A magnetic continuum robot system and control method

Abstract

This invention relates to the field of continuum robots, specifically disclosing a magnetic continuum robot system and control method. The magnetic continuum robot system includes a continuum robot body comprising multiple magnetic soft units; a guide wire to which one end of each magnetic soft unit is connected; a magnetizing magnetic field assembly for generating a magnetizing magnetic field to magnetize the magnetic soft units; at least one of the magnetic soft units, after being magnetized by different magnetizing magnetic fields, has a first magnetization state and a second magnetization state; and a driving magnetic field assembly for generating a driving magnetic field. Under the action of the driving magnetic field, the deformation produced by the magnetic soft unit in the first magnetization state can be different from the deformation produced by the magnetic soft unit in the second magnetization state. This allows the same continuum robot body to be applied to different scenarios.

Description

Technical Field

[0001] This invention relates to the field of continuum robots, and in particular to a magnetic continuum robot system and control method. Background Technology

[0002] In the field of robotics, continuum robots have attracted widespread attention due to their advantages such as high flexibility, ability to navigate narrow and complex spaces, and safety in contact with biological tissues. Among them, magnetic continuum robots, with their remote control and reconfigurability, have shown great potential in scenarios such as minimally invasive surgery, vascular intervention, drug delivery, and precision medicine.

[0003] In related technologies, magnetic continuum robots typically require a structure designed to match the application scenario, using a magnetic field to drive the robot to perform corresponding actions. However, this structure-scenario matching design means that a single magnetic continuum robot can only be used in a specific scenario, making it difficult to apply to different usage scenarios.

[0004] To address these issues, we propose a magnetic continuum robot system. Summary of the Invention

[0005] The purpose of this invention is to provide a magnetic continuum robot system and control method to solve the problem mentioned in the background art that magnetic continuum robots are difficult to apply to different application scenarios.

[0006] To achieve the above objectives, the present invention provides the following technical solution: On one hand, this application provides a magnetic continuum robot system, including a continuum robot body comprising multiple magnetic soft units; a guide wire, one end of each magnetic soft unit being connected to the guide wire; a magnetizing magnetic field assembly for generating a magnetizing magnetic field to magnetize the magnetic soft units; at least one of the magnetic soft units, after being magnetized by different magnetizing magnetic fields, has a first magnetization state and a second magnetization state; a driving magnetic field assembly for generating a driving magnetic field; under the action of the driving magnetic field, the deformation produced by the magnetic soft unit having the first magnetization state can be different from the deformation produced by the magnetic soft unit having the second magnetization state.

[0007] By adopting the above technical solution, when the operator uses the magnetic continuum robot system, a magnetizing magnetic field component is first used to generate a magnetizing magnetic field. The magnetic soft unit is then magnetized by the magnetizing magnetic field. The magnetic soft unit is then driven to deform by the driving magnetic field. The magnetized magnetic soft unit deforms under the action of the driving magnetic field. Driven by the guide wire, the continuum robot body can move forward, backward, or rotate, thereby performing the corresponding work.

[0008] After being magnetized by different magnetic fields, the magnetic soft unit can possess a first magnetization state and a second magnetization state. Under the same or different driving magnetic fields, the deformation produced by the magnetic soft unit in the first magnetization state can differ from the deformation produced by the magnetic soft unit in the second magnetization state. In this way, the continuum robot body, after being magnetized by different magnetic fields, can exhibit different structural states in the driving magnetic field. This overcomes the limitation in related technologies that a continuum robot can only be matched to one application scenario, allowing the same continuum robot body to be applied to different scenarios.

[0009] In a further embodiment, at least one magnetic soft unit comprises an elastic matrix in which first magnetic particles and second magnetic particles are mixed, the first magnetic particles having a greater coercivity than the second magnetic particles.

[0010] In a further embodiment, the magnetic soft unit includes a first magnetic region and a second magnetic region, wherein the first magnetic particles are mixed in the elastic matrix within the first magnetic region, and the second magnetic particles are mixed in the elastic matrix within the second magnetic region.

[0011] In a further embodiment, the continuum robot body includes two opposing magnetic soft units, each of which has a first magnetization state and a second magnetization state; the magnetic field direction of the driving magnetic field intersects with the extension direction of the magnetic soft unit.

[0012] In a further embodiment, one of the magnetic soft units has a first magnetic region and a second magnetic region arranged sequentially along a direction away from the guide wire, and the other magnetic soft unit has a second magnetic region and a first magnetic region arranged sequentially along a direction away from the guide wire; in the first magnetization state, the magnetization directions of the first magnetic region and the second magnetic region are both along the extension direction of the magnetic soft unit, and the magnetization directions of the first magnetic region and the second magnetic region are the same; in the second magnetization state, the magnetization directions of the first magnetic region and the second magnetic region are both along the extension direction of the magnetic soft unit, and the magnetization directions of the first magnetic region and the second magnetic region are opposite.

[0013] In a further embodiment, the continuum robot body includes at least three of the magnetic soft units, the plurality of magnetic soft units being spaced apart along the circumferential direction of the guide wire, and the magnetic field direction of the driving magnetic field being along the extension direction of the magnetic soft units.

[0014] In a further embodiment, each of the magnetic soft units includes a first magnetic region and a second magnetic region arranged sequentially along a direction away from the guide wire; in the first magnetization state, the magnetization direction of the first magnetic region is opposite to the guide wire, and the magnetization direction of the first magnetic region is inclined outward from the center of the guide wire, and the magnetization direction of the second magnetic region is along the extension direction of the magnetic soft unit and is opposite to the guide wire; in the second magnetization state, the magnetization direction of the first magnetic region is the same as the magnetization direction in the first magnetization state, and the magnetization direction of the second magnetic region is along the extension direction of the magnetic soft unit and is towards the guide wire.

[0015] In a further embodiment, the magnetic soft unit includes a third magnetic region, which includes the first magnetic particle and the second magnetic particle.

[0016] On the other hand, this application discloses a control method for a magnetic continuum robot system, which includes the following steps: the magnetizing magnetic field component generates the magnetizing magnetic field, causing the magnetic soft unit to have a first magnetization state; the driving magnetic field component generates a driving magnetic field, which drives a plurality of magnetic soft units having the first magnetization state to deform; the magnetizing magnetic field component regenerates the magnetizing magnetic field, causing the magnetic soft unit to have a second magnetization state; the driving magnetic field component regenerates the driving magnetic field, which drives a plurality of magnetic soft units having the second magnetization state to deform; and the guide wire actuates the continuum robot body.

[0017] Compared with existing technologies, the beneficial effects of this invention are: the magnetic soft unit can possess a first magnetization state and a second magnetization state after being magnetized by different magnetic fields. Under the same or different driving magnetic fields, the deformation produced by the magnetic soft unit in the first magnetization state can be different from the deformation produced by the magnetic soft unit in the second magnetization state. Thus, the continuum robot body, after being magnetized by different magnetic fields, can exhibit different structural states in the driving magnetic field, overcoming the limitation in related technologies that a single continuum robot can only be matched to one application scenario, allowing the same continuum robot body to be applied to different scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the magnetic continuum robot system in the embodiments of this application; Figure 2 This is a schematic diagram of the magnetizing magnetic field component in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of the magnetic soft unit in the embodiments of this application; Figure 4This is a schematic diagram of the deformation of two magnetic soft units in the first magnetization state in the embodiments of this application; Figure 5 This is a schematic diagram of the deformation of two magnetic soft units in the second magnetization state in the embodiments of this application; Figure 6 This is a schematic diagram of the actual deformation state of two magnetic soft units in the embodiments of this application; Figure 7 This is a schematic diagram of the deformation of three magnetic soft units in the embodiments of this application; Figure 8 This is a schematic diagram of the actual deformation of the three magnetic soft units in the embodiments of this application.

[0019] In the figure: 1. Continuous robot body; 11. Magnetic soft unit; 111. First magnetic zone; 112. Second magnetic zone; 2. Guide wire; 3. Magnetizing magnetic field assembly; 4. Driving magnetic field assembly; 5. Sleeve. Detailed Implementation

[0020] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the field of magnetic continuum robots, the design of such robots typically requires tailored structures to the specific application scenario. For example, a magnetic continuum robot navigating through narrow passages needs a space-efficient structure to accommodate the confined space. Conversely, a magnetic continuum robot performing grasping actions needs a structure capable of enclosing the object being grasped.

[0024] However, this design, which matches the structure to the scenario, means that a magnetic continuum robot can only be used in one scenario and is difficult to apply to different usage scenarios.

[0025] Please see Figure 1 and Figure 2 This application provides an embodiment of a magnetic continuum robot system, which includes a continuum robot body 1, a guide wire 2, a magnetizing magnetic field assembly 3, and a driving magnetic field assembly 4. The continuum robot body 1 includes multiple magnetic soft units 11, one end of each of the multiple magnetic soft units 11 being connected to the guide wire 2. The magnetizing magnetic field assembly 3 generates a magnetizing magnetic field to magnetize the magnetic soft units 11. At least one magnetic soft unit 11, after being magnetized by different magnetizing magnetic fields, has a first magnetization state and a second magnetization state. The driving magnetic field assembly 4 generates a driving magnetic field. Under the same or different driving magnetic fields, the deformation produced by the magnetic soft unit 11 in the first magnetization state can be different from the deformation produced by the magnetic soft unit 11 in the second magnetization state.

[0026] When the operator uses the magnetic continuum robot system, the magnetizing magnetic field component 3 is used to generate a magnetizing magnetic field. The magnetic soft unit 11 is magnetized by the magnetizing magnetic field. Then, the driving magnetic field is used to drive the magnetic soft unit 11 to deform. The magnetized magnetic soft unit 11 deforms under the action of the driving magnetic field. Driven by the guide wire 2, the continuum robot body 1 can move forward, backward or rotate, thereby performing the corresponding work.

[0027] After being magnetized by different magnetic fields, the magnetic soft unit 11 can have a first magnetization state and a second magnetization state. Under the same or different driving magnetic fields, the deformation produced by the magnetic soft unit 11 with the first magnetization state can be different from the deformation produced by the magnetic soft unit 11 with the second magnetization state. In this way, the continuum robot body 1, after being magnetized by different magnetic fields, can exhibit different structural states in the driving magnetic field, thus overcoming the limitation in related technologies that a continuum robot can only be matched with one application scenario, and enabling the same continuum robot body 1 to be applied to different scenarios.

[0028] In some embodiments, the continuum robot body 1 may include two magnetic soft units 11, three magnetic soft units 11, four magnetic soft units 11, or even more, and the number of magnetic soft units 11 is not limited.

[0029] In some implementations, a single magnetic soft unit 11 may have a first magnetization state and a second magnetization state after being magnetized by different magnetizing magnetic fields. Alternatively, multiple magnetic soft units 11 may have a first magnetization state and a second magnetization state, or even all magnetic soft units 11 may have a first magnetization state and a second magnetization state after being magnetized by different magnetizing magnetic fields.

[0030] In some embodiments, the magnetic software unit 11 is not limited to having only a first magnetization state and a second magnetization state; the magnetic software unit 11 may also have a third magnetization state, a fourth magnetization state, and other magnetization states.

[0031] Specifically, for the magnetic soft unit 11, which is capable of having a first magnetization state and a second magnetization state, the magnetic soft unit 11 includes an elastic matrix, in which first magnetic particles and second magnetic particles are mixed, and the coercivity of the first magnetic particles is greater than that of the second magnetic particles.

[0032] With this configuration, when the magnetic soft unit 11 is magnetized using a strong magnetic field, both the first and second magnetic particles have a uniform magnetization state. When the magnetic soft unit 11 is magnetized using a relatively weak magnetic field, because the first magnetic particle has a higher coercivity and the second magnetic particle has a lower coercivity, the magnetization state of the first magnetic particle remains unaffected, while the second magnetic particle is remagnetized, resulting in a difference in magnetization states between the first and second magnetic particles. By selecting magnetic particles with significantly different coercivity, selective remagnetization of some magnetic particles within the same magnetic soft unit 11 is achieved without affecting the magnetic moment stability of the remaining magnetic particles.

[0033] Regions containing the first magnetic particles can undergo different deformations under different magnetization states when driven by a driving magnetic field. Regions containing the second magnetic particles can also undergo different deformations under different magnetization states when driven by a driving magnetic field. Therefore, the presence of both first and second magnetic particles within the elastic matrix allows the magnetic soft unit 11 to undergo superimposed deformation, increasing the diversity of deformation of the magnetic soft unit 11.

[0034] In some embodiments, the magnetic soft unit 11 can be a cuboid sheet or other irregularly shaped sheet, or it can be columnar, etc. In the embodiments of this application, a cuboid sheet is preferred. The elastic matrix can be made of other soft materials such as silicone or rubber. The first magnetic particle can be NdFeB particles, and the second magnetic particle can be AlNiCo particles. NdFeB particles have higher coercivity, while AlNiCo particles have lower coercivity.

[0035] In some implementations, refer to Figure 2 The magnetizing magnetic field component 3 can be a pulsed magnetic field component, which generates a magnetizing magnetic field. The process is as follows: power supply → charging circuit → discharging circuit → generating magnetizing magnetic field. During this process, the charging circuit and the discharging circuit are controlled by the host computer. A magnetizing magnetic field with a strength of 3T can be used to magnetize the magnetic soft unit 11. Under this magnetizing magnetic field, both NdFeB particles and AlNiCo particles are remagnetized, and the magnetic soft unit 11 has a first magnetization state. A magnetizing magnetic field with a strength of 300-500mT can be used to magnetize the magnetic soft unit 11. Under this magnetizing magnetic field, due to the large coercivity of NdFeB particles, the magnetization state of NdFeB particles will not change. However, the coercivity of AlNiCo particles is small, and the magnetization state of AlNiCo particles is changed, possibly causing the magnetization direction of AlNiCo particles to be reversed or causing AlNiCo particles to have a zero magnetic state. The magnetic soft unit 11 exhibits a second magnetization state different from the first magnetization state. By selecting magnetic particles with significantly different coercivity, selective remagnetization of some magnetic particles within the same continuum was achieved without affecting the magnetic moment stability of the remaining magnetic particles.

[0036] The pulse duration is typically tens to hundreds of microseconds, with fast switching speed, simple principle and operation, no significant temperature rise, and no damage to the material structure.

[0037] Furthermore, refer to Figure 3 The magnetic soft unit 11 includes a first magnetic region 111 and a second magnetic region 112. The elastic matrix in the first magnetic region 111 contains first magnetic particles, and the elastic matrix in the second magnetic region 112 contains second magnetic particles.

[0038] With this setup, in practical use, the magnetizing magnetic field component 3 can generate a first magnetizing magnetic field and a second magnetizing magnetic field. The first magnetizing magnetic field has a larger magnetic field strength, which can remagnetize both the first and second magnetic particles. The second magnetizing magnetic field has a relatively smaller magnetic field strength, and its direction is different from that of the first magnetizing magnetic field. The second magnetic field can only remagnetize the second magnetic particle and will not affect the magnetization state of the first magnetic particle.

[0039] When the magnetic soft unit 11 is magnetized by the first magnetizing magnetic field, the magnetization direction of the first magnetic region 111 is the same as that of the second magnetic region 112. When the driving magnetic field drives the magnetic soft unit 11 to deform, the deformation trend of the first magnetic region 111 and the deformation trend of the second magnetic region 112 are similar, and the magnetic soft unit 11 as a whole will exhibit the first deformation.

[0040] When the magnetic soft unit 11 is magnetized by the first magnetizing magnetic field, and then magnetized by the second magnetizing magnetic field, the magnetization direction of the first magnetic region 111 remains unchanged, while the magnetization direction of the second magnetic region 112 changes. When the driving magnetic field drives the magnetic soft unit 11, the deformation trends of the first magnetic region 111 and the second magnetic region 112 are different, causing the magnetic soft unit 11 to exhibit a second deformation.

[0041] In actual implementation, the ratio of the lengths of the first magnetic region 111 and the second magnetic region 112 of the magnetic soft unit 11 can be adjusted according to the applicable scenario of the magnetic continuum robot, or the relative positional relationship of the first magnetic region 111 and the second magnetic region 112 can be adjusted, or the shape of the first magnetic region 111 and the second magnetic region 112 can be adjusted, so that the deformation shape of the magnetic soft unit 11 after being driven by the driving magnetic field can be adjusted in a targeted manner, making the deformation adjustment of the magnetic soft unit 11 more convenient.

[0042] Taking the magnetic soft unit 11 as a rectangular thin sheet as an example, the length of the first magnetic region 111 can be equal to or unequal to the length of the second magnetic region 112. The first magnetic region 111 and the second magnetic region 112 can be distributed along the length direction of the magnetic soft unit 11 or along the width direction of the magnetic soft unit 11. The first magnetic region 111 and the second magnetic region 112 can also be other shapes such as rectangles, squares, and circles.

[0043] In some embodiments, the magnetic soft unit 11 may further include a third magnetic region, which includes a first magnetic particle and a second magnetic particle. With this arrangement, the third magnetic region has mixed magnetic particles. In the first magnetization state, the first magnetic particle and the second magnetic particle can have a unified magnetization direction. In the second magnetization state, the first magnetic particle and the second magnetic particle have different magnetization directions, and the third magnetic region has superimposed magnetization states, allowing the magnetic soft unit 11 to have richer deformation. It should be noted that the magnetic soft unit 11 may have a third magnetic region in addition to the first magnetic region 111 and the second magnetic region 112, or it may not have the first magnetic region 111 and the second magnetic region 112, but only have the third magnetic region.

[0044] Furthermore, refer to Figure 4 In some embodiments, the continuum robot body 1 includes two magnetic soft units 11, which are arranged opposite each other. Both magnetic soft units 11 have a first magnetization state and a second magnetization state, and the magnetic field direction of the driving magnetic field intersects with the extension direction of the magnetic soft unit 11.

[0045] As described above, by configuring the continuum robot body 1 as two parallel magnetic soft units 11, and with the direction of the driving magnetic field intersecting the extension direction of the magnetic soft unit 11, the two magnetic soft units 11 can easily deform along the two-dimensional plane under the action of the driving magnetic field.

[0046] Taking a cuboid sheet as an example, in some embodiments, two magnetic soft units 11 are spaced apart along the thickness direction of the cuboid sheet, and the direction of the driving magnetic field is parallel to the thickness direction of the cuboid sheet, that is, perpendicular to the cuboid sheet. With this arrangement, when the driving magnetic field drives the two magnetic soft units 11 to deform, the magnetic soft units 11 bend along the thickness direction, the deformation resistance is small, which is beneficial to the deformation of the two two-dimensional plane of the two magnetic soft units 11.

[0047] Furthermore, in some implementations, reference is made to... Figure 4 and Figure 5One of the magnetic soft units 11 has a first magnetic region 111 and a second magnetic region 112 arranged sequentially along the direction away from the guide wire 2, and the other magnetic soft unit 11 has a second magnetic region 112 and a first magnetic region 111 arranged sequentially along the direction away from the guide wire 2. In the first magnetization state, the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both along the extension direction of the magnetic soft unit 11, and the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are the same. In the second magnetization state, the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both along the extension direction of the magnetic soft unit 11, but the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are opposite.

[0048] Reference Figure 4 When the magnetic soft unit 11 is in the first magnetization state, the magnetization direction of the first magnetic region 111 is the same as that of the second magnetic region 112. When the driving magnetic field drives the continuous robot body 1 to deform, the two magnetic soft units 11 have the same deformation trend, bending in the same lateral direction and exhibiting a unified bending state. Driven by the guide wire 2, the continuous robot body 1 is suitable for directional navigation and passage through narrow channels.

[0049] Reference Figure 5 When the magnetic soft unit 11 is in the second magnetization state, with the magnetization direction of the first magnetic region 111 and the magnetization direction of the second magnetic region 112 opposite, and the driving magnetic field drives the continuous robot body 1 to deform, since the magnetic regions of the two magnetic soft units 11 are distributed in opposite directions, the deformation of the two magnetic soft units 11 will move towards the center, forming a grasping shape. Alternatively, the deformation of the two magnetic soft units 11 will move away from each other, exhibiting a releasing deformation state.

[0050] As can be seen from the above, by setting the body 1 of the continuum robot as two parallel magnetic soft units 11 with opposite magnetic regions of the two magnetic soft units 11, the continuum robot can not only adapt to navigation and passage through narrow channels, but also adapt to grasping and releasing scenarios.

[0051] With this configuration, for ease of explanation, the extension direction of the magnetic soft unit 11 is defined as the axial direction, and the direction in which the two magnetic soft units 11 approach or move away from each other is defined as the radial direction. Therefore, when the driving magnetic field does not drive the magnetic soft unit 11, the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both along the axial direction. When the driving magnetic field drives the magnetic soft unit 11, the magnetic field direction of the driving magnetic field is perpendicular to the axial direction, which is more conducive to the uniform deformation of the two magnetic soft units 11 along the radial direction. In some embodiments, preferably, the magnetic field direction of the driving magnetic field is perpendicular to the axial direction, which is more conducive to the uniform deformation of the continuous robot body 1, especially when the continuous robot body 1 needs to adapt to navigation and passage through narrow channels. The perpendicularity of the magnetic field direction to the axial direction makes the deformation of the two magnetic soft units 11 more uniform and consistent, which helps to reduce the space occupied by the two magnetic soft units 11.

[0052] Next, taking the magnetic soft unit 11 as a cuboid sheet as an example, the deformation of the continuous robot body 1 will be described in detail. The magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both along the length direction of the cuboid sheet, that is, the axial direction is along the length direction of the cuboid sheet. The direction in which the two magnetic soft units 11 approach or move away from each other is the thickness direction of the cuboid sheet, that is, the radial direction is the thickness direction of the cuboid sheet. In addition, preferably, the driving magnetic field is perpendicular to the axial direction.

[0053] refer to Figure 4 With the direction shown in the figure as a reference, the magnetic soft unit 11 is in the first magnetization state, and the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both upward. When the magnetic field direction of the driving magnetic field is to the left, both magnetic soft units 11 exhibit a "C" shape deformation to the left. When the magnetic field direction of the driving magnetic field is to the right, both magnetic soft units 11 exhibit a "C" shape deformation to the right. This results in a smaller space occupation, making the continuum robot body 1 suitable for navigation and passage through narrow channels.

[0054] refer to Figure 4 With the direction shown in the figure as a reference, the magnetic soft unit 11 is in the first magnetization state, and the magnetization directions of the first magnetic region 111 and the second magnetic region 112 are both downward. When the magnetic field direction of the driving magnetic field is to the left, both magnetic soft units 11 are deformed into a "C" shape to the right. When the magnetic field direction of the driving magnetic field is to the right, both magnetic soft units 11 are deformed into a "C" shape to the left, occupying less space, which makes the continuum robot body 1 also suitable for navigation and passage through narrow channels.

[0055] refer to Figure 5With the direction shown in the diagram as a reference, the magnetic soft unit 11 is in a second magnetization state, with the magnetization direction of the first magnetic region 111 facing upwards and the magnetization direction of the second magnetic region 112 facing downwards. When the magnetic field direction of the driving magnetic field is to the left, the middle part of the left magnetic soft unit 11 bulges to the left, and the middle part of the right magnetic soft unit 11 bulges to the right. The two magnetic soft units 11 can form a grasping shape, thereby realizing the grasping and transportation of the target object. When the magnetic field direction of the driving magnetic field is to the right, the middle part of the left magnetic soft unit 11 is concave to the right, and the middle part of the right magnetic soft unit 11 is concave to the left. In this deformed state, the grasping and releasing of the target object can be realized.

[0056] refer to Figure 5 With the direction shown in the diagram as a reference, the magnetic soft unit 11 is in a second magnetization state, with the magnetization direction of the first magnetic region 111 pointing downwards and the magnetization direction of the second magnetic region 112 pointing upwards. When the magnetic field direction of the driving magnetic field is to the right, the middle part of the left magnetic soft unit 11 bulges to the left, and the middle part of the right magnetic soft unit 11 bulges to the right. The two magnetic soft units 11 can form a grasping shape, thereby realizing the grasping and transporting of the target object. When the magnetic field direction of the driving magnetic field is to the left, the middle part of the left magnetic soft unit 11 is concave to the right, and the middle part of the right magnetic soft unit 11 is concave to the left. In this deformed state, the grasping and releasing of the target object can be realized.

[0057] Reference Figure 6 The illustration shows a scenario where a continuum robot is used in a pipeline. At 2 seconds, the continuum robot body 1 begins to grasp the target object, and the grasp is completed at 5 seconds. At 14 seconds, driven by the guide wire 2, the continuum robot body 1 enters the pipeline. At 22 seconds, the continuum robot body 1 releases the target object inside the pipeline, and at 26 seconds, the continuum robot body 1 withdraws from the pipeline under the action of the guide wire 2.

[0058] Furthermore, refer to Figure 7 In some embodiments, the continuous robot body 1 includes at least three magnetic soft units 11, and the multiple magnetic soft units 11 are spaced apart along the circumferential direction of the guide wire 2, and the magnetic field direction of the driving magnetic field is along the extension direction of the magnetic soft unit 11.

[0059] With this configuration, since the magnetic field direction of the driving magnetic field is along the extension direction of the magnetic soft unit 11, when the driving magnetic field drives multiple magnetic soft units 11 to deform, the magnetic soft units 11 can deform closer to or further away from the center of the guide wire 2, thus exhibiting a closed or flower-like state, which facilitates the three-dimensional deformation of the continuum robot. Simultaneously, by setting different magnetic region distributions for each magnetic soft unit 11, each magnetic soft unit 11 can also achieve different deformations. After the deformations of multiple magnetic soft units 11 are combined along the circumferential direction of the guide wire 2, a richer variety of deformations can be formed, thereby expanding the application scenarios of the continuum robot.

[0060] In some embodiments, the continuum robot body 1 may also include 4, 5, 6 or other numbers of magnetic soft units 11, which are not limited in this application.

[0061] Furthermore, refer to Figure 7 Each magnetic soft unit 11 includes a first magnetic region 111 and a second magnetic region 112 arranged sequentially along a direction away from the guide wire 2. In a first magnetization state, the magnetization direction of the first magnetic region 111 is opposite to that of the guide wire 2, and the magnetization direction of the first magnetic region 111 is inclined outward from the center of the guide wire 2. The magnetization direction of the second magnetic region 112 is along the extension direction of the magnetic soft unit 11 and is opposite to that of the guide wire 2. In a second magnetization state, the magnetization direction of the first magnetic region 111 is opposite to that of the guide wire 2, and the magnetization direction of the first magnetic region 111 is the same as that in the first magnetization state. The magnetization direction of the second magnetic region 112 is along the extension direction of the magnetic soft unit 11 and is towards the guide wire 2.

[0062] With this setting, refer to Figure 7 When the magnetic soft unit 11 is in the first magnetization state, if the magnetic field direction of the driving magnetic field is opposite to that of the guide wire 2, then the first magnetic region 111 of each magnetic soft unit 11 deforms radially outward towards the guide wire 2, and the second magnetic region 112 of each magnetic soft unit 11 tends to converge radially inward towards the center of the guide wire 2, making the entire continuous robot body 1 exhibit a flower-like radial bulging shape. In this deformed state, applying the continuous robot body 1 to the blood vessel wall or the inner wall of the cavity can significantly increase the friction force, and in conjunction with the rotation operation of the guide wire 2, achieve the embolization function of the target blood vessel or cavity region.

[0063] In some other embodiments, when the magnetic soft unit 11 is in the first magnetization state, if the magnetic field direction of the driving magnetic field is towards the guide wire 2, then the first magnetic region 111 of each magnetic soft unit 11 deforms radially inward towards the guide wire 2, and the second magnetic region 112 of each magnetic soft unit 11 deforms radially outward towards the guide wire 2, so that the entire continuous robot body 1 presents a state where the root is gathered and the end is blossomed. Combined with the rotation operation of the guide wire 2, this is suitable for cleaning the inner wall of cavities.

[0064] Reference Figure 7 When the magnetic soft unit 11 is in the second magnetization state, if the magnetic field direction of the driving magnetic field is opposite to the guide wire 2, then the first magnetic region 111 of each magnetic soft unit 11 will deform radially outward towards the guide wire 2, and the second magnetic region 112 of each magnetic soft unit 11 will deform radially outward towards the guide wire 2, so that the entire continuous robot body 1 is in an open state, which is suitable for releasing the grasped target.

[0065] Reference Figure 7 When the magnetic soft unit 11 is in the second magnetization state, if the magnetic field direction of the driving magnetic field is towards the guide wire 2, then the first magnetic region 111 of each magnetic soft unit 11 will deform radially inward towards the guide wire 2, and the second magnetic region 112 of each magnetic soft unit 11 will deform radially inward towards the guide wire 2, so that the entire continuous robot body 1 is in a converged state, thereby forming a three-dimensional structure with clamping characteristics to achieve the grasping of the target object.

[0066] As can be seen from the above, through the structural design of the magnetic soft unit 11 and the control of the switchable magnetization direction, the magnetic continuum robot can switch between embolization, cleaning, grasping and releasing functions under the action of the driving magnetic field and in conjunction with the guide wire 2.

[0067] Reference Figure 8 The diagram illustrates the process of a three-dimensional continuum robot body 1 grasping and releasing a target object. At 1 second, the continuum robot body 1 begins preparing to grasp the target object. At 6 seconds, the continuum robot body 1 begins to open and face the target object, and then, at 11 seconds, the continuum robot body 1 begins to grasp the target object. At 18 seconds, driven by the guide wire 2, the continuum robot body 1 moves the target object. At 26 seconds, the continuum robot body 1 opens and releases the target object.

[0068] Furthermore, refer to Figure 1This magnetic continuum robot system also includes a sleeve 5, which is fitted onto the guide wire 2. When the magnetizing magnetic field assembly 3 magnetizes the continuum robot body 1, the continuum robot body 1 extends into the sleeve 5. With this arrangement, when the magnetizing magnetic field magnetizes the continuum robot body 1, the sleeve 5 can constrain the deformation of the continuum robot body 1 in the radial direction of the sleeve 5, thereby minimizing the uncontrollable oscillation of the magnetic soft unit 11 caused by instantaneous magnetic force changes.

[0069] Finally, it should be noted that in some embodiments, for the driving magnetic field component 4, a permanent magnet or other magnetic field with relatively weak magnetic field strength can be used to drive the deformation of the magnetic soft unit 11 without affecting the magnetization state of the magnetic soft unit 11.

[0070] Based on the above-described magnetic continuum robot system, this application also discloses a control method for the magnetic continuum robot system, comprising the following steps: S1. The magnetizing magnetic field component 3 generates a magnetizing magnetic field, so that the magnetic soft unit 11 has a first magnetization state; S2. The driving magnetic field component 4 generates a driving magnetic field, which drives multiple magnetic soft units 11 with a first magnetization state to deform. S3. The magnetizing magnetic field component 3 regenerates the magnetizing magnetic field, giving the magnetic soft unit 11 a second magnetization state; S4. The driving magnetic field component 4 regenerates the driving magnetic field, which drives multiple magnetic soft units 11 with a second magnetization state to deform. S5. The guide wire 2 drives the continuous robot body 1 to move.

[0071] It should be noted that, for step S5, if the continuous robot body 1 requires the deformation of the magnetic soft unit 11 in the first magnetic ring state to perform an action, then step S5 can be performed between steps S2 and S3. If the continuous robot body 1 requires the deformation of the magnetic soft unit 11 in the second magnetic ring state to perform an action, then step S5 should be performed after step S4.

[0072] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0073] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A magnetic continuum robot system, comprising: The continuum robot body (1) includes multiple magnetic soft units (11); Guide wire (2), one end of the magnetic soft unit (11) is connected to the guide wire (2); A magnetizing magnetic field component (3) is used to generate a magnetizing magnetic field to magnetize the magnetic soft unit (11); at least one of the magnetic soft units (11) has a first magnetization state and a second magnetization state after being magnetized by different magnetizing magnetic fields. A driving magnetic field assembly (4) is used to generate a driving magnetic field; under the action of the driving magnetic field, the deformation produced by the magnetic soft unit (11) having a first magnetization state can be different from the deformation produced by the magnetic soft unit (11) having a second magnetization state.

2. The magnetic continuum robot system according to claim 1, characterized in that, At least one magnetic soft unit (11) contains an elastic matrix in which a first magnetic particle and a second magnetic particle are mixed, wherein the coercivity of the first magnetic particle is greater than that of the second magnetic particle.

3. The magnetic continuum robot system according to claim 2, characterized in that, The magnetic soft unit (11) includes a first magnetic region (111) and a second magnetic region (112). The first magnetic particles are mixed in the elastic matrix within the first magnetic region (111), and the second magnetic particles are mixed in the elastic matrix within the second magnetic region (112).

4. A magnetic continuum robot system according to any one of claims 1-3, characterized in that, The continuum robot body (1) includes two opposing magnetic soft units (11), each of which has a first magnetization state and a second magnetization state; The magnetic field direction of the driving magnetic field intersects with the extension direction of the magnetic soft unit (11).

5. A magnetic continuum robot system according to claim 4, characterized in that, One of the magnetic soft units (11) has a first magnetic region (111) and a second magnetic region (112) arranged sequentially in a direction away from the guide wire (2), and the other magnetic soft unit (11) has a second magnetic region (112) and a first magnetic region (111) arranged sequentially in a direction away from the guide wire (2); In the first magnetization state, the magnetization directions of the first magnetic region (111) and the second magnetic region (112) of the magnetic soft unit (11) are both along the extension direction of the magnetic soft unit (11), and the magnetization directions of the first magnetic region (111) and the second magnetic region (112) are the same. In the second magnetization state, the magnetization directions of the first magnetic region (111) and the second magnetic region (112) of the magnetic soft unit (11) are both along the extension direction of the magnetic soft unit (11), and the magnetization directions of the first magnetic region (111) and the second magnetic region (112) are opposite.

6. A magnetic continuum robot system according to claim 1, characterized in that, The continuum robot body (1) includes at least three magnetic soft units (11), and the multiple magnetic soft units (11) are spaced apart along the circumferential direction of the guide wire (2), and the magnetic field direction of the driving magnetic field is along the extension direction of the magnetic soft unit (11).

7. A magnetic continuum robot system according to claim 6, characterized in that, Each of the magnetic soft units (11) includes a first magnetic region (111) and a second magnetic region (112) arranged sequentially in a direction away from the guide wire (2); In the first magnetization state, the magnetization direction of the first magnetic region (111) of the magnetic soft unit (11) is opposite to the guide wire (2), and the magnetization direction of the first magnetic region (111) is inclined to the outside of the center of the guide wire (2). The magnetization direction of the second magnetic region (112) is along the extension direction of the magnetic soft unit (11) and is opposite to the guide wire (2). In the second magnetization state, the magnetization direction of the first magnetic region (111) of the magnetic soft unit (11) is the same as the magnetization direction in the first magnetization state, and the magnetization direction of the second magnetic region (112) is along the extension direction of the magnetic soft unit (11) and toward the guide wire (2).

8. A magnetic continuum robot system according to claim 2, characterized in that, The magnetic soft unit (11) includes a third magnetic region, which includes the first magnetic particle and the second magnetic particle.

9. A magnetic continuum robot system according to claim 1, characterized in that, It also includes a sleeve (5), which is sleeved on the guide wire (2); Before the magnetizing magnetic field assembly (3) magnetizes the continuous robot body (1), the continuous robot body (1) extends into the sleeve (5).

10. The control method for the magnetic continuum robot system according to any one of claims 1-9, characterized in that, Includes the following steps: The magnetizing magnetic field component (3) generates the magnetizing magnetic field, causing the magnetic soft unit (11) to have the first magnetization state; The driving magnetic field component (4) generates a driving magnetic field, which drives the deformation of a plurality of magnetic soft units (11) having the first magnetization state. The magnetizing magnetic field component (3) regenerates the magnetizing magnetic field, so that the magnetic soft unit (11) has the second magnetization state; The driving magnetic field assembly (4) regenerates the driving magnetic field, which drives the deformation of a plurality of magnetic soft units (11) having the second magnetization state; The guide wire (2) drives the continuous robot body (1) to move.

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