3D printing material and magnetic control micro / nano robot

Abstract

The present invention relates to the technical field of micro / nano robots, and provides a 3D printing material and a magnetic control micro / nano robot. The 3D printing material comprises photosensitive resin and fluorocarbon-modified magnetic nanoparticles, wherein a mass ratio of the photosensitive resin to the fluorocarbon-modified magnetic nanoparticles is (1.5-3):1, the photosensitive resin comprises photocurable biocompatible resin and an initiator, and a mass ratio of the photocurable biocompatible resin to the initiator is 100:(0.1-8). According to the 3D printing material provided by the present invention, the photocurable biocompatible resin is combined with the fluorocarbon-modified magnetic nanoparticles, so that the printing material not only has excellent biocompatibility, but also has magnetism, and can be used for preparing the magnetic control micro / nano robot. In addition, by means of the fluorocarbon-modified magnetic nanoparticles, the printing precision can be ensured while endowing the printing material with magnetism, and the motion capability of the magnetic micro / nano robot in viscous liquid such as blood is improved.

Description

A 3D printing material and magnetically controlled micro-nano robot Technical Field

[0001] The present invention relates to the technical field of micro-nano robots, and in particular to a 3D printing material and a magnetically controlled micro-nano robot. Background Art

[0002] A magnetically controlled micro-nano robot refers to a robot with a size at the micro-nano level. The robot can control its movement through an external magnetic field, and thus has broad application prospects in fields such as precision medicine.

[0003] The emergence of 3D printing technology has provided new technological possibilities for the medical field. 3D printing technology can use three-dimensional models as the basis to manufacture biological products such as medical assistive devices through CNC molding methods. Therefore, how to use 3D printing technology to manufacture magnetically controlled micro-nano robots has become a key technical content for scientific researchers.

[0004] 3D printing technology requires photosensitive resin as the printing material, but because traditional photosensitive resins do not have magnetism, they cannot be used for the preparation of magnetically controlled micro-nano robots. Therefore, how to provide a magnetic 3D printing material is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: in order to solve the technical problem in the prior art that photosensitive resins are difficult to be directly used in the preparation of magnetically controlled micro-nano robots due to their lack of magnetism, the present invention provides a 3D printing material. The 3D printing material introduces fluorocarbon-modified magnetic nanoparticles with good compatibility into the photosensitive resin to obtain a photosensitive resin that has magnetism and can be used for 3D printing, thereby solving the technical problem in the prior art that photosensitive resins are difficult to be directly used in the preparation of magnetically controlled micro-nano robots due to their lack of magnetism.

[0006] The technical solution adopted by the present invention to solve its technical problems is: a 3D printing material, including a photosensitive resin and fluorocarbon-modified magnetic nanoparticles; the mass ratio of the photosensitive resin to the fluorocarbon-modified magnetic nanoparticles is (1.5-3):1; the photosensitive resin includes a photocurable biocompatible resin and an initiator; the mass ratio of the photocurable biocompatible resin to the initiator is 30:(0.1-8).

[0007] Optionally, the fluorocarbon-modified magnetic nanoparticles are prepared according to the following method: S1: using magnetic nanoparticles and 3-mercaptopropyltrimethoxysilane as raw materials to prepare thiol-modified magnetic nanoparticles; S2: adding fluorocarbon photocurable resin and catalyst to the thiol-modified magnetic nanoparticles, stirring and reacting at 40°C, filtering, washing, and drying to obtain the fluorocarbon-modified magnetic nanoparticles.

[0008] Optionally, the magnetic nanoparticles are selected from at least one of neodymium iron boron magnetic powder and iron oxide magnetic powder.

[0009] Optionally, the particle size of the magnetic nanoparticles is 200-5000 mesh.

[0010] Optionally, the catalyst is triethylamine.

[0011] Optionally, the usage ratio of the magnetic nanoparticles to the 3-mercaptopropyltrimethoxysilane is (1-3) g:8 mL.

[0012] Optionally, the mass ratio of the thiol-modified magnetic nanoparticles, the fluorocarbon photocurable resin, and the catalyst is 1:(3-8):(0.03-0.08).

[0013] Optionally, the photocurable biocompatible resin includes organosilicon-modified acrylate and fluorine-containing ester acrylic monomer; the organosilicon-modified acrylate is selected from at least one of acrylic acid-modified silicone resin and organosilicon-modified polyurethane acrylate.

[0014] Optionally, the initiator is selected from at least one of diphenyl-(2,4,6-trimethylbenzoyl)phosphine oxide, phenylbis(2,4,6-trimethylbenzoyl)phosphine oxide, and ethyl 2,4,6-trimethylbenzoylphenylphosphonate.

[0015] Another object of the present invention is to provide a magnetically controlled micro-nano robot, which is prepared by 3D printing technology using the 3D printing material described above.

[0016] The beneficial effects of the present invention are as follows: the 3D printing material provided by the present invention combines a photocurable biocompatible resin with fluorocarbon-modified magnetic nanoparticles, so that the printing material not only has excellent biocompatibility but also has magnetism, and can be used to prepare magnetically controlled micro-nano robots; and, by virtue of the fluorocarbon-modified magnetic nanoparticles, it is possible to ensure printing accuracy while giving the printing material magnetism, and to improve the mobility of magnetic micro-nano robots in viscous liquids such as blood, thereby further expanding its scope of application. DETAILED DESCRIPTION

[0017] The present invention will now be described in further detail. The embodiments described below are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention. All other embodiments obtained by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0018] In order to solve the problem in the prior art that photosensitive resins are difficult to directly apply to magnetically controlled micro-nano robots due to their lack of magnetism, the present invention provides a 3D printing material, which includes a photosensitive resin and fluorocarbon-modified magnetic nanoparticles. The printing material is obtained by introducing fluorocarbon-modified magnetic nanoparticles into the photosensitive resin, so that the printing material can be photocured and used for 3D printing, and also has magnetism, so that the obtained printing material can be used to prepare magnetically controlled micro-nano robots.

[0019] Furthermore, because magnetic nanoparticles not only have poor compatibility with photosensitive resins but also have a higher density than photosensitive resins, direct mixing of the magnetic nanoparticles with the photosensitive resin is difficult, and during the printing process, the magnetic nanoparticles tend to settle, affecting the printing accuracy of the 3D printed material. The present invention, by introducing fluorocarbon-modified magnetic nanoparticles, not only imparts magnetism to the printed material, but also helps improve the compatibility of the magnetic nanoparticles with the photosensitive resin, reducing sedimentation and ensuring printing accuracy.

[0020] In addition, by utilizing the low surface energy characteristics of the fluorocarbon system and introducing fluorocarbon-modified magnetic nanoparticles, it is also helpful to improve the mobility of magnetically controlled micro-nano robots in viscous liquids such as blood, thereby further expanding their scope of application.

[0021] To balance the photocuring performance and magnetism of the 3D printing material, the present invention preferably adopts a mass ratio of the photosensitive resin to the fluorocarbon-modified magnetic nanoparticles of (1.5-3):1. To improve the biocompatibility of the printing material, the present invention preferably adopts a photosensitive resin comprising a photocurable biocompatible resin and an initiator. The mass ratio of the photocurable biocompatible resin to the initiator is preferably 30:(0.1-8).

[0022] The 3D printing material provided by the present invention combines a photocurable biocompatible resin with fluorocarbon-modified magnetic nanoparticles, making the printing material not only have excellent biocompatibility but also magnetic properties, and can be used to prepare magnetically controlled micro-nano robots. Moreover, by using fluorocarbon-modified magnetic nanoparticles, it is possible to ensure printing accuracy while giving the printing material magnetism, and to improve the mobility of magnetic micro-nano robots in viscous liquids such as blood, thereby further expanding its scope of application.

[0023] The present invention preferably prepares fluorocarbon-modified magnetic nanoparticles according to the following method: S1: using magnetic nanoparticles and 3-mercaptopropyltrimethoxysilane (3-TMMPS) as raw materials to prepare thiol-modified magnetic nanoparticles; specifically, the step includes: placing the magnetic nanoparticles in an HCl solution for vibration activation for 24 hours, rinsing with ethanol and toluene three times in sequence, then dispersing them in anhydrous toluene, adding 3-TMMPS, mechanically stirring and refluxing in a 100°C water bath for 24 hours, rinsing with anhydrous ethanol and water in sequence, placing them in a vacuum drying oven at 60°C for drying for 24 hours to obtain thiol-modified magnetic nanoparticles; S2: adding fluorocarbon photocurable resin and catalyst to the thiol-modified magnetic nanoparticles, stirring and reacting at 40°C, filtering, washing, and drying to obtain fluorocarbon-modified magnetic nanoparticles.

[0024] This preparation method first introduces thiol groups on the outside of magnetic nanoparticles through 3-TMMPS to obtain thiol-modified magnetic nanoparticles, and then further grafts polymerizable fluorocarbon resin on the surface of the magnetic nanoparticles through reaction with fluorocarbon photocurable resin. This, on the one hand, improves the compatibility of the magnetic nanoparticles with the photosensitive resin and avoids sedimentation, thereby ensuring the printing accuracy while giving the printed material magnetic properties; on the other hand, the low surface energy of the fluorocarbon system is utilized to further improve the mobility of the prepared magnetic nanoparticles in viscous liquids.

[0025] Specifically, in the present invention, the magnetic nanoparticles are preferably selected from at least one of neodymium iron boron magnetic powder and iron oxide magnetic powder; and further preferably, the particle size of the magnetic nanoparticles is 200-5000 mesh.

[0026] To ensure the smooth progress of the reaction, the preferred catalyst of the present invention is triethylamine; the preferred fluorocarbon light-curing resin is B-864 produced by Guangdong Boxing New Material Technology Co., Ltd.

[0027] To ensure the compatibility of fluorocarbon-modified magnetic nanoparticles with the photosensitive resin, the present invention preferably uses a dosage ratio of magnetic nanoparticles to 3-mercaptopropyltrimethoxysilane of (1-3) g / 8 mL, and preferably uses a mass ratio of mercapto-modified magnetic nanoparticles, fluorocarbon photocurable resin, and catalyst of 1:(3-8):(0.03-0.08).

[0028] In order to further improve the ability of the magnetically controlled micro-nano robot to move in viscous liquids, the present invention preferably uses a photocurable biocompatible resin with low surface energy, and specifically preferably uses a photocurable biocompatible resin including an organosilicon-modified acrylate and a fluorine-containing ester acrylic monomer; wherein the organosilicon-modified acrylate is selected from at least one of an acrylic-modified silicone resin and an organosilicon-modified polyurethane acrylate; and specifically preferably uses MY 6146A from Anhui Mingyi Silicon Industry Co., Ltd., and uses YC5016 from Shanghai Yinchang New Materials Co., Ltd. as the acrylic-modified silicone resin; and preferably uses dodecafluoroacrylate as the organosilicon-modified polyurethane acrylate;

[0029] In the present invention, the mass ratio of the organosilicon-modified acrylate to the fluorinated ester acrylic monomer in the photocurable biocompatible resin is preferably 2:1.

[0030] In addition, additives such as leveling agents can be added to the photosensitive resin as needed.

[0031] The preferred initiator of the present invention is at least one selected from diphenyl-(2,4,6-trimethylbenzoyl)phosphine oxide TPO, phenylbis(2,4,6-trimethylbenzoyl)phosphine oxide 819, and ethyl 2,4,6-trimethylbenzoylphenylphosphonate TPO-L.

[0032] Another object of the present invention is to provide a magnetically controlled micro-nano robot, which is prepared by 3D printing technology using the 3D printing material as described above.

[0033] The magnetically controlled micro-nano robot provided by the present invention uses the above-mentioned 3D printing material as raw material, and combines a photocurable biocompatible resin with fluorocarbon-modified magnetic nanoparticles. This makes the printing material not only have excellent biocompatibility but also have magnetism, and can be used to prepare magnetically controlled micro-nano robots. Moreover, by using fluorocarbon-modified magnetic nanoparticles, it is possible to ensure printing accuracy while giving the printing material magnetism, and improve the mobility of the magnetic micro-nano robot in viscous liquids such as blood, thereby further expanding its scope of application.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below.

[0035] Unless otherwise specified, the fluorocarbon-modified magnetic nanoparticles in each embodiment of the present invention and the comparative example are prepared according to the following method: S1: 2g of magnetic nanoparticle iron oxide powder (average particle size 5000 mesh) is placed in 100mL1mol / LHCl solution for vibration activation for 24h, rinsed with ethanol and toluene three times in sequence, then dispersed into 100mL of anhydrous toluene, added with 8mL3-TMMPS, mechanically stirred and refluxed in a 100℃ water bath for 24h, rinsed with anhydrous ethanol and water in sequence, placed in a vacuum drying oven at 60°C and dried for 24h to obtain thiol-modified magnetic nanoparticles; S2: 5g of fluorocarbon photocurable resin (B-864 of Guangdong Boxing New Materials Technology Co., Ltd.) and 0.05g of catalyst triethylamine were added to 1g of thiol-modified magnetic nanoparticles, stirred and reacted at 40℃, filtered, washed three times with anhydrous ethanol, and vacuum dried at 40℃ for 12h to obtain fluorocarbon-modified magnetic nanoparticles. Example 1

[0036] This embodiment provides a 3D printing material prepared by the following method: 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin is mixed uniformly with 5 parts of fluorocarbon-modified magnetic nanoparticles, and a magnetically controlled micro-nano robot is obtained by 3D printing. The 3D printing parameters are a slice thickness of 0.1 mm and an exposure time of 30 seconds. Example 2

[0037] This embodiment provides a 3D printing material prepared by the following method: 10 parts by weight of an acrylic-modified silicone resin MY6146A, 10 parts by weight of an organosilicon-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of a photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin is mixed uniformly with 5 parts of fluorocarbon-modified magnetic nanoparticles, and a magnetically controlled micro-nano robot is obtained by 3D printing. The 3D printing parameters are a slice thickness of 0.1 mm and an exposure time of 20 seconds. Example 3

[0038] This embodiment provides a 3D printing material, which is prepared by the following method: 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 15 parts by weight of the photosensitive resin and 5 parts of fluorocarbon-modified magnetic nanoparticles are mixed uniformly, and a magnetically controlled micro-nano robot is obtained by 3D printing. The 3D printing parameters are a slice thickness of 0.1 mm and an exposure time of 10 seconds. Example 4

[0039] This embodiment provides a 3D printing material, which is prepared by the following method: 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 7.5 parts by weight of the photosensitive resin and 5 parts of fluorocarbon-modified magnetic nanoparticles are mixed uniformly, and a magnetically controlled micro-nano robot is obtained by 3D printing. The 3D printing parameters are a slice thickness of 0.1 mm and an exposure time of 30 seconds. Comparative Example 1

[0040] This comparative example provides a 3D printing material, which is prepared by the following method: 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin and 5 parts of magnetic nanoparticle iron oxide magnetic powder (average particle size 5000 mesh) are mixed uniformly, and a magnetically controlled micro-nano robot is obtained by 3D printing. Comparative Example 2

[0041] This comparative example provides a 3D printing material, which is prepared by the following method: 2 g of magnetic nanoparticle iron oxide powder (average particle size 5000 mesh) is placed in 100 mL of 1 mol / L HCl solution for vibration activation for 24 hours, rinsed with ethanol and toluene three times in sequence, then dispersed into 100 mL of anhydrous toluene, 8 mL of 3-TMMPS is added, and mechanical stirring and reflux are carried out in a 100°C water bath for 24 hours. The mixture is rinsed with anhydrous ethanol and water in sequence, and dried in a vacuum drying oven at 60°C for 24 hours to obtain thiol-modified magnetic nanoparticles; 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are taken and stirred evenly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin and 5 parts of the thiol-modified magnetic nanoparticles are stirred and mixed evenly, and a magnetically controlled micro-nano robot is obtained by 3D printing. Comparative Example 3

[0042] This comparative example provides a 3D printing material, which is prepared by the following method: S1: 2g of magnetic nanoparticle iron oxide powder (average particle size 5000 mesh) is placed in 100mL of 1mol / LHCl solution for vibration activation for 24h, rinsed with ethanol and toluene three times in sequence, then dispersed into 100mL of anhydrous toluene, added with 8mL of 3-TMMPS, mechanically stirred and refluxed in a 100°C water bath for 24h, rinsed with anhydrous ethanol and water in sequence, placed in a vacuum drying oven at 60°C and dried for 24h to obtain thiol-modified magnetic nanoparticles; S2: 5g of polyethylene glycol diacrylate and 0.05g of catalyst triethylamine are added to 1g of thiol-modified magnetic nanoparticles, stirred and reacted at 40°C, filtered, washed three times with anhydrous ethanol, and vacuum dried at 40°C for 12h to obtain polyethylene glycol-modified magnetic nanoparticles.

[0043] According to the weight ratio, 20 parts by weight of silicone-modified polyurethane acrylate YC5016, 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO were mixed evenly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin and 5 parts of polyethylene glycol-modified magnetic nanoparticles were stirred and mixed evenly, and a magnetically controlled micro-nano robot was obtained by 3D printing. Comparative Example 4

[0044] The difference between this comparative example and Example 1 is that the amount of photosensitive resin added is 5 parts by weight. Comparative Example 5

[0045] This comparative example provides a 3D printing material, which is prepared by the following method: 20 parts by weight of polyurethane acrylate (CN991), 10 parts by weight of dodecafluoroacrylate, and 0.3 parts by weight of photoinitiator TPO are mixed uniformly to obtain a photosensitive resin; 10 parts by weight of the photosensitive resin and 5 parts of fluorocarbon-modified magnetic nanoparticles are mixed uniformly, and a magnetically controlled micro-nano robot is obtained by 3D printing.

[0046] The magnetically controlled micro-nano robots prepared in the aforementioned embodiments and comparative examples were tested using the following methods: 1. Printing Accuracy: The length, width, and height of the magnetically controlled micro-nano robots were measured using a vernier caliper. Based on the design height of the model and the measured length, width, and height of the actual manufactured magnetically controlled micro-nano robots, the printing error was calculated using the following formula to reflect the molding accuracy: , where l, w, and h are the designed length, width, and height of the magnetically controlled micro-nano robot (in μm), and Δl, Δw, and Δh are the differences between the designed and actual measured values ​​of the length, width, and height, respectively.

[0047] 2. Magnetic Testing of the Magnetically Controlled Micro-Nanorobot: The printed magnetically controlled micro-nanorobot was measured using a vibrating sample magnetometer (VSM). This VSM, manufactured by Quantum Design in the United States and modeled as VersaLab, can test bulk samples up to 5 mm × 5 mm × 2 mm. The measurement temperature was maintained at 300 K, and a magnetic field was applied gradually from -30 kOe to 30 kOe. To mitigate potential variability or inhomogeneity during the magnetically controlled micro-nanorobot fabrication process, three independent magnetically controlled micro-nanorobot samples were measured, and the average value was calculated. Magnetic strength was determined based on saturation magnetization.

[0048] 3. Motility test: The time it takes to move 50 mm in a gelatin solution with a viscosity of 1000 mPa·s is used to characterize its motility.

[0049] The test results of the magnetically controlled micro-nano robots in various embodiments and comparative examples are shown in Table 1: .

[0050] It can be seen from the above data that the magnetically controlled micro-nano robots prepared in various embodiments of the present invention have excellent printing accuracy and magnetic strength, and have excellent movement ability in viscous liquids.

[0051] In the printing material provided in Comparative Example 1, the introduced magnetic nanoparticles were not modified, resulting in sedimentation of the magnetic nanoparticles during the printing process and failure to form a printed shape.

[0052] The magnetic nanoparticles added in Comparative Example 2 were only modified with thiol groups, resulting in poor printing accuracy of the magnetic nanoparticles. The magnetic strength was affected due to the uneven distribution of the magnetic nanoparticles. At the same time, the mobility in the viscous liquid was also reduced.

[0053] In Comparative Example 3, the magnetic nanoparticles added were modified with polyethylene glycol. Although the prepared magnetically controlled micro-nano robot still had good printing accuracy and magnetism, its mobility in viscous liquids became poor.

[0054] In Comparative Example 4, the addition ratio of fluorocarbon-modified magnetic nanoparticles was increased, resulting in poor printing accuracy.

[0055] In Comparative Example 5, polyurethane acrylate CN991 was used instead of the organosilicon-modified polyurethane acrylate MY5016 in Example 1, resulting in poor printing accuracy and weaker magnetic strength of the prepared magnetically controlled micro-nano robot.

[0056] With the above-described preferred embodiments of the present invention as a guide, and with reference to the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the contents of the specification and must be determined according to the scope of the claims.

Claims

1. A 3D printing material, characterized in that: It comprises a photosensitive resin and fluorocarbon modified magnetic nanoparticles; the mass ratio of the photosensitive resin to the fluorocarbon modified magnetic nanoparticles is (1.5-3):1; the photosensitive resin comprises a photocurable biocompatible resin and an initiator; the mass ratio of the photocurable biocompatible resin to the initiator is 30:(0.1-8).

2. The 3D printing material according to claim 1, characterized in that: The fluorocarbon-modified magnetic nanoparticles are prepared according to the following method: S1: Using magnetic nanoparticles and 3-mercaptopropyltrimethoxysilane as raw materials, preparing mercapto-modified magnetic nanoparticles; S2: adding fluorocarbon photocurable resin and catalyst to the mercapto-modified magnetic nanoparticles, stirring and reacting at 40° C., filtering, washing and drying to obtain the fluorocarbon-modified magnetic nanoparticles.

3. The 3D printing material according to claim 2, characterized in that: The magnetic nanoparticles are selected from at least one of neodymium iron boron magnetic powder and iron oxide magnetic powder.

4. The 3D printing material according to claim 2, characterized in that: The particle size of the magnetic nanoparticles is 200-5000 meshes.

5. The 3D printing material according to claim 2, characterized in that: The catalyst is triethylamine.

6. The 3D printing material according to claim 2, characterized in that: The usage ratio of the magnetic nanoparticles to the 3-mercaptopropyltrimethoxysilane is (1-3) g:8 mL.

7. The 3D printing material according to claim 2, characterized in that: The mass ratio of the mercapto-modified magnetic nanoparticles, the fluorocarbon photocurable resin and the catalyst is 1:(3-8):(0.03-0.08).

8. The 3D printing material according to any one of claims 1 to 7, characterized in that: The photocurable biocompatible resin comprises silicone-modified acrylate and fluorine-containing ester acrylic monomer; the silicone-modified acrylate is selected from at least one of acrylic-modified silicone resin and silicone-modified polyurethane acrylate.

9. The 3D printing material according to claim 8, characterized in that: The initiator is at least one selected from diphenyl-(2,4,6-trimethylbenzoyl)phosphine oxide, phenylbis(2,4,6-trimethylbenzoyl)phosphine oxide, and ethyl 2,4,6-trimethylbenzoylphenylphosphonate.

10. A magnetically controlled micro-nano robot, characterized in that: The 3D printing material according to any one of claims 1 to 9 is prepared by 3D printing technology.

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