173 results about "Micro robotics" patented technology

A system for applying eyelashes, the system including a first micro-robot, including a first plurality of magnets, and a wire comb, wherein the wire comb includes an attachment end, and a second micro-robot, including a second plurality of magnets, a tube configured to accept the wire comb, and a gripper configured to secure and release an eyelash. Further, A method of applying eyelashes, including securing a first micro-robot having a wire comb to a first location, sliding a second micro-robot along the wire comb with a tube so that a gripper of the second micro-robot contacts an attachment end of the wire comb, gripping an eyelash between the gripper and the attachment end, positioning the first microrobot and the second micro-robot to apply the eyelash, retracting the gripper from the attachment end, and applying the eyelash.

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eye lashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

A robotic medical device system for performing an operation on a patient includes a magnetic field source configured to generate a first magnetic field, an electrical current source configured to generate one or more selective electrical currents, and a micro robotic arm inserted within the patient. The micro robotic arm includes semi-flexible tubing configured to house a tool for performing the operation within the patient, and one or more joints formed in the semi-flexible tubing. Each of the joints includes a magnetic coil that is wrapped around the semi-flexible tubing. The magnetic coil is configured to receive one of the selective electrical currents generated by the electrical current source and generate a second magnetic field from the received one of the selective electrical currents. Each joint is configured to move the tool within the patient in accordance with an interaction between the first magnetic field and the second magnetic field.

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.

The invention provides a path planning method and device applied to a magnetic drive micro-robot, electronic equipment and a storage medium, and relates to the technical field of robots. The method comprises the following steps: acquiring state information and fluid information; on the basis of the state information and the fluid information, capturing the moving characteristics of the magnetic drive micro-robot in the dynamic flow field environment with the obstacle, and obtaining target characteristics; according to a reward function constructed by energy consumed by the magnetic drive micro-robot in the moving process of the dynamic flow field environment with the obstacles and the target characteristics, path planning is conducted on the next action of the magnetic drive micro-robot, and path information is obtained; and according to the path information, controlling the magnetic drive micro-robot to move in the dynamic flow field environment with the obstacle, so that the magnetic drive micro-robot approaches or reaches a target position. The problem that the path planning of the magnetic drive spiral robot is not accurate enough in the prior art is solved.

The invention discloses a micro-robot joint driving mechanism and a multi-joint micro-robot, and relates to the technical field of micro-robots. According to the joint driving mechanism, through the axial integrated arrangement of the shell, the brushless outer rotor motor, the multi-stage meshing transmission assembly, the power output connecting piece and the circuit board and the integrated design of a stator of the brushless outer rotor motor and the circuit board, a compact micro structure is achieved; and a closed-loop position detection system formed by a magnetic encoder and a magnetic ring is matched, so that high torque output and high transmission efficiency are realized under the condition of miniaturized volume, and meanwhile, part redundancy is reduced so as to reduce the cost. The mechanism solves the problem that miniaturization, high torque and low cost are difficult to consider in the prior art, and can be widely applied to miniature multi-joint robots.

The invention discloses a remote rail fault intelligent detection system based on big data driving, and relates to the technical field of rail traffic intelligent monitoring and state maintenance. The problems that a traditional detection method is high in manual dependence, slow in response and lack of prediction and self-repairing capacity are solved. According to the method, multi-source data are acquired through a fixed sensing network and a mobile inspection vehicle, a multi-scale digital twin is constructed and updated, and a probabilistic fault evolution graph is generated based on a random phase field model; collaborative judgment is carried out based on distributed edge computing nodes, and a maintenance scheme is generated by adopting a hybrid geometric distance retrieval immune memory bank; and finally, collaborative repair is executed through mixed reality and a micro-robot cluster, and continuous optimization of the system is realized based on federated learning and case-based reasoning. According to the system, integrated closed loop of track state sensing, fault prediction, intelligent decision making and self-repairing is achieved, and the detection foreseeability, the maintenance accuracy and the system self-adaptive capacity are improved.

A system for applying eyelashes, the system including a flexible printed circuit board (PCB) substrate, a motor base located under the flexible PCB substrate, and plurality of linear actuators coupled to the motor base, wherein the plurality of linear actuators is configured to adjust the flexible PCB substrate. Further, a method of applying an eyelash, including positioning one or more micro-robots onto a flexible PCB substrate, adjusting a pitch, yaw, roll, or a combination thereof of the one or more micro-robots with plurality of linear actuators under the flexible PCB substrate, and applying the eyelash with the one or more micro-robots.

The invention discloses an alginic acid hydrogel micro-robot pH response deformation dynamic modeling method, system and device based on a convolutional neural network, a medium and a product, and relates to the technical field of micro-robot deformation dynamic modeling. The method comprises the following steps: collecting a time sequence image and a pH sequence of micro-robot deformation, and tracking feature points to extract time sequence displacement data; preprocessing the collected data, including cleaning, anomaly detection, sequence alignment and standardization; constructing a one-dimensional convolutional neural network model, and predicting the time sequence displacement data by taking the pH sequence as input; and training and optimizing the model by using preprocessed data, and determining network structure parameters by adopting hyper-parameter optimization. According to the method, accurate dynamic modeling and prediction of the pH response deformation of the alginic acid hydrogel micro-robot are realized, and the behavior control precision of the alginic acid hydrogel micro-robot in a complex environment is improved.

This invention relates to the field of microrobot technology, and in particular to a droplet transport magnetically controlled thin-film robot, its preparation method, and its applications. The droplet transport magnetically controlled thin-film robot includes a connecting plate with symmetrically arranged movable plates on both sides. The movable plates, located away from the connecting plate, can move towards the top of the connecting plate until they converge and adhere to the droplet surface. The droplet transport magnetically controlled thin-film robot of this invention has a simple manufacturing process and is easy to drive; it can achieve accurate, efficient, rapid, and long-distance fixed-point droplet transport, sub-droplet distribution, droplet merging, and stirring. The droplet transport magnetically controlled thin-film robot of this invention can operate in an open microfluidic environment, without requiring specially customized surfaces such as electrode arrays or tiny flow channels, enabling more flexible microdroplet transport.

The invention relates to the technical field of miniature medical robots, and discloses a magnetic liquid metal-based soft drug-loaded capsule robot, which comprises a soft capsule robot main body, a soft capsule robot cover and a degradable sealing sleeve, the soft capsule soft robot main body comprises a bottom fan-shaped magnetic liquid metal storage cabin, a left fan-shaped medicine storage cabin, a left rectangular medicine release port, a right fan-shaped medicine storage cabin and a right rectangular medicine release port. According to the soft drug-loaded capsule robot based on the magnetic liquid metal and the preparation and driving method of the soft drug-loaded capsule robot, a Helmholtz coil is used for generating a clockwise rotating composite magnetic field on a YZ plane, and anticlockwise rolling of a capsule is achieved through magnetic response of the magnetic liquid metal; the problem of limited energy supply of the micro-robot is solved through driving of an external magnetic field, and movement in any direction and accurate positioning are supported; the gelatin sealing sleeve is melted through external laser irradiation, and instant release of the medicine is achieved (suitable for emergency treatment).

A micro-robot crane system including a microrobot crane having a back micro-robot, including a first plurality of magnets, a rotary bearing, and a separation arm, where the separation arm includes a separating tip, and a front micro-robot, including a second plurality of magnets, a mount configured to slide along the separation arm, and a mechanical stop, configured to prevent the separation arm from disengaging from the mount, and where the front micro-robot is configured to raise and lower the separation arm. Further, a method of separating an eyelash, the method including moving a first micro-robot crane to a first side of an eye, positioning a separator tip of a separator arm into a lash line of the eye by moving a front micro-robot of the first micro-robot crane, and moving the first micro-robot crane in a first direction to separate a first side of the eyelashes.

An eyelash dispenser including one or more micro-robots, and one or more single eyelashes, eyelash clusters, or a combination thereof, where each micro-robot of the one or more micro-robots is configured to carry and apply a single eyelash or an eyelash cluster. Further, a method of applying eyelashes, the method including inserting an eyelash dispenser into an eyelash application system, releasing one or more micro-robots from the eyelash dispenser onto a printed circuit board (PCB), positioning the one or more micro-robots at a lash line of an eye, and applying one or more single eyelashes or eyelash clusters with the one or more micro-robots.

1. Name of the design product: Circuit board (nano board, micro robot controller). 2. Use of the design product: Circuit board for robotway nano micro robot, which can support user-defined programming. 3. Design points of the design product: in shape. 4. Picture or photo that best indicates the design points: front view.

The invention belongs to the technical field of magnetic control micro-robots and intelligent control, and relates to a mudskipper-imitating magnetic control micro-robot and a control method thereof.The mudskipper-imitating magnetic control micro-robot system comprises a robot body and a control part, and the robot body is composed of two magnetic driving sub-modules and an energy storage module; the two magnetic driving sub-modules are symmetrically fixed at two ends of the energy storage module at a preset interval, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the control part comprises a magnetic field generation module for forming a driving magnetic field around the robot body and a controller for adjusting the magnetic field generation module to change the magnetic field intensity and direction so as to drive the robot body to realize jumping motion; the robot designed by the invention can adapt to large deformation of intestinal peristalsis, efficiently cross mucous membrane wrinkles, adapt to unstructured characteristics of intestinal tracts, and can accurately reach a focus area to provide a path for accurate diagnosis and treatment of intestinal diseases.

The present disclosure relates to an electromagnetic driving system for solving the clinical need for different magnetic field modes for assisting drug delivery, while the prior art is difficult to generate different magnetic field modes using one electromagnetic driving system. The present disclosure proposes a micro-robot magnetic manipulation system with an expandable spherical large working space, which adopts a modular mechanical design and can generate gradient magnetic fields, uniform magnetic fields, rotating magnetic fields, oscillating magnetic fields, and dispersed gradient magnetic fields in the spherical space, thereby facilitating the manipulation of the deformation and movement of micro-robots of any shape and quantity, and delivering drugs to the corresponding positions in the human body.

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.

The invention discloses a bionic underwater robot based on electromagnetic drive flexible hinge jet propulsion and a motion control method of the bionic underwater robot, and belongs to the technical field of bionic actuators and robots. The multiple electromagnetic actuators arranged in a matrix mode are sequentially connected to form a hinge structure, every two vertically adjacent electromagnetic actuators are symmetrically arranged, the multiple electromagnetic actuators are all arranged on the rear side of the fairing and connected with the fairing through connecting pieces, and the multiple electromagnetic actuators are independently controlled; the comprehensive phase difference and the reversing time difference of the multiple electromagnetic actuators are controlled through the electromagnetic driving controller, differential propulsion is achieved, and flexible steering and efficient movement are achieved. The overall structure simulates the jellyfish appearance design, the appearance design conforming to the flowing resistance reduction characteristic is adopted, the resistance during movement in water can be effectively reduced, the electromagnetic driver is used for generating power, the annular flexible structure is extruded to enable a fluid medium to be rapidly sprayed out, and efficient underwater propelling of the micro-robot is achieved.

The present invention relates to a micro-robot for internal detection of the oil content in a transformer, which comprises a housing, a control module, an image acquisition module, a navigation module, a propulsion module and a power supply. The control module, the image acquisition module, the navigation module and the power supply are installed in the sealed housing. A groove for accommodating the propulsion module is formed in the housing. The control module is respectively connected to the image acquisition module, the navigation module and the propulsion module. Compared with the prior art, the present invention has the advantages of compact structure, convenient use, safety and reliability, etc.

The invention discloses a magnetic drive micro-robot detection method based on dynamic feature fusion, and the method comprises the steps: collecting a magnetic drive micro-robot image sequence, and constructing a sample data set; constructing a YOLOv11-pose spatial feature extraction model, and extracting image features of each image in the sample data set by using the constructed spatial feature extraction model; constructing a CNN-LSTM time sequence feature extraction model, and extracting image features of each image in the sample data set by using the constructed time sequence feature extraction model; constructing a feature fusion device based on an attention mechanism, and realizing weighted fusion of the spatial features and the time sequence features; a joint loss function is constructed, and the fusion features are utilized to train the constructed magnetic drive micro-robot position detection model; and based on the trained dynamic fusion detection model, detecting the position information of the magnetic drive micro-robot. According to the invention, real-time detection of the position of the magnetic drive micro-robot in a complex environment can be realized, and the detection precision of the magnetic drive micro-robot is improved.

The invention relates to the technical field of micro-robots, and discloses a soft micro-robot based on vibration regulation and control and an air-ground directional delivery control method thereof, and the soft micro-robot comprises a machine body main body, and a driving unit, an integrated chip and a flexible oblique beam array which are arranged on the machine body main body. According to the multi-degree-of-freedom ground robot, the single eccentric motor serves as a vibration driving source, multi-degree-of-freedom ground movement of straight movement, left turning and right turning of the robot can be achieved only by adjusting the vibration frequency by means of the resonance frequency difference of thin plates with asymmetric slits on the two sides of the robot body, and a plurality of driving joints, complex transmission mechanisms or multi-channel coordination control circuits do not need to be configured; the problems that a traditional bionic leg type piezoelectric driving micro-robot is complex in structure, high in manufacturing cost and large in control difficulty are thoroughly solved. Meanwhile, the control end only needs to output a single frequency signal, complex trajectory planning and parameter calculation are not needed, the system power consumption and the operation threshold are reduced, and the operation reliability of equipment in a severe environment is improved.

The application discloses a kind of micro tube robot assembly, drive and radial extrusion method, assembly includes the following steps: step one, 0.05-2wt.% magnetic colloidal particles are assembled into two-dimensional monolayer colloidal film under xy plane oscillation magnetic field;Step two, z direction direct current magnetic field is applied and gradually increase magnetic field intensity, until monolayer colloidal film breaks into sheet;Step three, precession magnetic field is applied, sheet is bent to form the micro tube robot of dense hollow tubular structure;Drive: micro tube robot can be accurately controlled by three-dimensional magnetic field and drive direction and speed, hollow interior space is used to capture and transport micro cargo;Radial extrusion: micro tube robot assembled under oscillation magnetic field can realize radial direction repeated extrusion without breaking.The present application realizes metastable assembly from one-dimensional isotropic microspheres to three-dimensional micro tubular micro robots for the first time, is suitable for newtonian fluid and non-newtonian fluid, and can meet different application scenarios.

Systems and methods for computation and application of eyelash enhancements to all or part of a subject's eyelashes. A system includes circuitry configured for a visual analysis of the subject's eyelashes and computation of at least one option for the eyelash enhancement based on the visual analysis, and circuitry configured to direct at least one micro-robot to apply the eyelash enhancement to the subject's eyelashes.

The invention discloses an unmanned aerial vehicle wing internal damage inspection system which comprises a micro inspection robot and a control terminal, the micro robot is provided with two joints, the angle is accurately controlled through a steering engine, and the shape is freely changed; the whole body adopts a covering track design, so that the road holding force is strong; due to the transmission ratio of 8.3: 1, the power is stronger, and the aircraft can easily climb over obstacles in the wings; due to the design of an integrated circuit, the robot has high robustness; and the high-definition camera arranged on the head can transmit the scene inside the wing back to the control terminal to be displayed and stored in real time. The display and control terminal is provided with display and control terminal software, has the functions of sending control instructions, receiving telemetry signals, displaying robot joint angles, giving a low-power alarm of the robot, video redisk, screenshot and the like, and controls the robot to check all components and structures in the wing in real time. According to the unmanned aerial vehicle wing internal damage patrol system, the micro-robot enters the unmanned aerial vehicle wing internal damage patrol, and the unmanned aerial vehicle wing internal damage patrol is displayed by the display control terminal, so that judgment of the unmanned aerial vehicle wing internal damage position and degree is realized, and safety guarantee is provided for unmanned aerial vehicle flight.

The invention belongs to the technical field of micro-robots, and particularly relates to a pulse laser responsive colloid micro-nano robot and a preparation method and application thereof.The micro-nano robot is of a spherical structure and comprises a core layer and a functional layer from inside to outside, and the functional layer wraps the core layer; the core layer is made of a thermal response phase change material, the functional layer is made of a noble metal nano material, and the noble metal nano material of the functional layer can absorb and convert near-infrared pulse laser into heat, so that the core layer is subjected to phase change, and the micro-nano robot is driven to realize stepping motion and penetrate through a physical barrier. The micro-nano robot is prepared through the steps of high-energy ultrasonic mechanical emulsification, chemical reduction and the like. The micro-nano robot can be used as a universal carrier, is used for loading chemotherapeutic drugs, gene drugs or photo-thermal therapeutic agents, realizes an integrated function of barrier penetration-targeted drug delivery-collaborative treatment for tumor deep delivery, blood brain barrier penetration and the like, and provides a brand new technical path for diagnosis and treatment of brain glioma and other diseases.

The invention relates to an electromagnetic driving system which is used for solving the problem that different magnetic field modes are needed clinically to assist in drug delivery, but in the prior art, it is difficult to use one electromagnetic driving system to generate different magnetic field modes. According to the micro-robot magnetic control system with the extensible spherical large working space, modular mechanical design is adopted, and an enhanced gradient magnetic field, a uniform magnetic field, a rotating magnetic field, an oscillating magnetic field and a dispersed gradient magnetic field can be generated in the spherical space; therefore, the micro-robots in any form and number can be conveniently controlled to deform and move, and the medicine is conveyed to the corresponding position of the human body.

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 invention belongs to the field of magnetic micro-nano robot preparation and control, and particularly relates to a three-dimensional motion control method and system of a magnetic micro-robot in water, and the method comprises the following steps: S1, obtaining a two-dimensional motion image of an underwater magnetic micro-spiral robot MMR in real time; s2, extracting feature parameters of the minimum enclosing rectangle of the MMR based on an image processing algorithm, establishing a mapping relation with the depth, pitch angle and course angle of the MMR according to the width, length and rotation angle of the minimum enclosing rectangle, and resolving three-dimensional pose information of the MMR in real time; and S3, generating a three-dimensional rotating magnetic field by using a five-coil electromagnetic driving device, and adjusting parameters of the three-dimensional rotating magnetic field through a control algorithm in combination with the three-dimensional pose information to realize three-dimensional motion control of the MMR in water. According to the method, real-time calculation of the depth, the pitch angle and the course angle is achieved based on the mapping relation between the minimum bounding rectangle parameter and the three-dimensional pose, the calculation precision is smaller than 8% of the body length of the robot, and the requirement for micro-nano scale operation is met.

The invention relates to an electromagnet and shape memory alloy hybrid driven multi-gait micro-robot which comprises a main body frame, a cantilever beam electromagnetic driving structure, a front leg assembly and a rear leg assembly are installed on the main body frame, the front leg assembly comprises a single leg unit with a limiting patella and a flexible joint, and an electromagnetic driver drives the front leg assembly to swing periodically; the rear legs deform through power-on and power-off of the shape memory alloy strips, the elevation angle of the robot body is adjusted, the robot can switch gaits, namely, when the terrain is flat, the alloy strips are bent, electromagnetic drive excites resonance, and high-frequency running of the front legs is achieved; the robot can be controlled in an off-line mode, the problem that the speed and obstacle crossing of an existing micro-robot are difficult to consider at the same time is solved, and the robot is suitable for complex terrains such as flat ground and tiny steps.

An imaging apparatus and method for a vascular network structure, and a storage medium. The imaging apparatus comprises an imaging device (210), an image processing device (220), and a magnetic field driving device (230). The imaging device (210) captures a developed image of a target area and transfers the developed image to the image processing device (220). The image processing device (220) determines, according to the developed image, an exploration direction and sends the determined exploration direction to the magnetic field driving device (230). The magnetic field driving device (230) drives, according to the exploration direction, a cluster of magnetically driven micro-robots in the vascular network within the target area to move. As the magnetic field drives the cluster of magnetically driven micro-robots to move, the imaging apparatus and method can achieve reverse flow in blood vessels or active movements in low-flow-rate obstructed or narrow branches, so that an accurate structure of the blood vessel network can be acquired, improving the accuracy of vascular network structure recognition.