existing robots easily getting stuck and unstable in non-flat intestines. It adapts to the unstructured characteristics of the intestine and can accurately reach the lesion area, providing a technical path for the precise diagnosis and treatment of intestinal diseases. Attached Figure Description

[0017] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein: Figure 1 This is a schematic diagram of the magnetic drive module and energy storage module in the magnetically controlled microrobot resembling a mudskipper provided in this application; wherein, Figure 1 Image (a) is a front view of the magnetic drive module and the energy storage module. Figure 1 (b) is a three-dimensional structural diagram of the magnetic drive module and the energy storage module; Figure 2 This is a schematic diagram illustrating the jumping motion of the magnetically controlled microrobot modeled after a mudskipper, as provided in this application; wherein... Figure 2 (a) is a schematic diagram of a magnetically controlled microrobot that mimics the mudskipper during the non-jumping phase. Figure 2 (b) is a schematic diagram of a magnetically controlled microrobot modeled after a mudskipper during the jump preparation phase. Figure 2 (c) is the first schematic diagram of the magnetically controlled microrobot mimicking the pufferfish during the jumping phase. Figure 2 (d) is a second schematic diagram of the magnetically controlled microrobot mimicking the pufferfish during the jumping phase. Figure 2 (e) in the diagram is a schematic of a magnetically controlled microrobot that mimics a mudskipper at the end of a jump; Figure 3 A process flow diagram for the fabrication of the magnetic drive module and energy storage module in the magnetically controlled microrobot inspired by mudskippers provided in this application; Figure 4 A schematic diagram of the dynamic model of the magnetically controlled microrobot resembling a mudskipper provided in this application; Figure 5 The graph showing the relationship between jumping parameters and magnetic field strength for the magnetically controlled microrobot resembling a mudskipper provided in this application; wherein, Figure 5 (a) in the figure shows the relationship between the jump height and magnetic field strength of the magnetically controlled microrobot that mimics a mudskipper. Figure 5 (b) in the figure is a graph showing the relationship between the jumping distance and the magnetic field strength of the magnetically controlled microrobot that imitates the mudskipper. Figure 6 This is a schematic diagram illustrating the jumping motion on the ground of the magnetically controlled microrobot resembling a mudskipper provided in this embodiment of the application. Figure 7 This is a schematic diagram illustrating the jumping motion of the magnetically controlled microrobot resembling a mudskipper on the intestinal surface, as provided in an embodiment of this application. Explanation of reference numerals in the accompanying drawings: 1. Magnetic drive module; 11. Magnetic drive sub-module; 2. Energy storage module; 21. Protruding part. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0019] The magnetically controlled microrobot resembling a mudskipper provided in this application consists of a robot body and a control unit. The robot body is made of a magnetic-elastic composite material and has an overall flat rectangular structure. Please refer to [link to relevant documentation]. Figure 1 , Figure 1 The diagram shows the magnetic drive module and energy storage module of the mudskipper-inspired magnetically controlled microrobot provided in this application; wherein, Figure 1 Image (a) is a front view of the magnetic drive module and the energy storage module. Figure 1 (b) is a three-dimensional structural diagram of the magnetic drive module and the energy storage module.

[0020] Specifically, the magnetically controlled micro-robot resembling a mudskipper provided in this application includes a magnetic drive module 1, an energy storage module 2, a magnetic field generation module (not shown in the figure), and a controller (not shown in the figure).

[0021] The robot body consists of magnetic drive module 1 and energy storage module 2.

[0022] The magnetic drive module 1 includes two magnetic drive sub-modules 11, which are symmetrically fixed on the same surface of the energy storage module 2 at a preset distance.

[0023] The energy storage module 2 is used to realize the non-magnetic connection between the two magnetic drive sub-modules 11.

[0024] Furthermore, the energy storage module 2 has a convex cross-sectional shape along its length, with the protruding part 21 located between the two magnetic drive sub-modules 11.

[0025] Furthermore, the energy storage module 2 has a length of 15mm, a width of 4mm, a height of 0.5mm for the protruding part 21, and a height of 0.5mm for the non-protruding part.

[0026] Furthermore, the magnetic drive submodule 11 is a cuboid with a length of 5mm, a width of 4mm, and a height of 1mm.

[0027] from Figure 1 As can be seen in (b), the length of the protruding part 21 on the energy storage module 2 is 3mm, and the sum of the height of the protruding part 21 and the height of the non-protruding part is 1mm. Optionally, the height of the protruding part 21 can also be adjusted by taking into account the elastic potential energy storage performance and the total mass of the robot.

[0028] Furthermore, the material of the magnetic drive submodule 11 is a composite material of neodymium iron boron magnetic particles and PDMS matrix; the material of the energy storage module 2 is PDMS material.

[0029] The control unit includes a magnetic field generation module and a controller. It should be noted that when the imitation mudskipper magnetically controlled microrobot is used for intestinal detection, only the robot body is located inside the intestine, while the control unit is located outside the body. Diagnosis and treatment are achieved by controlling the jumping movement of the robot body.

[0030] The magnetic field generation module is used to create a magnetic field around the magnetic drive module 1 and the energy storage module 2 under the control of the controller, and to adjust the direction and intensity of the magnetic field. For example, the magnetic field generation module can be a three-dimensional Helmholtz coil, with the robot body placed inside the coil. The controller can change the direction and intensity of the magnetic field by controlling the coil current.

[0031] The controller connects to the magnetic field generation module and is used to change the magnetic field strength and direction by controlling the magnetic field generation module, enabling the body of the mudskipper-inspired magnetically controlled microrobot to achieve jumping motions, such as... Figure 2 The diagram shown illustrates the process of the jumping motion of the magnetically controlled microrobot modeled after a mudskipper, as provided in this application.

[0032] Specifically, such as Figure 2(a) shows a schematic diagram of the magnetically controlled microrobot mimicking a mudskipper during the non-jumping phase. During the non-jumping phase, the controller controls the magnetic field generation module to form a magnetic field along the positive Z-axis and maintains the magnetic field strength at 0, that is, there is no magnetic field around the magnetic drive module 1 and the energy storage module 2, and the robot body is placed horizontally on the platform surface.

[0033] like Figure 2 As shown in (b), during the jump preparation phase, the controller controls the magnetic field generation module to form a magnetic field along the positive Z-axis and gradually increases the magnetic field strength until the two magnetic drive sub-modules 11 drive both ends of the energy storage module 2 to rotate in the positive Z-axis direction, forming a V-shaped bending configuration. This causes the portion of the energy storage module 2 located between the magnetic drive sub-modules 11 (i.e., Figure 1 The protrusion 21 shown stores elastic potential energy.

[0034] like Figure 2 As shown in (c) and (d), during the jumping phase, the controller first controls the magnetic field generation module to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive submodule 11, which is close to the positive X-axis, to rotate the connected energy storage module 2 part in the positive X-axis direction and hit the platform. The reaction force of the platform and the elastic potential energy stored in the energy storage module 2 cause the magnetic drive module 1 and the energy storage module 2 to jump. Then, the controller controls the magnetic field generation module to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength. This causes the magnetic drive module 1 and the energy storage module 2 to move along the negative X-axis direction.

[0035] like Figure 2 As shown in (e), after the jump ends, the controller controls the magnetic field generation module to make the magnetic field strength 0, so that the magnetic drive module 1 and the energy storage module 2 fall back to the platform under the action of gravity and return to the non-jump stage state.

[0036] It should be noted that when the lower surfaces of the two magnetic drive sub-modules 11 are located on the same horizontal plane, the magnetization direction of each magnetic drive sub-module 11 is a horizontal direction away from the other magnetic drive sub-module 11, the center of symmetry of the two magnetic drive sub-modules 11 is the origin (the center of symmetry mentioned in the embodiments of this application refers to the center of symmetry when the lower surfaces of the two magnetic drive sub-modules 11 are located on the same horizontal plane), the direction of the connecting line of the two magnetic drive sub-modules 11 is the X-axis, and the vertical direction is the Z-axis; the platform can be the ground, desktop, intestinal surface, etc.

[0037] The robot body of the magnetically controlled microrobot inspired by mudskippers designed in this application adopts a three-segment symmetrical structure, mainly including two symmetrically distributed magnetic drive sub-modules 11 and a non-magnetic connection-energy storage module 2 connecting the two magnetic drive sub-modules 11. This three-segment structure can ensure the stability of the overall structure and realize the coordinated control of magnetic drive and elastic potential energy, laying the structural foundation for the robot to achieve jumping motion. Specifically, the magnetic moments of the two magnetic drive sub-modules 11 are equal in magnitude and opposite in direction, with their magnetization directions back to back. Under the action of an external magnetic field, they generate opposite magnetic torques. The energy storage module 2 is made of pure PDMS material without any magnetic particles. In addition to connecting the two magnetic drive sub-modules 11, it can also achieve efficient storage and controllable release of elastic potential energy through stiffness gradient design. It is worth noting that the total mass of the robot body designed based on the above structural parameters in this embodiment is only 0.1g, and the mass of the magnetic drive module 1 is 0.035g, which has the advantages of small size and lightweight.

[0038] This application also provides a method for manufacturing the robot body, such as... Figure 3 The diagram shows the manufacturing process flow chart, which mainly includes mold making, uniform mixing of NdFeB and PDMS, heating and curing, demolding and magnetization, and assembly. The specific steps include steps 1 through 5: Step 1: Use SolidWorks modeling software to draw the mold models of the magnetic drive submodule and energy storage module of the imitation mudskipper magnetic control micro robot. Import the mold models of the magnetic part and the convex non-magnetic part into the 3D printer and complete the mold production through photopolymerization.

[0039] Step 2: To prepare the magnetic drive submodule, a release agent needs to be uniformly sprayed onto the mold surface to ensure that the cured strip can be completely demolded. Then, the PDMS base polymer and crosslinking agent are mixed at a mass ratio of 10:1 to obtain a curable prepolymer. Then, NdFeB magnetic powder is added to the prepolymer, ensuring that the mass ratio of PDMS to NdFeB is 3:7. This is because the higher the mass proportion of NdFeB, the greater the driving force of the magnetic drive submodule. The powder is thoroughly mixed in the prepolymer by mechanical stirring. Then, the mixture is introduced into the mold of the magnetic drive submodule and placed in a vacuum defoamer. It is placed under negative pressure for 10 to 15 minutes to remove air bubbles and avoid void defects inside the cured strip.

[0040] Step 3: Place the mold containing the magnetic drive submodule with the mixture on a heating table and heat it at 60°C. After heating for 2 hours, the PDMS matrix is ​​fully cross-linked and cured to form a composite strip with a certain elasticity. After cooling, peel the cured strip out of the mold. Then, perform directional magnetization on the strip. Place the strip in the center of the coil of the pulse magnetizer, ensuring that its length direction is consistent with the magnetization direction. Then, apply a high-intensity pulsed magnetic field to make the magnetic moments of the NdFeB particles in the strip align in an orderly manner along the length direction, thereby obtaining the required longitudinal magnetization characteristics.

[0041] Step 4: The manufacturing process of the non-magnetic convex-shaped body is the same as the above steps. The difference is that the material is pure PDMS. When preparing it, only the basic polymer and crosslinking agent need to be mixed. There is no need to add NdFeB particles. After the same casting, defoaming, heating curing and demolding process, the flexible non-magnetic body part can be obtained.

[0042] Step 5: Attach two magnetized magnetic strips with the magnetization direction facing outwards to the left and right ends of the convex-shaped non-magnetic body to complete the preparation of the robot body of the imitation mudskipper magnetic control micro-robot.

[0043] Specifically, the mudskipper-inspired magnetically controlled microrobot of this application is designed based on the jumping motion of a mudskipper. Analysis of the mudskipper's jumping motion reveals that its complete jumping process can be divided into a preparation phase, a take-off phase, and a landing phase. In the preparation phase, the mudskipper uses its pectoral fins to support its body and maintain balance, causing its head and tail to tilt upwards synchronously, forming a stable pre-jump posture and creating conditions for subsequent force exertion. In the take-off phase, the tail muscles contract rapidly, generating reaction force by violently slapping the ground, releasing energy and transferring momentum in a short time, propelling the body into the air and achieving a forward and upward jump. In the landing phase, the mudskipper adjusts its posture in the air and lands smoothly back on the ground, completing one full jumping cycle.

[0044] like Figure 2As shown, the jumping principle of the mudskipper-inspired magnetically controlled microrobot designed in this application is similar to the movement pattern of a mudskipper, both of which achieve jumping by rapidly slapping the ground. The detailed motion process is as follows: In the initial state, the robot is placed horizontally on the platform surface along the X-axis. A rotating magnetic field is applied through a three-dimensional Helmholtz coil. First, the magnetic field strength is increased along the positive Z-axis. Under the action of magnetic torque, both ends of the micro-robot rotate in the positive Z-axis direction, with the left end rotating clockwise and the right end rotating counterclockwise, forming a V-shaped pre-bending configuration. Then, the magnetic field rotates counterclockwise in the positive X-axis direction. At a certain moment, the magnetic torque on the left end reverses, causing its rotation direction to change from clockwise to counterclockwise, while the right end continues to rotate counterclockwise, causing the robot to tilt in the positive X-axis direction. When the left end quickly hits the platform, the ground reaction force provides the jumping force, causing the left end to jump upward and move the right end into the air. Finally, the magnetic field rotates back to the positive Z-axis direction clockwise and maintains this direction, keeping the micro-robot in an upward posture to achieve a greater jump distance. After the robot's posture stabilizes, the magnetic field is removed, and the robot falls smoothly back to the platform under the action of gravity, completing a complete jump.

[0045] To deeply study the jumping motion dynamics of the magnetically controlled microrobot inspired by mudskippers and clarify its motion laws, this application constructs a dynamic model to accurately describe the robot's motion process, such as... Figure 4 The diagram shown is a schematic diagram of the dynamic model of the magnetically controlled microrobot that resembles a mudskipper provided in this application.

[0046] First, the model is simplified by abstracting the mudskipper-inspired magnetically controlled microrobot as two rigid rods connected by free joints, denoted as rod OA and rod OB. Rod OA represents the magnetic drive submodule and its connected energy storage module, with a length of [missing information]. The quality is The angle between the x-axis and the positive x-axis is Rod OB is the magnetic drive submodule located near the negative X-axis and its connected energy storage module, with a length of [length missing]. The quality is The angle between the x-axis and the positive x-axis is The joint point O is the centroid of the energy storage module.

[0047] Specifically, when the magnetic drive submodule near the positive X-axis and its connected energy storage module (rod OA) rotate, its absolute acceleration of the center of mass is divided into translational acceleration and rotational acceleration; specifically expressed as: , , in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located closer to the positive X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the positive X-axis, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis.

[0048] When the magnetic drive submodule closer to the positive X-axis rotates its connected energy storage module (rod OA) in the positive X-axis direction and strikes the platform, it receives a force from the platform's spring damping system. Simultaneously, due to its connection to rod OB via joint O, it experiences internal forces at joint O. According to Newton's second law, the acceleration of the center of mass of the magnetic drive submodule closer to the positive X-axis and its connected energy storage module satisfies: , , in, This represents the platform's elasticity coefficient; This represents the damping coefficient of the platform; This represents the horizontal component of the internal force at the center of mass of the energy storage module. This represents the vertical component of the internal force at the center of mass of the energy storage module. This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the positive X-axis. It represents the acceleration due to gravity.

[0049] The resultant torque of the magnetic drive submodule near the positive X-axis and its connected energy storage module during rotation is the product of the moment of inertia and angular acceleration, expressed as: , in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the positive X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. .

[0050] When the magnetic drive submodule near the negative X-axis and its connected energy storage module (rod OB) rotate, its absolute acceleration of the center of mass is divided into translational acceleration and rotational acceleration; specifically expressed as follows: , , in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the negative X-axis direction, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction.

[0051] When the magnetic drive submodule closer to the positive X-axis rotates its connected energy storage module (rod OA) in the positive X-axis direction and strikes the platform, the magnetic drive submodule closer to the negative X-axis and its connected energy storage module (rod OB) are mainly subjected to gravity, support force, friction, and internal forces at joint point O. According to Newton's second law, its center of mass acceleration satisfies: , , in, This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This represents the frictional force experienced by the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This indicates the supporting force experienced by the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction.

[0052] The expression for the resultant torque of the magnetic drive submodule and its connected energy storage module when rotating near the negative X-axis direction is: , in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. .

[0053] The above dynamic model covers the relationship between the translational acceleration, rotational angular velocity and various forces and torques of the two magnetic drive sub-modules and their connected energy storage module. It clarifies the influence of key factors such as magnetic torque, platform force, and joint internal forces on the robot's jumping motion. By solving the above equations simultaneously, the motion trajectory of joint O, the angular displacement and angular velocity variation law of the two magnetic drive sub-modules can be obtained, thus fully describing the jumping motion dynamic characteristics of the imitation mudskipper magnetically controlled microrobot.

[0054] Furthermore, during the jump preparation phase, the angle between the magnetic drive submodule and the positive Z-axis is inversely proportional to the magnetic field strength; during the jump phase, the jump height of the magnetic drive submodule and the energy storage module, as well as the movement distance along the negative X-axis, are both directly proportional to the magnetic field strength.

[0055] like Figure 5 The figure shown is a graph depicting the relationship between the jumping parameters and the magnetic field strength of the magnetically controlled microrobot resembling a mudskipper provided in this application; wherein, Figure 5 (a) in the figure shows the relationship between the jump height and magnetic field strength of the magnetically controlled microrobot that mimics a mudskipper. Figure 5 (b) is a graph showing the relationship between the jump distance and magnetic field strength of the magnetically controlled microrobot that resembles a mudskipper. When the magnetic field strength is 10mT~15mT, the jump height between the magnetic drive submodule and the energy storage module is 1.8mm~4.7mm, and the movement distance along the negative X-axis is 6mm~20mm.

[0056] The following examples verify the jumping motion implementation process of the above-mentioned mudskipper-inspired magnetically controlled microrobot.

[0057] Embodiment 1 of this application specifically describes the jumping process of a mudskipper-inspired magnetically controlled microrobot on the ground under specific magnetic field conditions, thereby clarifying its jumping mode and motion parameters to verify the effectiveness of the robot's jumping characteristics. The magnetic field frequency in this embodiment is 4Hz.

[0058] like Figure 6The diagram illustrates the jumping motion of the mudskipper-inspired magnetically controlled microrobot provided in this embodiment on the ground: At t=0s, the mudskipper-inspired magnetically controlled microrobot is placed horizontally on the ground, with its length along the X-axis. A continuously increasing magnetic field is applied in the vertically upward direction. The left end of the robot rotates clockwise, and the right end rotates counterclockwise. At t=0.27s, the magnetic field strength reaches 15mT, and the robot forms a V-shaped configuration. The elastic potential energy stored in the protrusions on the energy storage module increases. At this time, the robot's posture corresponds to the mudskipper jumping with its chest raised. The robot props itself up with its fins, and its head and tail tilt upwards. The magnetic field rotates along the positive X-axis, causing the robot to tilt to the left. At t=0.3s, the left end of the robot quickly touches the ground and uses the ground reaction force to complete the jump. Simultaneously, the stored elastic potential energy is converted into kinetic potential energy to overcome the robot's gravitational potential energy. The mechanism by which the robot completes the upward jump is consistent with the mechanism by which a mudskipper jumps by rapidly slapping the ground with its tail. At t=0.42s, the robot reaches its highest point and finally lands smoothly back on the ground at t=0.55s. Experimental measurements show that under these conditions, the jump height at the joints of the mudskipper-inspired magnetically controlled microrobot is 4.66mm, and the jump distance is 19.67mm, verifying the stability of the robot's jumping performance on the ground.

[0059] Example 2 of this application selects real pig large intestine tissue as an experimental carrier to simulate the actual motion conditions of the imitation mudskipper magnetically controlled microrobot on the uneven environment of the intestinal surface, and focuses on verifying the robot's environmental adaptability and motion robustness on high-difficulty obstacle surfaces.

[0060] The experiment used fresh pig intestines as a carrier. The surface of the intestines has typical highly unstructured features, with dense and raised mucosal folds. This physical morphology poses a significant challenge to the robot's jumping motion. The magnetic field frequency in this embodiment is 4Hz.

[0061] like Figure 7The diagram illustrates the juvenile mudskipper-inspired magnetically controlled microrobot's jumping motion on the intestinal surface, as provided in this embodiment. Under the influence of magnetic torque, the robot's left side rotates rapidly and impacts the intestinal mucosa. Utilizing the reaction force generated by the impact as the propulsion, the robot completes a forward jump. This motion mode allows the robot to effectively overcome protruding obstacles on the intestinal surface by utilizing the support of the local mucosa, overcoming the interference of uneven surfaces. Despite the obstacles posed by the complex mucosal folds on the large intestine, the robot still exhibits excellent environmental adaptability and efficient jumping ability, achieving stable obstacle-crossing jumps. Measurements showed that under experimental conditions with a maximum magnetic field strength of 15 mT, the robot achieved a jump height of 3.58 mm and a jump distance of 14.48 mm. These experimental results fully verify the applicability of the juvenile mudskipper-inspired magnetically controlled microrobot designed in this application in the complex environment of the digestive tract, confirming that the robot possesses the motion performance required for actual clinical diagnosis and treatment, and laying an experimental foundation for its subsequent clinical application.

[0062] This application also provides a control method for a magnetically controlled microrobot that mimics mudskippers. This method is applied to the controller in the aforementioned magnetically controlled microrobot that mimics mudskippers, and includes: During the jump preparation phase, the control magnetic field generation module forms a magnetic field along the positive Z-axis and gradually increases the magnetic field strength until the two magnetic drive sub-modules drive both ends of the energy storage module to rotate in the positive Z-axis direction, forming a V-shaped bending configuration, so that the energy storage module located between the magnetic drive sub-modules partially stores elastic potential energy. During the jumping phase, the magnetic field generation module is first controlled to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive sub-module, which is close to the positive X-axis, to rotate the connected energy storage module in the positive X-axis direction and hit the platform. The reaction force of the platform and the elastic potential energy stored in the energy storage module cause the magnetic drive module and the energy storage module to jump. Then, the magnetic field generation module is controlled to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength. This causes the magnetic drive module and the energy storage module to move along the negative X-axis direction. After the jump, the control magnetic field generation module reduces the magnetic field strength to 0, causing the magnetic drive module and energy storage module to fall back onto the platform under the influence of gravity.

[0063] This application employs a magneto-elastic composite material, using neodymium iron boron powder and PDMS as raw materials to form a matrix material with both flexible and magnetically responsive properties. The robot adopts a symmetrical structure, consisting of magnetic drive sub-modules on both sides and a central convex-shaped non-magnetic connection-energy storage module. Through structural symmetry and flexible energy storage design, it achieves the energy accumulation and rapid release required for jumping. Its jumping motion is inspired by the jumping mechanism of mudskippers. Under the action of an external rotating magnetic field, the magnetic drive module is deflected by the magnetic torque, causing the robot to rapidly slam into the ground. The connection-energy storage module undergoes elastic deformation during the movement and accumulates elastic energy, which is then rapidly released to achieve the jump. By adjusting the neodymium iron boron doping ratio, magnetic field strength, and drive frequency, the robot's jump height and distance can be optimized. Not only does it possess stable and efficient jumping capabilities, but experimental verification shows that a single complete jump takes 0.55s with a take-off response time of 0.3s, effectively overcoming the shortcomings of slow robot movement and weak traversal ability. In addition, the robot designed in this application can adapt to large deformations in intestinal peristalsis and efficiently traverse mucosal folds, solving the problems of existing robots being prone to getting stuck and unstable in non-flat intestines. Using fresh pig large intestine as an experimental carrier (simulating a non-flat intestinal environment), under the same magnetic field conditions, the measured jump height was 3.58mm and the jump distance was 14.48mm, which can efficiently complete the jumping movement, effectively avoid fold interference, adapt to the unstructured characteristics of the intestine, and meet the needs of clinical work conditions.

[0064] In summary, this application overcomes the bottleneck of intestinal movement in existing magnetically controlled microrobots, fills the application gap of the mudskipper-inspired structure in this field, and improves related motion theories and technical solutions. Its biomimetic structure conforms to the needs of intestinal movement, requires no complex drive components, and can be stably driven by a 15mT, 4Hz rotating magnetic field. The drive is safe, non-invasive, and biocompatible, and will not damage intestinal tissue. The motion parameters are stable and controllable, and the motion effect can be optimized according to intestinal conditions, further improving obstacle-crossing ability and environmental adaptability. At the same time, this application also promotes the miniaturization and precision development of magnetically controlled microrobots, laying the foundation for the application of microrobots in precision intestinal diagnosis and treatment.

[0065] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0066] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0067] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0068] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0069] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A magnetically controlled microrobot modeled after a mudskipper, characterized in that, include: The magnetic drive module includes two magnetic drive sub-modules, which are symmetrically fixed to the same surface of the energy storage module at a preset distance. The energy storage module is used to enable the non-magnetic connection between the two magnetic drive submodules; The magnetic field generation module is used to generate a magnetic field around the magnetic drive module and the energy storage module under the control of the controller, and to adjust the direction and intensity of the magnetic field. The controller, connected to the magnetic field generation module, is used during the jump preparation phase to control the magnetic field generation module to form a magnetic field along the positive Z-axis and gradually increase the magnetic field strength until both ends of the energy storage module, driven by the two magnetic drive sub-modules, rotate in the positive Z-axis direction, forming a V-shaped bending configuration. This allows the energy storage module located between the magnetic drive sub-modules to store elastic potential energy. During the jump phase, the controller first controls the magnetic field generation module to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive sub-module closer to the positive X-axis to drive its connected energy storage module to rotate in the positive X-axis direction and strike the platform. The platform's reaction force and the elastic potential energy stored in the energy storage module cause the magnetic drive module and energy storage module to jump. Then, the controller controls the magnetic field generation module to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength, causing the magnetic drive module and energy storage module to move in the negative X-axis direction. After the jump, the controller controls the magnetic field generation module to reduce the magnetic field strength to 0, allowing the magnetic drive module and energy storage module to fall back onto the platform under the influence of gravity. When the lower surfaces of the two magnetic drive sub-modules are on the same horizontal plane, the magnetization direction of each magnetic drive sub-module is a horizontal direction away from the other magnetic drive sub-module, the center of symmetry of the two magnetic drive sub-modules is the origin, the direction of the connecting line between the two magnetic drive sub-modules is the X-axis, and the vertical direction is the Z-axis.

2. The magnetically controlled microrobot resembling a mudskipper according to claim 1, characterized in that, When the magnetic drive submodule and its connected energy storage module rotate near the positive X-axis, its absolute acceleration of the center of mass is divided into translational acceleration and rotational acceleration. Specifically, it is expressed as follows: ， ， in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located closer to the positive X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the positive X-axis, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the positive X-axis.

3. The magnetically controlled microrobot resembling a mudskipper according to claim 2, characterized in that, When the magnetic drive submodule closer to the positive X-axis rotates its connected energy storage module in the positive X-axis direction and strikes the platform, the acceleration of the center of mass of the magnetic drive submodule closer to the positive X-axis and its connected energy storage module satisfies: ， ， in, This represents the platform's elasticity coefficient; This represents the damping coefficient of the platform; This represents the horizontal component of the internal force at the center of mass of the energy storage module. This represents the vertical component of the internal force at the center of mass of the energy storage module. This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the positive X-axis. Represents gravitational acceleration; The expression for the resultant torque of the magnetic drive submodule and its connected energy storage module when rotating near the positive X-axis is: ， in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the positive X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the positive X-axis. .

4. The magnetically controlled microrobot resembling a mudskipper according to claim 3, characterized in that, When the magnetic drive submodule and its connected energy storage module rotate near the negative X-axis, its absolute acceleration of the center of mass is divided into translational acceleration and rotational acceleration. Specifically, it is expressed as follows: ， ， in, This represents the translational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This indicates the angle between the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis, and the positive X-axis. This represents the distance between the center of mass of the magnetic drive submodule and its connected energy storage module, which is located near the negative X-axis direction, and the center of mass of the energy storage module. This represents the horizontal component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the rotational acceleration of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the vertical component of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction.

5. The magnetically controlled microrobot resembling a mudskipper according to claim 4, characterized in that, When the magnetic drive submodule closer to the positive X-axis rotates its connected energy storage module in the positive X-axis direction and strikes the platform, the acceleration of the center of mass of the magnetic drive submodule closer to the negative X-axis and its connected energy storage module satisfies: ， ， in, This indicates the mass of the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This represents the frictional force experienced by the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. This indicates the supporting force experienced by the magnetic drive submodule and its connected energy storage module, which are located near the negative X-axis direction. The expression for the resultant torque of the magnetic drive submodule and its connected energy storage module when rotating near the negative X-axis direction is: ， in, This represents the magnetic torque experienced by the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. This represents the moment of inertia of the magnetic drive submodule and its connected energy storage module located near the negative X-axis direction. .

6. The magnetically controlled microrobot resembling a mudskipper according to claim 1, characterized in that, The energy storage module has a convex cross-sectional shape along its length, with the protruding part located between the two magnetic drive sub-modules: The energy storage module is 15mm long, 4mm wide, and has a raised portion with a height of 0.5mm and a non-raised portion with a height of 0.5mm. The magnetic drive submodule is a cuboid with a length of 5mm, a width of 4mm, and a height of 1mm.

7. The magnetically controlled microrobot resembling a mudskipper according to claim 1, characterized in that, The magnetic drive submodule is made of a composite material of neodymium iron boron magnetic particles and PDMS matrix; the energy storage module is made of PDMS material.

8. The magnetically controlled microrobot resembling a mudskipper according to claim 1, characterized in that, During the jump preparation phase, the angle between the magnetic drive submodule and the positive Z-axis is inversely proportional to the magnetic field strength. During the jump phase, the jump height of the magnetic drive submodule and the energy storage module, as well as the distance they move along the negative X-axis, are both proportional to the magnetic field strength.

9. The magnetically controlled microrobot resembling a mudskipper according to claim 1, characterized in that, When the magnetic field strength is 10mT~15mT, the jump height between the magnetic drive submodule and the energy storage module is 1.8mm~4.7mm, and the movement distance along the negative X-axis is 6mm~20mm.

10. A control method for a magnetically controlled microrobot modeled after a mudskipper, characterized in that, The method is applied to the controller of the magnetically controlled microrobot resembling a mudskipper as described in any one of claims 1 to 9, comprising: During the jump preparation phase, the control magnetic field generation module forms a magnetic field along the positive Z-axis and gradually increases the magnetic field strength until the two magnetic drive sub-modules drive both ends of the energy storage module to rotate in the positive Z-axis direction, forming a V-shaped bending configuration, so that the energy storage module located between the magnetic drive sub-modules partially stores elastic potential energy. During the jumping phase, the magnetic field generation module is first controlled to change the magnetic field direction from the positive Z-axis to the positive X-axis while maintaining a constant magnetic field strength. This causes the magnetic drive sub-module, which is close to the positive X-axis, to rotate the connected energy storage module in the positive X-axis direction and hit the platform. The reaction force of the platform and the elastic potential energy stored in the energy storage module cause the magnetic drive module and the energy storage module to jump. Then, the magnetic field generation module is controlled to change the magnetic field direction from the positive X-axis to the positive Z-axis while maintaining a constant magnetic field strength. This causes the magnetic drive module and the energy storage module to move along the negative X-axis direction. After the jump, the control magnetic field generation module reduces the magnetic field strength to 0, causing the magnetic drive module and energy storage module to fall back onto the platform under the influence of gravity.

Images