23 results about "Micro robotics" patented technology

A tetherless magnetic impact needle robot (MINRob) based on a triple-magnet system with reversible and repeatable magnetic collisions to overcome this constraint on output force. The working procedure of the system is divided into several states, and a mathematical model is developed to predict and optimize the force output. These force values in magnetic impact and penetration are obtained from a customized setup, indicating a 10-fold increase compared with existing miniature robots that only utilize magnetic attractive force. Eventually, the MINRob is integrated with a teleoperation system, enabling remote and precise control of the robot's position and orientation. The triple-magnet system offers promising locomotion patterns and penetration capacity via the notably increased force output, showing great potential in robot-assisted tissue penetration in minimally invasive healthcare.

This invention provides a magnetically controlled microrobot system and its usage method, relating to the interdisciplinary field of ophthalmic medical devices and magnetically controlled robots. The magnetically controlled microrobot system includes an electromagnetic drive device, a magnetic microrobot, and a control device. The electromagnetic drive device includes a first electromagnetic array and a second electromagnetic array whose magnetic field directions are at an angle. The first and second electromagnetic arrays together form a driving magnetic field that can be controlled in multiple dimensions. The magnetic microrobot includes a magnetic body for responding to the driving magnetic field to perform multi-degree-of-freedom motion and / or posture adjustment. The control device is communicatively connected to the magnetic electromagnetic drive device and is used to control the electromagnetic drive device to generate a target magnetic field to drive the magnetic microrobot to perform the target operation. When used to treat rhegmatogenous retinal detachment, this magnetically controlled microrobot system enables controllable, multi-degree-of-freedom, and precise control of the magnetic microrobot within the limited space inside the eye.

The application provides a control method and system for non-contact operation tasks of a magnetic micro robot, and the method comprises the following steps: acquiring a current position state, wherein the current position state comprises a current position of a target object and a relative distance between the magnetic micro robot and the target object; a motion model performs position state prediction according to the current position state to obtain a predicted position state at a next moment; a magnetic field control parameter is generated by taking a safe distance as a constraint and minimizing an error between an ideal position state and the predicted position state as an objective, wherein the safe distance refers to a target distance between the magnetic micro robot and the target object, and the magnetic field control parameter comprises a magnetic field direction and a magnetic field frequency; and the magnetic field is controlled according to the magnetic field control parameter to drive the magnetic micro robot to push the target object to move along a planned path. In this way, an accurate and flexible control method for non-contact operation tasks of the magnetic micro robot is realized.

Assembly (10) comprising a micro-robot (12) configured to navigate through an anatomical target area located inside a human body connected to the outside of the human body through an anatomic opening (O). The assembly comprises at least one flexible delivery conduct (14) and a tool platform (16) forming connection zone between the micro-robot and the at least one flexible delivery conduct. A working channel (22) is arranged in the tool platform, presenting a first opening (O1) and a second opening (O2). The first opening of the working channel is connected to the anatomical opening through the at least one flexible delivery conduct, and the second opening of the working channel puts the flexible delivery conduct in relation with the anatomical target area or the micro-robot.

The present application belongs to the technical field of medical devices. The present application discloses a micro robot for preventing microorganism-induced crystalline sediment formation, comprising a degradable main body; at least one driving arm for reversible phase change to generate movement in response to physiological temperature fluctuation is arranged on the degradable main body, and an anchoring arm body for resisting fluid scouring effect to make the degradable main body stably stay in the target physiological cavity is arranged on the other side of the degradable main body away from the driving arm. The present application has the advantages of being capable of effectively inhibiting crystal formation and biofilm construction, and being capable of maintaining good anti-fouling ability for a long time in vivo to avoid becoming a new stone core.

The present application provides a downhole chain information transmission Internet of Things system and a downhole chain information transmission method. The system comprises: a ground intelligent processing system, a sub and microrobots; communication connection is established between the microrobots, between the microrobots and the sub, between the microrobots and a downhole tool, between the sub and the downhole tool, and between the ground intelligent processing system and the microrobots; when the microrobots are in a specified downhole area, the microrobots receive downhole chain information, and when the microrobots reach a wellhead, the microrobots send the downhole chain information to the ground intelligent processing system, the downhole chain information comprising: first downhole chain information collected by various microsensors of the microrobots and / or second downhole chain information collected by the downhole tool sent by the sub; and the microrobots can move cyclically with a wellbore fluid as independent carriers.

A non-invasive method of manipulating at least one target cell includes treating the at least one target cell with one or more biocompatible magnetic microrobots (MRs); subjecting the one or more MRs to a magnetic oscillation profile via an external magnetic control assembly; and causing the magnetic MRs to move or vibrate in response to the external magnetic control assembly and causing the at least one target cell to move or vibrate in response to motion or vibration of the one or more MRs. The magnetic oscillation profile is configured to cause apoptosis of the at least one target cell. In an embodiment, the one or more MRs deliver a predefined concentration of medication to the at least one target cell. In another embodiment, the one or more MRs rolls toward or adheres to the at least one target cell.

The invention relates to a device arranged to be inserted into a human or animal body, for example in a vessel thereof, and to move through said human or animal body, said device comprising a micro robot comprising at least one magnet or magnetizable element for cooperating with an externally applied magnetic field so as to control the movement of said device in the human or animal body by a magnetic field, said device further comprising a gripper for gripping a material part, such as a blood clot or any other occlusion.

The present invention comprises: a single permanent magnet magnetized in the radial direction; a magnetic material unit disposed to surround the outer circumferential surface of the permanent magnet and including a first magnetic material and a second magnetic material located in the main direction and the opposite direction, respectively, and a third magnetic material and a fourth magnetic material located on both sides thereof; and a rotating unit for controlling a magnetic field by rotating the permanent magnet by 90 degrees.

The present invention relates to a method for synchronizing movement control and location recognition for a micro-robot by using a bed-integrated electromagnetic field apparatus, and more specifically to a method for synchronizing movement control and location recognition for a micro-robot by using an electromagnetic field apparatus which enables precise movement control for a micro-robot and simultaneously enables location recognition for the micro-robot, and enables miniaturization of the apparatus, thereby having excellent compatibility with other medical equipment.

A method of making a magnetic miniature robot includes: rotationally deforming a segment of material about a rotational deformation axis, from an initial shape to a deformed shape, the material including a plurality of magnetic particles distributed in an elastic matrix; magnetizing the plurality of magnetic particles in the segment to form a magnetized segment in a magnetization process, in the magnetized segment in the deformed shape being characterized by a uniform magnetization profile; after the magnetization process, enabling the magnetized segment to elastically recover the initial shape and form a non-uniform magnetization profile; and coupling together at least one pair of the segment to form a main component, wherein the non-uniform magnetization profiles of the at least one pair of the segment are disposed in opposing orientations to configure the main component with a zero net magnetic moment about a sixth degree-of-freedom axis.

The utility model belongs to the technical field of flexible drive and optical device, concretely relates to a flexible zoom lens based on low voltage HASEL actuator, and the device includes: top limit frame, VHB adhesive ring, transparent PVC gel film, dielectric liquid, annular cathode, annular anode, liquid injection frame, flow guide frame, rigid support frame and transparent glass. The low voltage HASEL actuator is composed of transparent PVC gel film, annular cathode, annular anode, dielectric liquid and rigid support frame, and the flow guide frame guides the flow of dielectric liquid, makes the transparent PVC gel film of lens aperture area deformation, realizes focal length adjustment. The application has the advantages of simple structure, large focal length change range, short response time, high light transmittance, low power consumption, small size and the like, and is suitable for miniature robots, wearable devices and intelligent optical systems.

The application relates to the technical field of magnetic control micro robots, and discloses a gradient force driving control method and system for multimodal motion of a micro robot, which introduces a Jacobian matrix to establish a magnetic field gradient expression under a non-uniform magnetic field, defines the contribution of a unit current to a magnetic field and a gradient magnetic field force to construct a mapping matrix, thereby constructing a linear homogeneous control equation which makes the direction of the magnetic field and the expected gradient magnetic field force collinear, performing singular value decomposition on a coefficient matrix of the linear homogeneous control equation to extract a null space base vector, and under physical constraints such as current amplitude limiting, magnetic field and gradient magnetic field force amplitude, maximizing the expected direction gradient magnetic field force through linear programming to obtain optimal coil input current. The application enables the micro robot to realize translational motion by applying a pulsed gradient magnetic field force and to complete a sustained lifting and lifting action by applying a constant gradient magnetic field force in a limited space, significantly improves the local operation capability of the micro robot, and improves the motion control precision in the limited space.

The present application relates to micro robot, especially to a kind of micro robot jumping device based on shape memory alloy.It includes walking mechanism, robot frame, upper bounce mechanism, lower bounce mechanism and contraction mechanism, wherein two groups of walking mechanism are symmetrically arranged on the left and right sides of robot frame, upper bounce mechanism and lower bounce mechanism are respectively arranged on the top and bottom of robot frame, and the bounce function of upper bounce mechanism and lower bounce mechanism is realized based on memory alloy deformation;contraction mechanism is connected between upper bounce mechanism and lower bounce mechanism, and contraction mechanism is based on memory alloy deformation to pull upper bounce mechanism and lower bounce mechanism to contract, to realize reset.The execution element of the present application is shape memory alloy, and the energy storage element is spring piece, and the overall volume is small, driving is simple, reaction is rapid, and it is especially suitable for micro robot.

The present application relates to the technical field of robot intelligent control, and particularly relates to a multi-environment motion control method and system for a magnetic drive soft micro robot. A current frame image of the robot is acquired and preprocessed into a grayscale image, a first threshold is used for segmentation to generate a first binary image, rectangular regions with size errors meeting requirements are screened as candidate magnetic drive foot regions, and then a preset size adjustment threshold is compared to determine a target magnetic drive foot region. A second threshold is used for segmentation on a local region between the feet, an elongated rectangle is extracted as a candidate region of a connecting member, and a length-width and included angle adjustment threshold is used to obtain a connecting member region. A longitudinal expansion is performed on the region between the feet, a third threshold is used for segmentation to generate a third binary image, a pixel density adjustment threshold is used to obtain a target expansion region, and the robot body position is determined accordingly. The current pose information is obtained by combining the center of the connecting member and the body position, an external magnetic field driving instruction is generated accordingly, the robot is precisely driven, and the control precision is effectively improved.

The application belongs to the technical field of micro robot and bionic soft actuator, and discloses an electromagnetic bionic jumping robot based on soft beam asymmetric mode jump, which comprises an outer frame formed by two symmetrical frame halves, a middle part accommodating an electromagnetic driving module, and parallel hollow outer slide rails extended on both sides of the outer frame; a sliding frame is sleeved on the hollow outer slide rails at the rear end of the outer frame; a flexible driver is a continuum soft beam, one end of which is inserted into the sliding frame, and the middle body of the flexible driver is provided with front and rear bionic legs on the front and rear sides; the electromagnetic driving module comprises an electromagnetic coil and a driving magnet, and the power output end of the driving magnet is in rigid transmission connection with the sliding frame; and the mode switching constraint module comprises a mode switching magnet fixed to the outer frame and a magnet fixed to the main beam of the flexible driver. The electromagnetic bionic jumping robot can realize a high-mobility jumping robot with a cat-like asymmetric forward pouncing action.

This invention discloses a magnetic microrobot drive control device, belonging to the field of microrobot drive control technology. It includes a multi-axis robot arm, a magnetic control platform base connected to the multi-axis robot arm, a magnetic ball holder connected to the magnetic control platform base, a magnetic ball cover covering the magnetic ball holder, and a permanent magnet ball rotatably disposed within the magnetic ball holder and magnetic ball cover. A coil base is disposed on the magnetic control platform base around the magnetic ball holder, and an electromagnetic coil unit is mounted on the coil base. This invention offers advantages such as a large working space, high precision control, and the ability to solve the problems of heat generation and dissipation during coil operation and limited working space. Finally, it boasts rapid response and low cost.

The present application relates to geotechnical engineering monitoring technical field, disclose a kind of sensor self-displacement burying micro robot based on bionical peristalsis, including sensor push system, the side of sensor push system is connected with telescopic displacement system, and the side of telescopic displacement system and sensor push system away from each other is equipped with extrusion counterforce system.The present application realizes soil minimally invasive drilling and sensor pre-burying operation, reduces the interference to soil, improves soil detection accuracy;Combined with inertial navigation and program control, the accurate control of burying depth, plane position and sensor attitude can be realized, the accurate pre-burying of detection sensor is realized;Adopt bionical peristalsis mechanism to make it have very strong obstacle and through loose medium capacity, suitable for a variety of complex geological conditions;Integrates autonomous travel, accurate release, autonomous recycling function, realizes the full-process automation of sensor burying;Energy utilization efficiency is high, and almost no earthwork and noise is generated during the whole burying process, realizes green geotechnical engineering monitoring.

The application belongs to the technical field of micro robots, and particularly relates to a preparation method of a pulse laser responsive micro-nano robot for drug delivery, which comprises the following steps: S1, preparation of a micro-nano robot core layer: preparing perfluorohexane through high-energy ultrasonic mechanical emulsification; S2, assembly of a micro-nano robot functional layer: dispersing perfluorohexane droplets in deionized water, adding tetrachloropalladic acid for stirring, then adding ascorbic acid solution for a reduction reaction, and centrifugally collecting to obtain perfluorohexane droplets assembled with palladium nanoparticles; and S3, assembly of a micro-nano robot modification layer: dispersing the perfluorohexane droplets assembled with palladium nanoparticles in an alkaline solution with a pH value of 8.5, then dropwise adding a dopamine hydrochloride solution, stirring in air at 25 DEG C, and centrifugally collecting to obtain the micro-nano robot after assembly and modification. The preparation method is simple, has high repeatability and controllability, and is conducive to large-scale production and application.