27 results about "Microbotics" patented technology

The application provides a chip hotspot heat dissipation system based on a micro robot, which comprises a magnetic field control device for generating a uniform magnetic field; a chip is placed in the uniform magnetic field; a heat dissipation channel is arranged on the surface of the chip, and a cooling medium for conducting convective heat exchange on a hotspot is circulated in the heat dissipation channel; a robot is made of a magnetic material and is placed in the cooling medium; and a processor is used for controlling the magnetic field control device to generate a magnetic field at a first target rotating frequency, so as to drive the robot to run in the cooling medium to a region where the hotspot of the chip is located; and the processor is also used for controlling the magnetic field control device to generate a magnetic field at a second target rotating frequency, so as to drive the robot to rotate in place in the region where the hotspot of the chip is located, so as to dissipate heat of the hotspot of the chip. The system provided by the application effectively solves the problem that the prior art is difficult to accurately match the dynamic migration characteristics of the hotspot; and the heat dissipation efficiency of the hotspot of the chip is improved.

The application discloses a four-stage paddle thrombus-removing micro robot, a preparation method and a magnetic field driving thrombus-removing micro robot system, relates to the technical field of micro robots, and comprises a conical drill bit, a main straight rod and a four-stage paddle group, wherein the conical drill bit is made of a biodegradable material; the bottom of the conical drill bit is connected with the main straight rod; the main straight rod is internally provided with a thrombolytic drug; the four-stage paddle group is arranged on the outer circumferential surface of the main straight rod in an axial direction; the paddle group comprises three paddle blades which are centrally symmetrical to the axis of the main straight rod; the paddle blades in the adjacent two-stage paddle groups are arranged in a staggered manner; the paddle blades are of a round head structure; the thickness of the paddle blades gradually increases from outside to inside; and the surface of the micro robot is coated with a magnetic film and is subjected to directional magnetization treatment. The application can obtain strong movement ability and stable movement state under the accurate control of a movement system, realizes intravascular drilling and crushing of a thrombus, and can biodegrade and release the thrombolytic drug after surgery, so as to solve the problem of downstream vascular embolism after drilling.

The invention discloses a macro-micro composite automatic feeding and positioning robot system and method, relates to the technical field of intelligent assembly and robots, and is used for solving the technical problems of dynamic response lag and low motion precision during macro-motion and micro-motion switching of an existing macro-micro robot motion system. The macro-micro composite automatic feeding and positioning robot system comprises a first displacement mechanism, a second displacement mechanism, a micro positioning mechanism, a sample storage chamber and a linear importer, wherein the micro-positioning mechanism is connected with the first displacement mechanism; the first displacement mechanism drives the micro-positioning mechanism to move in the vertical direction; the sample storage chamber is connected with the second displacement mechanism; the second displacement mechanism drives the sample storage chamber to move in the vertical direction and the horizontal direction; a clamping jaw and a cleaning frame are arranged at one end, close to the sample storage chamber, of the linear introducer.

The application discloses a cable parallel macro-micro spraying robot for large-scale surface coating, comprising a macro robot, a micro robot and a spraying module. The macro robot is composed of a frame, a macro robot driving assembly and an out-cable pulley, and realizes the movement of the whole robot in a two-dimensional plane; the micro robot comprises a cable parallel micro robot and a guide rail type micro robot, and can be selected according to actual task requirements and carried on the macro robot; the spraying module completes the paint spraying operation on a target surface under the control of the micro robot. The two-stage macro-cable-micro robot can realize the five-degree-of-freedom movement of a spraying gun in space, the macro robot and the micro robot are complementary, the movement space and the spraying precision are considered, and the spraying robot is suitable for large-range and high-quality paint spraying tasks.

The invention discloses a pose estimation method and device of a magnetic control capsule and a computer program product in the technical field of magnetic micro-robot positioning, and aims to solve the problem that the pose estimation method is weak in multi-magnetic-source coupling processing capacity or lacks physical constraints. The method comprises the following steps of: processing three kinds of physical parameters, namely a three-axis magnetic field component, coordinates of magnetic sensors and a distance between the magnetic sensors; according to the obtained physical feature data packet, feature extraction is carried out on the most root physical parameters from the data of one-dimensional independent magnetic sensors, the data change between two-dimensional magnetic sensors and the three-dimensional magnetic field vector angle, and only after the features are analyzed and classified according to the geometric space angle, the feature extraction is carried out. The data is used for prediction by the pose residual neural network, so that pose prediction data with physical consistency can be output; pose estimation is carried out based on the pose residual neural network and the magnetic sensor array, the multi-magnetic-source coupling processing capacity is high, and the requirement for accurate positioning in the complex magnetic environment is met.

This invention belongs to, but is not limited to, the field of adaptive rehabilitation technology, and discloses an adaptive rehabilitation system and method based on a magnetic microrobot and a reinforcement learning framework. The system includes: a physical interaction end: serving as the physical carrier for the patient to directly perform rehabilitation tasks; a visual perception end: employing a high-resolution real-time imaging system, vertically fixed above the operation panel via an external bracket; the lens optical axis is vertically downward, and the field of view completely covers the entire operation panel, ensuring real-time acquisition of video stream data including the patient's affected limb and the microrobot without blind spots; a central control end: employing a data processing device equipped with a high-performance processor; its data input interface is connected to the visual perception end for receiving the video stream in real time; its communication output interface, such as a serial port or local area network, is connected to the driver of the magnetic drive unit for issuing control commands. This invention employs a magnetically coupled non-contact driving method, physically decoupling the microrobot from the drive device, supporting flexible expansion of diverse planar drive devices, and eliminating the risk of mechanical strain on the patient.

The application discloses a drug-loaded magnesium-based micro-nano robot and an exogenous image auxiliary guided micro-nano robot delivery system, and belongs to the field of micro-nano robots. The method comprises the following steps: preparing a magnesium powder with a micron size as a main body magnesium-based drug-loaded micro-nano robot, and using hydrogen bubbles generated by the reaction of a bare magnesium notch and H+ in the environment as a self-driven driving source; establishing a stab card at an abdominal cavity part of an animal body, which is used for the insertion of an optical fiber endoscope and the injection of a magnesium-based positive and negative type micro robot in a tumor; and after the position of the tumor is found, the self-driven characteristics of the micro robot are used to inject the drug-loaded micro robot into the tumor, so that a high drug delivery effect is achieved. The magnesium-based micro-nano robot has the characteristics of a simple preparation method, good biocompatibility and self-driving, has a good application prospect in the field of cancer treatment, and improves the treatment effect of cancer.

The application discloses a kind of magnetic micro-robot parallel collaborative field navigation system, it is related to micro-nano operation technical field, and the micro resource conflict resolution scheduler MCDO in this system is based on the smooth single-machine path of dynamic evolution navigation planner DEN, the safety path constraint of conflict-aware evolutionary planner CAEP and the coil current with anti-interference control of double-field disturbance suppressor DFDS, to each magnetic micro-robot planning obstacle avoidance path and outputting multi-machine conflict-free instruction, to drive coil array to generate distributed gradient magnetic field, realize multi-robot independent drive;Micro-vision anchor MVAM is used to track the motion trajectory of magnetic micro-robot in real time, and provides robot pose data for MCDO and DFDS.The above-mentioned module realizes the whole process logic closed-loop management and control from path planning to physical drive, interference suppression to state monitoring, and is improved in path planning efficiency, anti-interference control accuracy, multi-machine cooperation capability, environment adaptation and the like.

The application discloses preparation of a core-shell structure hydrogel and application of the core-shell structure hydrogel in preparation of a magnetic control flexible micro robot, and belongs to the technical field of biomedical soft micro robot. The application adopts a core-shell structure to construct a hydrogel micro robot, wherein, a vanadium disulfide nanosheet rich in sulfur defects is used as a functional inner core, and has magnetic response and photoacoustic imaging capacity; a polyacrylamide polymer chain is used as a flexible outer shell, free radical initiation is carried out on the surface of the vanadium disulfide through vanadium-sulfur dynamic coordination bonds, and simple amide bond hydrogen bond crosslinking endows the hydrogel with three-dimensional printable performance. The prepared flexible micro robot can realize precise controllable movement under the action of an external magnetic field, and can realize robot posture monitoring and navigation positioning functions with the aid of photoacoustic imaging capacity, and has good application prospect in the fields of drug delivery, minimally invasive surgery and tissue treatment.

This invention discloses a bioactive hybrid microrobot for removing antibiotic pollution from water bodies, its preparation method, and its application, belonging to the field of water pollution treatment technology. This invention couples *Chlamydomonas reinhardtii* with DBCO-PEG4-NHS, and then further assembles and modifies it through copper-free click chemistry (SPAAC) and a reaction with p-azidobenzoic acid (AzBA), further assembling the functionalized algae into microrobots. Relying on the stable self-driving characteristics of the algae, the microrobots achieve rapid adsorption of antibiotics (SMX). Throughout the reaction process, the synergistic effect of hydrogen bonds and π bonds between p-azidobenzoic acid and SMX ultimately achieves the dynamic removal of SMX from environmental water bodies. This invention develops a functionally active bioactive hybrid microrobot (AzBA-algal robot) that achieves highly efficient SMX removal. As an ecologically sound technical method, this technology opens up a new pathway for the removal of SMX from environmental water samples and provides innovative ideas for the dynamic removal research of other types of environmental pollutants.

The invention discloses a magnetic micro-robot screening method and system based on impedance adjustment control. The system comprises a mobile control platform, a magnetic field generation device, a visual feedback device, an upper computer control module, a sorting device and multiple magnetic micro-robots. The upper computer control module sends a displacement instruction to the mobile control platform; the closed-loop control unit based on impedance adjustment receives a coordinate signal transmitted by the visual feedback device, processes the coordinate signal and then sends a current instruction to the magnetic field generation device, and control over the magnetic micro-robot is achieved. Under the action of the magnetic field, the micro-robot and the sorting device cooperate to complete screening of the micro-robot. The method has the beneficial effects that collective screening and single screening of the micro-robots can be achieved only through a magnetic field; a magnetic field generating device and a movable control platform are combined, so that three-dimensional selective control and delivery of the micro-robot in a wider space are realized; the closed-loop control algorithm based on impedance adjustment control can be widely applied to the electromagnetic coil with the iron core.

Disclosed in the present invention are a deep-lung targeted delivery method, and a micro-robot swarm. The method comprises: preparing microgel particles including magnetic microparticles, imaging particles and cargo, and combining the prepared microgel particles to obtain a micro-robot swarm; controlling the movement, climbing and reconstruction of the micro-robot swarm in a non-fluid environment, so as to realize movement within a porous duct environment; and controlling the micro-robot swarm to move in a lung sample under the guidance of X-rays, and delivering the micro-robot swarm to a target bronchus in the lung sample; or controlling the micro-robot swarm to perform delivery in a target lung under the guidance of computed tomography imaging, and to release encapsulated cargo at a target bronchus. The micro-robot swarm provided by the present invention can realize targeted delivery in an air-filled lung environment, a lung environment with a mucus layer, and a deep-lung target bronchus.

The invention relates to the field of magnetic control micro-robots, in particular to a magnetic control drug-loaded robot for thrombus removal and treatment and a preparation method of the magnetic control drug-loaded robot. The magnetic control medicine carrying robot comprises a magnetic control robot body and a medicine carrying layer. The magnetic control robot body comprises a magnetic composite layer and a spiny skin layer. The medicine carrying layer is adhered to the surface of a magnetic composite layer of the magnetic control robot. The magnetic control medicine carrying robot carries the medicine carrying layer to be navigated to a target thrombus position in a blood vessel in a rolling or spiral movement mode, then a high-frequency rotating magnetic field is applied, the rolling movement or spiral movement speed of the magnetic control medicine carrying robot is increased accordingly, the spinous skin layer of the robot continuously rubs and collides with the thrombus, and medicine of the medicine carrying layer is released; the thrombus is broken, broken fresh platelets are taken away along with blood, fibrous protein is firmly attached to a spinous skin layer, thrombus fragments can be prevented from blocking other blood vessels, and the thrombus removing effect of the robot physical effect and drug therapy is achieved.

The application provides a chip hotspot heat dissipation method and device based on a micro robot. The method comprises the following steps: obtaining the surface temperature distribution and the heat flow density distribution of a chip to locate the chip hotspot position; guiding a cooling medium to flow through the chip, and placing a micro robot suspended in the cooling medium under the action of a magnetic field, and controlling the micro robot to move in the cooling medium to above the hotspot position; determining the initial heat flux change data of the micro robot above the hotspot; and continuously adjusting the magnetic field control parameters according to the initial heat flux change data until the current heat flux change data meets the expected heat dissipation target. The application can accurately locate the chip hotspot position. By controlling the micro robot to move in the cooling medium to the area where the chip hotspot is located, dynamic tracking and heat dissipation of the hotspot are realized; and by continuously adjusting the magnetic field control parameters according to the initial heat flux change data, effective heat dissipation of the chip hotspot is realized.

The application provides a multi-source adaptive enterprise micro group robot message intelligent pushing method and device, and relates to the technical field of computer application. The method realizes the format unification and effectiveness guarantee of different source business data through unified access and standardized preprocessing of multi-source business data, and realizes professional processing of massive real-time raw data through a distributed stream processing engine. Through the combination of multiple trigger modes and distributed lock control, reliable triggering of full-scene pushing tasks is realized, and the problem of repeated execution of tasks in a distributed cluster environment is completely solved. Through standardized content rendering and traffic control based on the token bucket algorithm, accurate adaptation of pushing content and enterprise micro robot API is realized, avoiding API ban problems in high-concurrency scenarios, and comprehensively improving the efficiency, success rate, stability and scene adaptation ability of enterprise micro group message pushing, which can meet the enterprise micro message pushing needs in multiple scenarios of the financial, Internet and other industries.

This invention discloses a method for coordinated morphology and trajectory control of a magnetic microrobot swarm, belonging to the field of micro-nano robotics. Step 1: Construct a state-space evolution model of the centroid and morphology of the microrobot swarm; Step 2: Based on the model in Step 1, design a spatiotemporal flow field perturbation observer that integrates multi-physics priors; Step 3: Based on the perturbation compensation in Step 2, design a centroid and morphology coordinated controller based on an event-triggered mechanism; Step 4: Implement coordinated morphology and trajectory control of the magnetic microrobot swarm based on the coordinated controller in Step 3. This invention addresses the problems of model mismatch, observation lag, and easy overload and overheating of actuators in existing magnetic microrobot swarm control systems.

This invention relates to the field of minimally invasive interventional device technology, and particularly to a thrombectomy head and a magnetically controlled microrobot. The thrombectomy head includes a drilling section at the front end and a milling cutting edge connected to the rear end of the drilling section. The milling cutting edge includes at least two milling cutting edge structures, with a chip removal groove between adjacent milling cutting edge structures. This invention achieves graded thrombolysis by combining the drilling section and the milling cutting edge, first breaking up the fragments and then finely grinding them. Combined with the chip removal groove as a chip removal and guiding structure, this improves thrombus removal efficiency while allowing the finely milled small-molecule thrombus fragments to be quickly guided outwards along the chip removal groove with the blood flow. This effectively prevents fragments from accumulating and adhering at the cutting edge, causing head blockage and jamming, and continuously ensuring smooth fluid flow in the cutting area. This further reduces the risk of thrombus fragments re-aggregating and adhering to the blood vessel wall, leading to recurrent embolism, significantly improving thrombolysis smoothness and overall removal efficiency, and further enhancing safety.

The invention discloses a micro-scale surface tension driving micro-robot device based on magnetic field assistance and a control method, and relates to the field of micro-robot control, the device comprises a magnetic field generation module, a micro-robot module and a magnetic control switch module, and through the propelling effect of an elastic push rod on a magnetic check block and the control of a magnetic field generated by a coil on the magnetic check block, the magnetic field generated by a coil is controlled to drive the micro-robot module to rotate. The controllable opening and closing of the magnetic control switch module are achieved, capillary force drives liquid to enter the microtubes and converge into the liquid bridge, the balance of the liquid bridge is broken, the indirect contact angle between the liquid bridge and the hydrophobic plate is larger than the advancing contact angle, the micro-robot is driven to move, and the reversible movement of the micro-robot in a two-dimensional plane can be achieved through the two reversely-installed microtubes in the micro-robot module. The invention aims to provide a self-driven micro-robot device which is convenient to operate and an efficient driving method, and the self-driven micro-robot device and the efficient driving method can be used for controllable and flexible motion control of a micro-robot.

The invention discloses a targeted drug delivery biological hybrid micro-robot as well as a preparation method and application thereof. The micro-robot takes sperms as an active propulsion unit, and is constructed by combining PDA-DOX-FA nanoparticles through a coupling strategy; stable coupling of sperms and nanoparticles is realized through electrostatic adsorption, a biotin-streptavidin system or covalent binding. The micro-robot can enter the bladder through urethra perfusion, arrives at a tumor area depending on the autonomous propelling speed of sperms, realizes stable retention through folic acid targeted recognition and adhesion of neutrophil extracellular trapping nets (NETs), and realizes controllable release of adriamycin and deep penetration of tumors through a photothermal effect triggered by 808 nm near-infrared light. The problems of short retention, non-uniform distribution, insufficient permeation and the like of traditional bladder cancer perfusion treatment medicines are solved, the treatment efficiency and safety are remarkably improved, and the method is suitable for local precise treatment of bladder cancer.

This invention discloses a customizable MOF-based magnetically controlled microrobot, its fabrication method, and its applications, belonging to the field of microrobot technology. The fabrication method includes the following steps: coupling a micro / nano fabrication template method with a two-phase interface self-assembly method to prepare a magnetic MOF microrobot; modifying the magnetic MOF microrobot with amino groups using a ligand exchange method; and then loading lipase using an ion adsorption method to finally obtain the customizable MOF-based magnetically controlled microrobot. The microrobot prepared by this invention can achieve efficient actuation under a magnetic field and can achieve precise control and perform complex tasks; at the same time, the fabrication method disclosed in this invention is simple and easy to implement, and is a process for mass-producing customizable magnetically controlled MOF microrobots.

The invention discloses a magnetic micro-robot cluster task adaptive formation control method and system, and belongs to the technical field of micro-nano robot cluster control and tumor immunotherapy crossing. According to real-time imaging feedback, identifying current blood vessel environment characteristics, and judging a current task stage; generating a composite magnetic field sequence based on parameter limitation of the three-dimensional Helmholtz coil; establishing a prediction model based on the composite magnetic field sequence; evaluating a formation success rate; when the evaluated formation success rate is lower than 90%, online parameter optimization is carried out; and task adaptive formation control of the magnetic micro-robot cluster is realized. The method is used for solving the problems of single control dimension, lack of formation capability, no quantitative performance index and mismatching of a magnetic field system in the prior art, and realizes adaptive switching and accurate control of three task formation forms of the magnetic micro robot in different stages of a blood circulation system.

The present application relates to the technical field of electromagnetic drive, and especially relates to a multi-micro-robot formation control system and method based on a magnetic array platform and ARA algorithm.The technical scheme comprises a control module, a power module, a current drive module, a magnetic field array module and a current sampling module, the power module is connected with the current drive module, and is used for providing electric energy for the system, the control module is connected with the current drive module, and is used for outputting multi-path high-precision current control signals, the magnetic field array module is connected with the current drive module, and is used for generating a series of independently controllable local magnetic fields in a working area according to the current control signals, so as to drive a plurality of magnetic micro-robots.The present application not only solves the technical bottleneck of independent drive and accurate control of the multi-micro-robot, but also improves the efficiency and robustness of group cooperation through intelligent algorithm, and has superior overall system performance, strong practicability, and significant technical progress and industrial application value.

The application discloses a morphology and trajectory cooperative control method of a magnetic micro-robot cluster, and belongs to the technical field of micro-nano robots. Step 1: a state space evolution model of the centroid and morphology of the micro-robot cluster is constructed; step 2: based on the model of step 1, a space-time flow field disturbance observer fusing multi-physical field priori is designed; step 3: based on the disturbance compensation of step 2, a centroid and morphology cooperative controller based on an event triggering mechanism is designed; and step 4: based on the cooperative controller of step 3, the morphology and trajectory cooperative control of the magnetic micro-robot cluster is realized. The application aims at the problems of model mismatch, observation lag and easy overload and heating of an executing mechanism in the existing magnetic micro-robot cluster control system.

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.

A microrobot device and targeted transport method for liquid environments are disclosed. This invention relates to the field of micromanipulation control. It includes paired coils in the X, Y, and Z directions, a camera clamp, a microscope camera, a camera base, a camera support, a vibration isolation table, a Y-direction coil clamp, a crossbeam, an X-direction coil clamp, an operation box, a Z-direction coil clamp, a support platform, a support frame, a four-jaw clamp, a neodymium iron boron coating, a flexible shell, a magnetic ring, flexible flagella, micro-components, and positioning holes. An external current excites the coil group to generate an oscillating magnetic field, a gradient magnetic field, and a uniform magnetic field. The oscillating magnetic field provides torque to the microrobot, driving it to oscillate forward while carrying the micro-components. In the gradient magnetic field, the four-jaw clamp separates from the flexible shell, releasing the micro-components. After the four-jaw clamp degrades, the micro-components are released to the target position. Finally, under the action of the uniform magnetic field, the microrobot floats to the surface and is recovered. This invention is used for efficient, controllable, and integrated transport and release of micro-components.

The application belongs to the technical field of acoustic flow control, and discloses an acoustic bionic micro-robot system based on acoustic field conforming and a control method, wherein the acoustic bionic micro-robot system based on acoustic field conforming comprises an acoustic bionic micro-robot, an acoustic transducer, a micro-fluidic device, an acoustic field and a micro-scale target; the application can drive the acoustic bionic micro-robot to move in the micro-fluidic device through the acoustic field; the acoustic bionic micro-robot is conformally designed according to the geometric structure of the acoustic field sound pressure distribution; the acoustic bionic micro-robot comprises minimum potential energy structures and acoustic energy capture structures for the acoustic field node and crest distribution, and is subjected to the potential energy well and the sound pressure gradient zone geometric structure, respectively, so as to improve the motion stability, the control precision, the acoustic excitation sensitivity and the motion speed of the micro-robot; the geometric conforming design based on the three-dimensional distribution of the acoustic field pressure allows the micro-robot to obtain precise acoustic excitation by virtue of the acoustic gradient force equivalent effect, so as to realize precise acoustic control.

The invention discloses an intelligent micro-flow magnetic control biological mixed sperm robot precise targeted drug delivery method, and belongs to the technical field of biomedical engineering and micro-nano robots. The method comprises the following steps: preparing a magnetic microfluidic carrier robot with a three-dimensional multi-spiral Tesla valve structure through 3D micro-nano printing; the sperm cells and the medicine are combined through electrostatic self-assembly to form a biological mixed cluster, and the biological mixed cluster is filled into the carrier; after the micro-robot is guided into a target biological cavity, the micro-robot is driven by an external rotating magnetic field to move directionally, and medicine leakage is prevented based on unidirectivity of a Tesla valve; a medical imaging system is used for real-time positioning and tracking and guiding to a focus area, and then a magnetic field is reversed to realize quick drug release. The method is combined with artificial intelligence to achieve automatic navigation, the problem that driving performance, visibility and biocompatibility of a micro-nano robot are difficult to consider is solved, and the method has the advantages of being large in drug loading capacity, high in targeting performance, good in biocompatibility and the like and is suitable for precise treatment of gynecological diseases.