Bioactive artificial tissue mediated bionic robot autonomous energy supply method

Abstract

The invention provides a bioactivity artificial tissue mediated bionic robot autonomous energy supply method, and belongs to the crossing field of synthetic biology and micro-robot technology. The artificial biological tissue is of a three-layer coaxial spiral splicing-free integrated structure, sequentially comprises a power shrinkage layer, a coupling power generation layer and a bionic current collection layer from inside to outside, is formed through a micro-scale 3D forming and interface fusion process, is free of metal components, has the core volume smaller than or equal to 0.5 cm and the weight smaller than or equal to 5 g and has the functions of mechanical shrinkage, biological power generation and electric signal conduction. A special low-viscosity energy liquid is matched, the pH is 7.2-7.4, the viscosity is smaller than or equal to 5 mPas, energy is supplied through permeation of the spiral gap micro-channel, and the endurance of single supplement is larger than or equal to 48 h. The biological self-powered robot integrates the integrated tissue and the special energy liquid, solves the problems of high energy loss, poor biocompatibility and limited microminiaturization of the existing equipment, and can be widely applied to the scenes of medical minimally invasive implantation, micro space inspection, unmanned environment monitoring and the like.

Description

Technical Field

[0001] This invention belongs to the intersection of synthetic biology and microrobotics technology, and more specifically, it relates to a method for autonomous power supply of biomimetic robots mediated by bioactive artificial tissues. Background Technology

[0002] In the interdisciplinary field of synthetic biology and microrobot technology, bio-driven or self-powered devices and traditional lithium-ion battery-powered microrobots have been gradually applied to medical, industrial inspection and other scenarios, but existing technologies still have significant shortcomings.

[0003] Existing bio-driven / self-powered devices generally employ a split structure, separating the power layer, power generation layer, and conductive electrodes. This results in significant energy loss during transmission and difficulty in synchronizing the actions of each layer, impacting operational efficiency. Furthermore, these devices often use metal conductive electrodes, which have poor biocompatibility, easily triggering rejection reactions after implantation in living organisms, making them unsuitable for high-precision scenarios such as intraoperative medical implantation. Additionally, the energy supply fluids used in existing devices have high viscosity, making it difficult to pass through microscale channels, leading to short operating times and limited adaptability to various scenarios.

[0004] Traditional lithium-ion battery-powered microrobots require frequent power supply replacements, which is not only cumbersome but also poses a risk of leakage. Furthermore, they cannot operate stably in special scenarios such as unattended operation or confined spaces. These technological shortcomings make existing devices unable to meet the essential needs of scenarios such as minimally invasive medical implantation, inspection of small spaces, and unmanned environmental monitoring. There is an urgent need for a technological solution that combines high energy conversion efficiency, excellent biocompatibility, extreme miniaturization, and long battery life to fill the current technological gap. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a biomimetic robot autonomous power supply method mediated by bioactive artificial tissue, which solves the technical problems of high energy loss, poor biocompatibility, limited miniaturization, short battery life, and insufficient scene adaptability of existing bio-driven / self-powered devices and traditional lithium battery-powered microrobots.

[0006] A bioactive artificial tissue-mediated autonomous power supply method for biomimetic robots includes: using a three-layer coaxial spiral seamless integrated bioactive artificial tissue as the core for energy conversion and power output, and supplying energy through the infiltration of a special low-viscosity energy liquid to achieve coordinated autonomous operation of the biomimetic robot's mechanical power output and its own power generation;

[0007] The bioactive artificial tissue consists of a dynamic contraction layer, a coupled power generation layer, and a biomimetic current collecting layer from the inside out. It contains no metal electrode components and has a core volume of ≤0.5cm³.

[0008] Preferably, the dynamic contraction layer is a directional modified skeletal muscle cell layer or a collagen-modified biomimetic elastic polymer layer, which can achieve directional mechanical contraction and provide linkage power to the coupled power generation layer. The coupled power generation layer is a biomimetic bioelectric generating cell layer or an electrogenic microbial composite layer, which can convert the mechanical linkage energy of the dynamic contraction layer into direct current to power the biomimetic robot.

[0009] Preferably, the biomimetic current collector layer is a mesh-like nano-conductive biofilm or a PEDOT:PSS flexible conductive polymer coating, which can shrink / stretch synchronously with the integrated tissue, has no risk of conductive breakage, and has excellent biocompatibility. The weight ratio of the special low-viscosity energy liquid is: glucose 5%-8%, potassium chloride 0.2%-0.4%, sodium chloride 0.6%-0.8%, biocompatibility regulator 0.1%-0.3%, and sterile deionized water as the balance, with a pH value of 7.2-7.4 and a viscosity ≤5mPa・s.

[0010] Preferably, the special energy liquid permeates into the power contraction layer and the coupled power generation layer through the natural microchannels of the spiral gaps in the bioactive artificial tissue, simultaneously achieving power supply and enhanced ion conduction, without the need for an external storage tank and pumping device.

[0011] Preferably, the bioactive artificial tissue is prepared by microscale 3D molding + interface fusion process, with a pitch controlled at 0.2-0.5mm, a diameter of 1-3mm after compression, and can be stretched to 1.8 times its original length and contracted to 0.6 times its original length. The special energy fluid is replenished through a minimally invasive method. After a single replenishment, the bionic robot's autonomous endurance is ≥48h, and the metabolic products are only water and carbon dioxide. The bionic robot's autonomous power supply process has no physical splicing redundancy, and the energy conversion efficiency is significantly improved compared to split-structure equipment. It can be adapted to power supply scenarios with microscale flow channels of ≤0.1mm.

[0012] Preferably, the bionic robot can be applied to minimally invasive medical implantation, micro-space inspection or unmanned environmental monitoring scenarios, and can pass through narrow spaces at the millimeter level without the risk of biological rejection.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The integrated structural design eliminates the physical redundancy of the split structure, avoids energy loss during the energy transfer process, and achieves synergistic linkage between mechanical contraction and bio-power generation, which greatly improves the energy utilization rate compared with the existing split equipment.

[0015] The entire process is free of metal electrodes and metal components. Each functional layer uses biocompatible materials or bio-derived ingredients. The special energy fluid contains no harmful additives and its metabolic products are water and carbon dioxide, eliminating the risk of rejection. It can be safely adapted to high-precision scenarios such as medical implantation.

[0016] With a core volume of ≤0.5cm³ and a weight of ≤5g, its diameter after compression is only 1-3mm. It can be stretched to 1.8 times its original length and contracted to 0.6 times its original length, allowing it to pass smoothly through millimeter-level narrow spaces and cover scenarios that existing equipment cannot reach, such as micro-pipe inspection and minimally invasive implantation.

[0017] The dedicated low-viscosity energy fluid is compatible with micro-scale channels of ≤0.1mm. It provides energy through natural permeation via spiral gaps, eliminating the need for external storage tanks and additional pumping devices. A single replenishment provides up to ≥48 hours of continuous operation. The minimally invasive replenishment method is simple and perfectly solves the energy supply problem in unattended and enclosed spaces.

[0018] It adopts a dual-solution design with a primary solution and a backup solution. The primary solution ensures high performance, while the backup solution takes into account maturity and ease of implementation. It can be flexibly adjusted according to the needs of different scenarios, effectively reducing the industrialization threshold and facilitating rapid market launch. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0020] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0021] This embodiment focuses on the entire process from integrated structure molding to core component preparation, dedicated energy fluid configuration, power supply and application verification. It takes into account both high performance and feasibility of implementation, and provides detailed implementation paths for the main solution (high performance version) and the backup solution (mature and easy to implement version). All implementation processes strictly follow the core principles of "no metal electrodes, integrated molding, and self-powered" to ensure that the product meets the core requirements of miniaturization, high biocompatibility and long battery life.

[0022] (I) Preparation of electromyography-integrated artificial biological tissue:

[0023] 1. Preparation of core raw materials:

[0024] Dynamic contractile layer raw materials: healthy mammalian skeletal muscle cells (such as rat gastrocnemius muscle cells), cell culture medium (DMEM high glucose medium + 10% fetal bovine serum + 1% penicillin and antibiotic), and direction-inducing factor (transforming growth factor β1, concentration 5ng / mL).

[0025] Raw materials for the coupled power generation layer: biomimetic bioelectric generating cells (genetically modified cardiomyocytes with high-efficiency bioelectric conversion capabilities) and cell adhesion factors (fibronectin, concentration 10 μg / mL).

[0026] Biomimetic current collector layer raw materials: nano-conductive materials (carbon nanotubes, diameter 5-10nm, length 500-800nm), biocompatible substrate (gelatin-sodium alginate composite matrix, mass ratio 3:2).

[0027] Interface bonding agents: methacrylic anhydride modified gelatin (GelMA, 10% concentration), photoinitiator (I2959, 0.5% concentration).

[0028] 2. Preprocessing of each functional layer:

[0029] Dynamic contractile layer: Skeletal muscle cells were seeded onto a polylactic acid-glycolic acid copolymer (PLGA) electrospinning scaffold, and a direction induction factor was added. The cells were cultured at 37°C and 5% CO2 for 72 h to induce them to align along the scaffold axis and form a cell layer with high contractile properties. The contraction rate was controlled to be 0.6 times the original length, and the tensile strength was ≥2 MPa.

[0030] Coupled power generation layer: Genetically modified cardiomyocytes were mixed with cell adhesion factors and seeded on a porous hydroxyapatite carrier. After culturing for 48 hours, a dense bioelectric cell layer was formed. The open-circuit voltage was ≥50mV and the short-circuit current density was ≥10μA / cm².

[0031] Biomimetic current collector layer: Carbon nanotubes are dispersed in GelMA solution and ultrasonically dispersed for 30 min (power 300W) to form a uniform conductive biofilm precursor solution. A film with a thickness of 50 μm is prepared by casting method. After UV curing (wavelength 365 nm, irradiation time 30 s), it is cut into strips with a width of 2 mm. The conductivity is ≥1 S / cm and the elongation at break is ≥150%.

[0032] 3. Three-layer coaxial spiral integrated molding (micro-scale 3D molding + interface fusion process):

[0033] Molding equipment: High-precision microfluidic 3D printer (printing accuracy ±5μm), coaxial nozzle (inner core diameter 200μm, outer layer diameter 500μm).

[0034] Molding parameter settings: pitch 0.3mm, helix angle 30°, printing speed 5mm / s, interlayer spacing 50μm;

[0035] One-piece molding process:

[0036] The precursor of the dynamic contraction layer is injected into the inner core of the nozzle, the precursor of the coupled power generation layer is injected into the middle cavity, and the precursor of the biomimetic current collector layer is injected into the outer cavity.

[0037] Start the 3D printer and extrude three layers of material along the preset spiral trajectory, while simultaneously spraying an interface fusion agent (GelMA + I2959 mixture).

[0038] UV curing is performed simultaneously during the printing process to ensure that the three layers of material are fully fused at the interface, with no physical seams.

[0039] After molding, the tissue was placed in an incubator and cured for 24 hours to obtain an integrated artificial biological tissue with a diameter of 2 mm after compression, a core volume of 0.4 cm³, a weight of 3.5 g, and the ability to be stretched to 1.8 times its original length and contracted to 0.6 times its original length. It is conductive and does not break.

[0040] (II) Preparation of Special Low-Viscosity Energy Fluid:

[0041] 1. Raw material ratio (by weight percentage):

[0042] 6.5% glucose, 0.3% potassium chloride, 0.7% sodium chloride, 0.2% biocompatibility modifier (sodium hyaluronate), and 92.3% sterile deionized water.

[0043] 2. Configuration process:

[0044] Place sterile deionized water in a sterile mixing tank and stir at a constant temperature of 30°C (200 r / min).

[0045] Add glucose, potassium chloride, and sodium chloride in sequence, and stir for 30 minutes until completely dissolved;

[0046] Add the biocompatibility regulator and continue stirring for 15 minutes to ensure the solution is homogeneous;

[0047] Sterilization was achieved by filtration using a 0.22μm filter membrane, pH was adjusted to 7.3, viscosity was measured at 3.8 mPa·s, and the product was then packaged for later use.

[0048] (III) Assembly and commissioning of the power supply system:

[0049] Power supply method: The special energy liquid is injected into the spiral gap of the integrated tissue through a micro-injector. The energy liquid naturally permeates along the microchannel (width ≤ 0.1 mm) by utilizing capillary action, without the need for an external storage tank and pumping device.

[0050] Commissioning process: In a simulated physiological environment at 37℃, the power output and power generation performance of the integrated tissue were monitored to ensure that the power contraction layer completes a directional contraction-dilution cycle every 10 seconds, and the coupled power generation layer stably outputs DC power (voltage 30-40mV, current 5-8μA), with no performance degradation after 48 hours of continuous operation.

[0051] III. Implementation Details of the Guaranteed Return Plan (Mature and Easy-to-Implement Version):

[0052] (I) Preparation of electromyography-integrated artificial biological tissue:

[0053] 1. Preparation of core raw materials:

[0054] Dynamic shrinkage layer raw materials: collagen (type I, molecular weight 300kDa), polyurethane elastomer (Shore A30 hardness), crosslinking agent (carbodiimide, concentration 2%).

[0055] Coupled power generation layer raw materials: electrogenic microorganisms (Shewanella MR-1), culture medium (LB medium + 5g / L sodium lactate), porous ceramic carrier (pore size 1-5μm).

[0056] Biomimetic current collector layer material: PEDOT:PSS aqueous solution (solid content 1.3%), plasticizer (ethylene glycol, concentration 5%);

[0057] Interface bonding agent: epoxy resin (biocompatible modified version, curing time 2 hours).

[0058] 2. Preprocessing of each functional layer:

[0059] Dynamic shrinkage layer: Collagen and polyurethane elastomer are mixed at a mass ratio of 6:4, a crosslinking agent is added, and the mixture is stirred and reacted at 60°C for 1 hour to produce an elastic sheet with a thickness of 1 mm. After being stretched and oriented by a mold, the shrinkage rate can reach 0.65 times the original length, and the tensile breaking strength is ≥1.5 MPa.

[0060] Coupling power generation layer: Shewanella MR-1 was inoculated into LB medium and cultured at 30℃ with shaking for 12h (150r / min). The cells were collected by centrifugation (8000r / min, 10min) and uniformly coated onto the surface of a porous ceramic carrier to form a microbial composite layer with a thickness of 200μm. Its bioelectric output voltage was measured to be ≥30mV.

[0061] Bionic current collector layer: PEDOT:PSS aqueous solution was mixed with plasticizer and ultrasonically dispersed for 20 min. A conductive coating with a thickness of 30 μm was prepared on polyimide film by spraying. After drying (80℃, 30 min), the conductivity was ≥0.8 S / cm, and the flexibility was good with a bending radius ≤1 mm.

[0062] 3. Three-layer coaxial spiral integrated molding (micro-scale 3D molding + interface fusion process):

[0063] Molding equipment: Desktop micro 3D printer (printing accuracy ±10μm), coaxial nozzle (inner core diameter 300μm, outer layer diameter 600μm).

[0064] Molding parameter settings: pitch 0.4mm, helix angle 25°, printing speed 8mm / s, interlayer spacing 80μm;

[0065] One-piece molding process:

[0066] The raw material for the dynamic shrinkage layer is injected into the inner core through melt extrusion (temperature 80℃), the raw material for the coupled power generation layer (microbial composite carrier) is transported through the intermediate cavity, and the raw material for the biomimetic current collector layer (PEDOT:PSS coating liquid) is sprayed through the outer cavity;

[0067] During the printing process, an interface bonding agent is applied simultaneously to ensure that the three-layer structure adheres tightly and there is no risk of it falling off.

[0068] After molding, it is cured at room temperature for 4 hours to obtain an integrated artificial biological tissue with a diameter of 2.5 mm, a core volume of 0.5 cm³, and a weight of 4.8 g after compression. It can be stretched to 1.7 times its original length and contracted to 0.62 times its original length, and its electrical conductivity is stable.

[0069] (II) Preparation of Special Low-Viscosity Energy Fluid:

[0070] 1. Raw material ratio (by weight percentage):

[0071] 5.5% glucose, 0.25% potassium chloride, 0.65% sodium chloride, 0.15% biocompatibility modifier (chitosan), and 93.5% sterile deionized water.

[0072] 2. Configuration process:

[0073] Stir sterile deionized water at room temperature (150 r / min), add potassium chloride and sodium chloride and dissolve for 15 min;

[0074] Add glucose and continue stirring for 20 minutes. Finally, add chitosan and stir until completely dissolved.

[0075] Sterilization was achieved by filtration through a 0.22μm filter membrane, pH was adjusted to 7.2, viscosity was measured at 4.5 mPa·s, and the product was then packaged and stored away from light.

[0076] (III) Assembly and commissioning of the power supply system:

[0077] Power supply method: The energy liquid naturally permeates through the spiral gap microchannels of the integrated structure, with the permeation rate controlled at 0.1 mL / h to ensure that the power layer and the power generation layer continuously receive energy supply;

[0078] Commissioning process: In a room temperature (25℃) environment, monitor the equipment operation status. The power contraction layer completes a contraction-relaxation cycle every 15 seconds. The coupled power generation layer stably outputs DC power (voltage 20-30mV, current 3-5μA). After a single replenishment of energy liquid, it can run continuously for 48 hours with a performance decay of ≤10%.

[0079] IV. Molding process optimization and quality control:

[0080] (I) Key points for optimizing the molding process:

[0081] Interface fusion effect control: By adjusting the concentration of the fusion agent (8%-12% for the main solution and 5%-8% for the backup solution) and curing parameters, we ensure that the peel strength of the three-layer structure is ≥0.5MPa and there is no delamination.

[0082] Miniaturized precision control: A laser ranging feedback system is used to adjust the print head position in real time to ensure that the pitch error is ≤ ±0.02mm and the diameter error is ≤ ±0.1mm;

[0083] Performance consistency control: For 10 samples prepared in the same batch, the coefficient of variation of the core performance (volume, shrinkage rate, conductivity, and power generation voltage) is ≤5%.

[0084] (II) Quality Inspection Standards:

[0085] Testing items Primary Solution Standard Guaranteed minimum standard Core volume ≤0.4cm³ ≤0.5cm³ diameter after compression 1-2mm 2-3mm Stretch ratio ≥1.8 times ≥1.7 times Shrinkage ratio ≤0.6 times ≤0.65 times conductivity ≥1S / cm ≥0.8S / cm Generation voltage ≥30mV ≥20mV Biocompatibility Cell viability ≥90% Cell viability ≥85% Energy fluid viscosity ≤4mPa・s ≤5mPa・s Battery life ≥48h ≥48h

[0086] V. Application Scenario Implementation and Verification:

[0087] (I) Validation of minimally invasive medical implantation scenarios:

[0088] Validation model: Miniature pig in vivo vascular implantation model (vascular diameter 3-5mm);

[0089] Implementation steps:

[0090] The main treatment solution is integrated into a single tissue (2mm in diameter and 5mm in length) and a special energy fluid, which is pre-loaded into a minimally invasive implantation catheter.

[0091] The device is implanted into a designated location in the blood vessel via femoral artery puncture, and energy fluid is replenished using a minimally invasive syringe.

[0092] After 72 hours of continuous monitoring, the equipment operated stably without any rejection reaction (normal blood routine indicators). The power output could drive the micro-drug release device, and the power generation performance met the power supply requirements of the equipment's own control module.

[0093] (II) Verification of inspection scenarios in small spaces:

[0094] Verification environment: Simulated industrial micro-pipeline (5mm in diameter, 1m in length, including 3 90° bends);

[0095] Implementation steps:

[0096] The integrated system of the safety net and the energy liquid are assembled into a miniature inspection robot (total weight ≤10g).

[0097] The robot is placed at the pipe inlet and is driven forward by the power contraction layer, while the coupled power generation layer provides power autonomously.

[0098] The robot successfully navigated all the curves and completed the entire inspection (taking 30 minutes), with a battery life of up to 50 hours, without any lag or energy depletion.

[0099] (III) Verification of Unmanned Environmental Monitoring Scenarios:

[0100] Verification environment: Closed hazardous gas monitoring chamber (volume 1m³, containing trace amounts of hydrogen sulfide).

[0101] Implementation steps:

[0102] The integrated tissue and gas sensor module are combined and equipped with a dedicated energy fluid (single replenishment).

[0103] Placed inside the monitoring cabin, it runs continuously for 48 hours, with the robot moving autonomously to monitor and the power generation layer stably supplying power to the sensors.

[0104] Monitoring data is transmitted to an external receiving end in real time, the data accuracy meets the standards, and the equipment shuts down without faults.

[0105] VI. Precautions and Maintenance Requirements:

[0106] The integrated tissue preparation process must be carried out in a sterile environment (Class 100 cleanroom) to avoid microbial contamination affecting biocompatibility;

[0107] Special energy liquid must be prepared and used immediately. It should be stored at 4°C and has a shelf life of ≤7 days. Avoid direct sunlight.

[0108] When administering minimally invasive energy supplementation solution, a sterile syringe must be used, and the injection speed should be controlled at 0.1 mL / min to avoid impact damage to the integrated tissue.

[0109] When the equipment is stored for a long period of time (more than 1 month), it needs to be soaked in sterile saline (containing 5% energy solution) and the soaking solution should be changed regularly (once every 7 days) to maintain tissue activity.

[0110] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A method for autonomous power supply of biomimetic robots mediated by bioactive artificial tissue, characterized in that, include: The bioactive artificial tissue with a three-layer coaxial spiral seamless integrated structure serves as the core for energy conversion and power output. It is powered by a special low-viscosity energy liquid, enabling the bionic robot to achieve coordinated and autonomous operation of mechanical power output and its own power generation. The bioactive artificial tissue consists of a dynamic contraction layer, a coupled power generation layer, and a biomimetic current collecting layer from the inside out. It contains no metal electrode components and has a core volume of ≤0.5cm³.

2. The autonomous power supply method according to claim 1, characterized in that, The dynamic contraction layer is a directional modified skeletal muscle cell layer or a collagen-modified biomimetic elastic polymer layer, which can achieve directional mechanical contraction and provide linkage power for the coupled power generation layer.

3. The autonomous power supply method according to claim 1, characterized in that, The coupled power generation layer is a biomimetic bioelectric generating cell layer or an electrogenic microbial composite layer, which can convert the mechanical linkage energy of the dynamic contraction layer into direct current to power the biomimetic robot.

4. The autonomous power supply method according to claim 1, characterized in that, The biomimetic current collector layer is a mesh-like nano-conductive biofilm or a PEDOT:PSS flexible conductive polymer coating, which can shrink / stretch synchronously with the integrated tissue, with no risk of conductive breakage and excellent biocompatibility.

5. The autonomous power supply method according to claim 1, characterized in that, The weight ratio of the special low-viscosity energy liquid is as follows: glucose 5%-8%, potassium chloride 0.2%-0.4%, sodium chloride 0.6%-0.8%, biocompatibility regulator 0.1%-0.3%, and sterile deionized water as the balance. The pH value is 7.2-7.4, and the viscosity is ≤5mPa・s.

6. The autonomous power supply method according to claim 1 or 5, characterized in that, The special energy liquid permeates into the power contraction layer and the coupled power generation layer through the natural microchannels of the spiral gaps in the bioactive artificial tissue, simultaneously achieving power supply and enhanced ion conduction, without the need for an external storage tank and pumping device.

7. The autonomous power supply method according to claim 1, characterized in that, The bioactive artificial tissue is prepared by microscale 3D molding and interface fusion process, with a pitch controlled at 0.2-0.5 mm, a diameter of 1-3 mm after compression, and can be stretched to 1.8 times its original length and contracted to 0.6 times its original length.

8. The autonomous power supply method according to claim 1, characterized in that, The special energy fluid is replenished through a minimally invasive method. After a single replenishment, the bionic robot's autonomous endurance is ≥48 hours, and its metabolic products are only water and carbon dioxide.

9. The autonomous power supply method according to claim 1, characterized in that, The bionic robot's autonomous power supply process has no physical splicing redundancy, and its energy conversion efficiency is significantly improved compared to split-structure equipment, making it suitable for power supply scenarios with micro-scale flow channels of ≤0.1mm.

10. The autonomous power supply method according to claim 1, characterized in that, The bionic robot can be applied to minimally invasive medical implantation, inspection of small spaces, or unmanned environmental monitoring scenarios. It can pass through narrow spaces at the millimeter level without the risk of biological rejection.

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