Magnetic manipulator with micro-movement capability

Abstract

The invention relates to a micro-manipulator (1) comprising at least one Elevating Apparatus (11) positioned on at least one Body (10) and at least one Camera (14) located on the said Elevating Apparatus (11) enabling micro-particle (41) imaging. The novelty of the invention lies in that it comprising at least one Holding Unit (20) positioned on the said Body (10) and at least one Movement Unit (30) for moving the said Holding Unit (20), at least one Connection Member (21) fixed on the Body (10) for enabling the direct manipulation of micro-particles (41) by the said Holding Unit (20), at least one First Magnetic Arm (24) rotatably connected on the said Connection Member (21), at least one Second Magnetic Arm (25) rotatably connected on the said First Magnetic Arm (24), and at least one Operation Tip (26) located at the end of the said Second Magnetic Arm (25) for directing the micro-particle (41), wherein the First Magnetic Arm (24) and the Second Magnetic Arm (25) are configured to interact under the magnetic field.

Description

[0001] MAGNETIC MANIPULATOR WITH MICRO-MOVEMENT CAPABILITY

[0002] TECHNICAL FIELD

[0003] The invention relates to a micro-manipulator comprising at least one body, at least one movable arm, at least one magnetic control element, and at least one camera enabling micro-particle imaging, positioned on at least one body.

[0004] PRIOR ART

[0005] Micro-manipulation systems are systems used in biomedical, micro-manufacturing, and precision assembly processes for moving, positioning, and processing objects on a micro scale (<1 mm). These systems generally operate through mechanical, magnetic, optical, or piezoelectric actuation methods and play a critical role in applications requiring high precision. Particularly in the biomedical field, they are widely used in applications such as cell manipulation, drug delivery, and fluid guidance in micro-channels. Although current systems provide precise movement on a micro scale through conventional mechanical actuation mechanisms, they have various limitations in terms of working area, flexibility, and controllability.

[0006] An application known in the literature with publication number US12167902B2 describes the working principles and mechanical structure of a robotic surgical system used in microsurgery and similar precision medical applications. The system is equipped with macro and micro motion mechanisms that allow precise control of surgical instruments. One of the fundamental components of the robotic system is the macro positioning arm. This arm is designed to perform large-scale movements over the surgical area. It has degrees of freedom in various angles and can be controlled both manually and in a motorized manner. This macro arm provides the general positioning of the system and helps the surgeon optimize the operation area.One of the main problems in this technical field is that systems operating on a micro scale do not have sufficient freedom of movement. Existing systems are generally single-axis or have a limited degree of freedom, and their mobility is restricted within a narrow area. Although optical, ultrasonic, and electromagneticbased manipulation systems provide precise positioning capability, they are insufficient in offering mobility within a wide working area. In particular, optical systems cannot operate efficiently beyond a certain distance due to the limited penetration depth of light, while ultrasonic systems cannot fully meet micromanipulation requirements due to low-resolution control and limited steering capability. In addition, electromagnetic manipulators generally require high energy consumption, and the nonlinear effects of magnetic fields in confined areas cause difficulties in precise control.

[0007] Another significant problem is that existing mechanical micro-manipulator systems are generally manually controlled and include bulky and cumbersome structures. In such mechanical systems, tweezer-like motion mechanisms are commonly used, and micro-scale movement is achieved through direct intervention by the operator. However, since these systems contain mechanical transmission elements, they have substantial limitations in terms of precision and repeatability. Furthermore, in applications requiring multiple axes of motion, the presence of joints and connection members increases the size and complexity of the system, thereby reducing flexibility and ease of use. The requirement for manual operation increases the margin of error and remains insufficient to meet the needs for autonomous and precise micro-manipulation.

[0008] As a result, all the problems mentioned above have made it necessary to introduce an innovation in the relevant technical field.

[0009] BRIEF DESCRIPTION OF THE INVENTION

[0010] The present invention relates to a manipulator intended to eliminate the disadvantages mentioned above and to provide new advantages to the relevant technical field.One objective of the invention is to provide a manipulator that is magnetic field-controlled, highly precise, and capable of performing manipulation on a micro scale.

[0011] Another objective of the invention is to provide a manipulator that can move autonomously without the need for manual intervention, enables the operation tip to manipulate micro-particles in a precise and steerable manner, and is capable of moving with low friction and high accuracy.

[0012] In order to achieve all the objectives mentioned above and to be revealed in the following detailed description, the present invention is a micro-manipulator comprising at least one elevating apparatus positioned on at least one body and at least one camera located on the said elevating apparatus, which enables microparticle imaging. Accordingly, its novelty lies in comprising at least one holding unit positioned on the said body and at least one movement unit for moving the said holding unit, at least one connection member fixed on the body for enabling the direct manipulation of micro-particles by the said holding unit, at least one first magnetic arm rotatably connected on the said connection member, at least one second magnetic arm rotatably connected on the said first magnetic arm, and at least one operation tip located at the end of the said second magnetic arm for directing the micro-particle, and in that the movement unit comprises at least one pair of first magnets positioned oppositely to generate a magnetic field to move the first magnetic arm and at least one pair of second magnets positioned oppositely to generate a magnetic field to move the second magnetic arm, and that the first magnetic arm and the second magnetic arm are configured to interact under a magnetic field.

[0013] A possible alternative embodiment of the invention is characterized in that it comprises at least one first bearing element for rotatably connecting the first magnetic arm with respect to the connection member. Thus, the first magnetic arm can move precisely and controllably under the effect of the magnetic field, increasing the accuracy of the manipulation processes and enabling the microparticles to be precisely guided to the desired position.A possible alternative embodiment of the invention is characterized in that it comprises at least one second bearing element for rotatably connecting the second magnetic arm with respect to the first magnetic arm. Thus, the second magnetic arm can move independently from the first magnetic arm, allowing micro-scale manipulation processes to be carried out with higher precision.

[0014] A possible alternative embodiment of the invention is characterized in that the said first magnet and second magnet are in the form of electromagnets. Thus, the magnetic field can be dynamically controlled, the movement of the magnetic arms can be guided more precisely, and the system can be adjusted to meet different manipulation requirements.

[0015] A possible alternative embodiment of the invention is characterized in that the said elevating apparatus comprises at least one upright and at least one bridge positioned on the said upright for positioning the camera. Thus, the camera can image the manipulation area from optimal angles, offering high-resolution optical monitoring, thereby increasing the precision of micro-scale operations and enhancing the effectiveness of the system’s feedback control mechanism.

[0016] A possible alternative embodiment of the invention is characterized in that the said movement unit comprises at least one coil winding and at least one magnetic core. Thus, the intensity of the magnetic field can be optimized, the movement of the magnetic arms becomes stronger and more stable, and the overall performance of the system is enhanced to enable high-precision manipulation processes.

[0017] A possible alternative embodiment of the invention is characterized in that it comprises at least one sample container for transporting or processing microparticles. Thus, the manipulation processes can be carried out in a controlled environment, providing a suitable working condition for biomedical or micromanufacturing processes, ensuring the stability of the micro-particles, and increasing the reliability of precise operations.

[0018] BRIEF DESCRIPTION OF THE DRAWINGSFigure 1 shows a representative perspective view of the manipulator subject to the invention.

[0019] Figure 2 shows another representative perspective view of the manipulator subject to the invention.

[0020] Figure 3 shows a representative close-up view of the operation tip of the manipulator subject to the invention.

[0021] Figure 4 shows a representative top view of the holding unit and the movement unit of the manipulator subject to the invention.

[0022] Figure 5 shows a representative sectional view of the holding unit in the manipulator subject to the invention.

[0023] Figure 6 shows a representative top view of the alternative arrangement of the magnets in the manipulator subject to the invention.

[0024] Figure 7 shows a representative perspective view of alternative types of the operation tip in the manipulator subject to the invention.

[0025] DETAILED DESCRIPTION OF THE INVENTION

[0026] In this detailed description, the subject matter of the invention is explained by way of examples that are solely intended to enhance understanding of the subject and shall not have any limiting effect.

[0027] Representative perspective views of the manipulator (1) subject to the invention are shown in figures 1 and 2. Accordingly, the manipulator (1) subject to the invention is a micro-manipulation device that has micro-scale precision movement capability and is driven by a magnetic field, and is used in technical fields such as biomedical, micro-manufacturing, and precision assembly. It ensures the movement of small-scale objects with high precision, particularly in applications such as cell biology, drug delivery, micro-injection, micro-assembly, and microfluidic systems. Themanipulator (1), through its magnetic field-controlled movement mechanism, can be guided without mechanical contact, thereby allowing manipulation operations to be carried out with minimal damage when working with delicate materials. The manipulator (1) performs manipulation by the synchronized operation of various components.

[0028] The manipulator (1) comprises at least one body (10). The said body (10) constitutes the main structural carrier of the system and is the main component that defines the working area of the manipulator (1). The body (10) may be positioned either parallel or perpendicular to the ground depending on the working environment. Other elements that ensure the functioning of the system are integrated onto this body (10). The body (10) comprises at least one holding unit (20), at least one movement unit (30), and at least one sample container (40) that can be positioned thereon.

[0029] The sample container (40) of the manipulator (1) is a chamber in which the microparticles (41) to be transported or processed are located. The sample container (40) ensures that the manipulation processes are carried out in a controlled environment and is configured to be suitable for biomedical or micro-manufacturing processes. The material structure of the sample container (40) is selected in such a way that it does not hinder the movement of the micro-particles (41) and does not affect the distribution of the magnetic field. For example, in biomedical applications, transparent polymer-based materials may be preferred to provide both optical monitoring and biocompatibility. The micro-particle (41) consists of micro-scale objects that need to be moved or positioned by the manipulator (1). Micro-particles (41) may be cells, drug molecules, or micro-injection materials in biomedical applications, or components that require precise transportation in micromanufacturing processes. The micro-particle (41), which comes into direct contact with at least one operation tip (26), is guided in a controlled and precise manner during the manipulation process and transported to a designated target point.

[0030] The manipulator (1) comprises at least one elevating apparatus (11). The said elevating apparatus (11) is connected to the body (10) to enable the components of the manipulator (1) to be positioned at a suitable height. This structure particularlyallows components such as the camera (14) to be placed at appropriate angles and heights for optical monitoring operations. The elevating apparatus (11) comprises at least one upright (12) and at least one bridge (13). The said upright (12) is integrated into the elevating apparatus (11) and extends upward in a vertical axis from the body (10). Preferably, two uprights (12) are positioned oppositely on the body (10). The uprights (12) provide the stability of the system. The said bridge (13) is a structure extending between the uprights (12) and is preferably positioned parallel to the ground. The bridge (13) serves as a carrier for the camera (14), which is the optical monitoring component of the system, and allows the manipulation area to be viewed from a wide angle. The camera (14) is fixed onto the bridge (13), ensuring high-resolution tracking of the movements of the microparticles (41) during operation. The camera (14) is equipped with a high-resolution optical sensor and is used to monitor the movements of the manipulator (1) in real time and to provide feedback to the control system.

[0031] A representative top view of the holding unit (20) and the movement unit (30) of the manipulator (1) subject to the invention is shown in figure 4. Accordingly, the holding unit (20) is a mechanism comprising at least one connection member (21), at least one first bearing element (22), at least one second bearing element (23), and the operation tip (26), and enables the direct interaction of the manipulator (1) with the micro-particles (41). The holding unit (20) is designed to perform precise manipulation processes and carries out operations such as holding, guiding, and placing the micro-particles (41). The holding unit (20), which is guided by magnetic arms controlled by the movement unit (30), can operate with high precision.

[0032] A representative sectional view of the holding unit (20) in the manipulator (1) subject to the invention is shown in figure 5. Accordingly, the connection member (21) located in the holding unit (20) is a fundamental mechanical connection that connects the body (10) with the first magnetic arm (24) and enables the movable components of the manipulator (1) to be positioned on the body (10). The connection member (21) ensures the stability of the mechanical system while being configured to allow free movement of the magnetic arms. The said first bearing element (22) is located between the first magnetic arm (24) and the connection member (21), allowing the magnetic arm to perform a precise rotational movement.The said second bearing element (23) is positioned between the first magnetic arm (24) and the second magnetic arm (25), allowing the two arms to move independently of each other. The second bearing element (23) enhances the manipulation capability of the system while enabling the movement to take place in a controlled manner. The second bearing element (23) and the first bearing element (22) are made of a low-friction and non-magnetic material, contributing to the smooth movement of the magnetic arms. The first magnetic arm (24) is made of a material capable of movement under a magnetic field and is guided by the magnetic field generated by the magnets. The first magnetic arm (24) is connected to the body (10) via the connection member (21) and plays a critical role in the execution of the manipulation processes of the system. In an alternative embodiment, permanent magnets can be placed inside the first magnetic arm (24) and the second magnetic arm (25), and the magnetic field vector can be oriented parallel or perpendicular to the axis of the arm. In this way, the movement control of the system can be optimized according to different application requirements.

[0033] The manipulator (1) comprises at least one second magnetic arm (25). The said second magnetic arm is connected to the first magnetic arm (24) and is similarly guided under the magnetic field to perform precise manipulation of the microparticles (41). The second magnetic arm (25) may be thinner or have a different geometry compared to the first magnetic arm (24), and comprises at least one operation tip (26) at its end. Being able to move independently under the influence of the magnetic field, the second magnetic arm (25) increases the precision of the manipulation processes and expands the movement range of the manipulator (1).

[0034] Representative views of the operation tip (26) of the manipulator (1) subject to the invention are shown in figures 3 and 7. Accordingly, the manipulator (1) comprises at least one operation tip (26). The said operation tip (26) is located at the end of the second magnetic arm (25) and is the element that comes into direct contact with the micro-particles (41) and performs the manipulation operations. The operation tip (26) is made of a non-magnetic material and can be designed in different geometries to guide the micro-particles (41) in a controlled manner. The operation tip (26) is specifically optimized for micro-scale applications to ensureprecise transportation, rotation, or placement of the micro-particles at a designated point.

[0035] A representative top view of the alternative arrangement of the magnets in the manipulator (1) subject to the invention is shown in figure 6. Accordingly, the movement unit (30) is a magnetic field-based system that enables the movement of the holding unit (20). The movement unit (30) uses magnetic field variations generated by at least one first magnet (31) and at least one second magnet (32) to move the magnetic arms of the manipulator (1) in a controlled manner. The first magnet (31) and the second magnet (32) can be positioned at angles depending on different usage preferences. The movement unit (30) allows the holding unit (20) to move freely and enables manipulation processes to be carried out with high accuracy by precisely managing the magnetic field.

[0036] The first magnet (31) is essentially in the form of an electromagnet and can alternatively be used as a permanent magnet in other applications. The first magnet (31) is primarily positioned as a pair of opposing magnets to move the first magnetic arm (24). When in the form of an electromagnet, it generates a variable magnetic field depending on the direction and magnitude of the current, thereby enabling the guidance of the first magnetic arm (24). Alternatively, in the case of using a permanent magnet, the position of the magnet can be changed to generate a variable magnetic field and thereby move the first magnetic arm (24).

[0037] The second magnet (32) has a structure similar to the first magnet (31) and is configured to move the second magnetic arm (25). The second magnet (32), which is essentially in the form of an electromagnet, can also be configured as a permanent magnet in an alternative embodiment of the invention. Like the first magnet (31), the second magnet (32) generates a magnetic field to move the second magnetic arm (25). In the system, there are generally two second magnets (32) positioned opposite each other, and they operate in a controlled manner to enable the manipulator (1) to perform micro-scale precision movements. When used as an electromagnet, the use of variable current control increases movement accuracy and provides high precision. Alternatively, more magnets can be placedaround the manipulator (1) in a way that does not restrict the movement area, thereby increasing the movement capability of both arms.

[0038] The movement Unit (30) comprises at least one coil winding (33) and at least one magnetic core (34). The said coil winding (33) is the fundamental element that generates the magnetic field produced by the electromagnets. The coil winding (33) is a conductive wire winding system that converts electric current into a magnetic field. When the direction and magnitude of the current passing through the windings are changed, the magnetic field generated by the first magnet (31) and the second magnets (32) can be adjusted appropriately for the manipulation processes. The said magnetic core (34) is located inside the coil winding (33) and increases the intensity of the magnetic field, thereby optimizing the movement capability of the first magnetic arms (24) and the second magnetic arms (25). The magnetic core (34) is made of materials with high magnetic permeability and ensures that the magnetic field generated by the magnets is directed to the desired area in a stronger and more focused manner.

[0039] The manipulator (1) subject to the invention is capable of performing manipulation processes with high precision on a micro scale thanks to its magnetic field-driven movement system. With its movement mechanism that does not require mechanical contact, delicate materials can be guided without damage, and operational precision is increased. Through dynamic control of the magnetic field, manipulation processes can be performed in an automated or user-guided manner, thus providing high efficiency in fields such as biomedical, micro-manufacturing, and precision assembly. The electromagnet-controlled movement unit (30) enables the magnetic arms to move independently and precisely, making multi-axis control of the manipulator (1) possible and allowing flexible and repeatable operations across a wide range of applications. The compact and modular structure of the system enables operation with low energy consumption, while the electromagnetic drive mechanism offers higher precision and faster movement capability compared to traditional mechanical systems.

[0040] The scope of protection of the invention is defined in the claims provided in the annex and shall in no way be limited to the examples described in this detaileddescription. It is evident that a person skilled in the art may develop similar embodiments in light of the above explanations without departing from the main concept of the invention.REFERENCE NUMBERS IN THE DRAWINGS

[0041] I Manipulator

[0042] 10 Body

[0043] II Elevating Apparatus

[0044] 12 Upright

[0045] 13 Bridge

[0046] 14 Camera

[0047] 20 Holding Unit

[0048] 21 Connection Member

[0049] 22 First Bearing Element

[0050] 23 Second Bearing Element

[0051] 24 First Magnetic Arm

[0052] 25 Second Magnetic Arm

[0053] 26 Operation Tip

[0054] 30 Movement Unit

[0055] 31 First Magnet

[0056] 32 Second Magnet

[0057] 33 Coil Winding

[0058] 34 Magnetic Core

[0059] 40 Sample Container

[0060] 41 Micro-Particle

Claims

CLAIMS1. A micro-manipulator (1) comprising at least one elevating apparatus (11) positioned on at least one body (10) and at least one camera (14) located on the said elevating apparatus (11) enabling micro-particle (41) imaging, characterized in that; it comprising at least one holding unit (20) positioned on the said body (10) and at least one movement unit (30) for moving the said holding unit (20), at least one connection member (21) fixed on the body (10) for enabling the direct manipulation of micro-particles (41) by the said holding unit (20), at least one first magnetic arm (24) rotatably connected on the said connection member (21), at least one second magnetic arm (25) rotatably connected on the said first magnetic arm (24), and at least one operation tip (26) located at the end of the said second magnetic arm (25) for directing the micro-particle (41), the movement unit (30) comprising at least one pair of first magnets (31) positioned oppositely to generate a magnetic field for moving the first magnetic arm (24) and at least one pair of second magnets (32) positioned oppositely to generate a magnetic field for moving the second magnetic arm (25), and the first magnetic Arm (24) and the second magnetic Arm (25) being configured to interact under the magnetic field.

2. The manipulator (1) according to Claim 1, characterized in that it comprising at least one first bearing element (22) for rotatably connecting the first magnetic arm (24) with respect to the connection member (21).

3. The manipulator (1) according to Claim 1, characterized in that it comprising at least one second bearing element (23) for rotatably connecting the second magnetic arm (25) with respect to the first magnetic arm (24).

4. The manipulator (1) according to Claim 1, characterized in that the said first magnet (31) and second magnet (32) are in the form of electromagnets.

5. The manipulator (1) according to Claim 1, characterized in that the said elevating apparatus (11) comprising at least one upright (12) and at least one bridge (13) positioned on the said upright (12) for positioning the camera (14) thereon.

6. The manipulator (1) according to Claim 1, characterized in that the said movement unit (30) comprising at least one coil winding (33) and at least one magnetic core (34).

7. The manipulator (1) according to Claim 1, characterized in that it comprising at least one sample Container (40) for transporting or processing the micro-particles (41).

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