72 results about "Microbotics" patented technology

The invention discloses a finite element simulation method for motion of a magnetically-driven spiral micro-robot in a fluid environment, and belongs to the technical field of finite element simulation. According to the method, a micro-robot model containing a streamline head and a spiral empennage and a fluid environment are constructed through COMSOL software, a peristaltic flow module and a multi-body dynamics module are integrated through the fluid-solid coupling technology, and a fluid-solid coupling transient motion equation is established. The motion characteristics of the micro-robot driven by a rotating magnetic field are accurately simulated by setting material nonlinear parameters, dynamic self-adaptive grid division and a non-uniform step size solving strategy. A rigid domain motion equation and an open boundary condition are innovatively introduced, speed and acceleration probes are combined for real-time monitoring, and the flow field vortex effect caused by spiral propulsion is captured. According to the method, the simulation error is controlled within 5%, the motion trail prediction precision is remarkably improved, a reliable simulation platform is provided for micro-robot structure optimization and magnetic control strategy design, the experiment cost is reduced, and the research and development period is shortened.

The invention relates to the technical field of electromagnetic driving, in particular to a multi-micro-robot formation control system and method based on a magnetic array platform and an ARA algorithm. According to the technical scheme, the system comprises a control module, a power supply module, a current driving module, a magnetic field array module and a current sampling module, the power supply module is connected with the current driving module and used for providing electric energy for the system, and the control module is connected with the current driving module and used for outputting multiple paths of high-precision current control signals. And the magnetic field array module is connected with the current driving module and is used for generating a series of local magnetic fields which can be independently controlled in a working area according to the current control signal so as to drive a plurality of magnetic micro-robots. The technical bottleneck of independent driving and accurate control of the multiple micro-robots is solved, the efficiency and robustness of group cooperation are improved through an intelligent algorithm, and the system is excellent in overall performance and high in practicability and has remarkable technical progress and industrial application value.

The invention discloses a path task planning method for a magnetic micro robot in a complex environment, and relates to the technical field of micro-nano control, and the method comprises the steps: carrying out the formalized coding of a multi-target task demand through employing linear sequential logic LTL; a decision module based on a DQN neural network is constructed, a real-time environment state and an action execution result are combined and input to a multi-level reward function coded by LTL to generate a reward and punishment signal, and the reward and punishment signal is fed back to the network to guide a path optimization decision; in the network optimization process, a logic correction state transition model is introduced to increase the probability of compliance action in a weighted manner, so that the state transition process of the magnetic micro robot is shifted towards the direction meeting LTL constraint. According to the method, task logic features are extracted through bidirectional GRU, and the task logic features are embedded into the neural network as priori knowledge of decision making, so that the problem of low efficiency of processing time sequence tasks through traditional DQN is solved, and the interpretability and safety of decision making are improved through explicit logic constraints.

The invention provides a device for limiting windage yaw galloping of a high-altitude power transmission line and a use method, and relates to the technical field of high-altitude power transmission lines, the device architecture comprises a line suppression module, a data monitoring and processing module, a data co-processing module, a line repair module, a pulse type air injection device and a plasma flow generator, a dynamic change magnetic field can be generated to counteract the windage yaw acting force by regulating and controlling the magnetic field of the superconducting coil and intelligently distributing the magnetic material; meanwhile, the miniature crawling robot and the flying micro-robot cluster can quickly respond when the sensor detects that the line or the windage yaw preventing device is damaged, the miniature crawling robot can crawl on the surface of the power transmission line to check and repair local damage, and the flying micro-robot cluster can deal with large-area damage or damage of multiple parts; the possibility and amplitude of windage yaw galloping are reduced from the source, the reliability of power transmission is improved, and windage yaw galloping is effectively inhibited.

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.

Various embodiments of the present technology generally relate to systems and methods for providing a domain interface engine for virtual assistant applications. In an example, a method includes receiving, by a domain interface engine, a user query from a first client device. The domain interface engine may include multiple microbots, each of which is assigned to a respective backend domain. The domain interface engine may determine a first microbot for handling the user query. The first microbot may be assigned to a first backend domain and may retrieve a domain content from the first backend domain corresponding to the user query. The first microbot may also generate a query response based on the domain content and the domain interface engine may transmit the query response to the first client device.

The invention discloses a magnetic micro-robot dynamic path planning method based on a composite artificial potential field, and relates to the technical field of micro-nano operation, and the method comprises the steps: inputting map information to generate an initial path, optimizing path points in each path segment, and outputting a continuous and smooth global path; based on the position relation between the robot position and the global path, composite path adsorption attraction is applied; when the algorithm falls into a local minimum, constructing a disturbance sampling area based on the position of the robot, a target point and a global path, randomly generating a temporary gravitational point in the area, applying auxiliary disturbance gravitational force, and guiding the robot to jump out of a trap area; and the target point gravitation, the obstacle repulsive force, the composite path adsorption gravitation and the auxiliary disturbance gravitation are synthesized into control guiding force, and the robot is driven to move in the set target direction. The method integrates path guidance, dynamic obstacle avoidance and local optimization capabilities, and is suitable for path planning tasks of various intelligent moving bodies in a complex environment.

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.

This invention discloses a targeted drug delivery field-controlled microrobot, comprising a drug filament assembly and a carrier filament. The invention also provides an application of this targeted drug delivery field-controlled microrobot, in which the carrier filament is delivered into a patient's body. When the carrier filament reaches the target location, a magnetic control device controls the carrier filament to bend and deform until it breaks, allowing the first drug filament to release the drug within the patient's body. This invention further provides a fabrication apparatus for the targeted drug delivery field-controlled microrobot, including microfluidic devices and a printing nozzle, reducing the fabrication difficulty, production costs, and usage costs of the microrobot. Additionally, this invention provides a fabrication method for the targeted drug delivery field-controlled microrobot. Utilizing the aforementioned fabrication apparatus, the structure and relative positional relationship of the drug filament assembly and the carrier filament can be altered, improving the flexibility and adaptability of the targeted drug delivery field-controlled microrobot.

The self-deformation soft microrobot comprises a petal-shaped structure capable of being closed to form a closed space, the petal-shaped structure comprises a magnetic particle layer and a pH response layer capable of responding to pH stimulation, and the magnetic particle layer and the pH response layer are both soft material layers; the magnetic particle layer is a PDMS hydrogel layer mixed with magnetic particles; the pH response layer is a PHEMA hydrogel layer; the magnetic particle layer and the pH response layer form a bridging network through a thermocuring method; the pH response layer can assist the magnetic particle layer, so that the soft micro-robot can generate a better deformation effect; the outer edges of the petal-shaped structures are provided with micro burr structures with hydrophobic performance, the micro burr structures are arranged along the outer edges of the petal-shaped structures in an array mode, a hydrophobic array can be formed between every two adjacent petal-shaped structures, a solid-gas-liquid three-phase diaphragm is formed, edge gap sealing after deformation of the soft micro-robot is achieved, liquid permeation can be effectively prevented, and the service life of the soft micro-robot is prolonged. And it is ensured that drugs and collected objects loaded by the soft micro-robot cannot be polluted in the intestinal environment.

The invention belongs to the technical field of flexible intelligent driving materials, and particularly relates to temperature-sensitive biological glue as well as a preparation method and application thereof. The temperature-sensitive biological glue comprises polycaprolactone glycol with the number-average molecular weight of 530 and polycaprolactone glycol with the number-average molecular weight of 2000, has a rapid reversible phase change effect, can be used for sealing a soft micro-robot, can take a good sealing effect and an efficient release effect into account, realizes various scenes such as in-vivo targeted drug delivery and intestinal flora sampling, and has a good application prospect in the fields of in-vivo targeted drug delivery, intestinal flora sampling and the like. Moreover, it can be guaranteed that the contained medicine cannot leak in the delivery process, the sufficient medicine delivery amount is guaranteed, and it is avoided that collected objects leak after sampling, and the collected objects are polluted by other substances in the intestinal tract environment.

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 photoelectric induction type heterogeneous self-driven micro-robot and a cell screening and carrying method. Comprising a micro-robot body construction method and a cell screening and carrying method, wherein the cell screening and carrying method comprises three steps of a photoelectric field induced self-driving method, cell screening and cell carrying. According to the invention, the micro-robot body has heterogeneity, isomerism, smooth rotation appearance and self-driving capability. According to the method, the motion constraint of the micro-robot is formed through photoelectric field induction, and the motion direction is induced; in the aspect of cell screening, a distinguishable double-interaction mode is provided for cells with differentiated electrical properties based on three interaction functional areas of a micro-robot, and heterogeneous high-purity cell separation is realized; in the aspect of cell carrying, the micro-robot-cell interaction state is regulated and controlled by changing light patterns and alternating current electric field parameters, so that the micro-robot can load, transport and unload the cells according to needs. The micro-robot can realize integrated operation of cell screening, transportation, loading and unloading.

The invention provides a chip heat dissipation method and device. The method comprises the following steps: acquiring surface temperature distribution and heat flux density distribution of a chip to position hot spot positions of the chip; a cooling medium is guided to flow through the chip, the micro-robot suspended in the cooling medium is placed under the action of a magnetic field, and the micro-robot is controlled to move to the position above the hot spot position in the cooling medium; determining the initial heat exchange efficiency of the micro-robot above the hot spot; and according to the initial heat exchange efficiency, the magnetic field control parameters are continuously adjusted until the current heat exchange efficiency meets the expected heat exchange efficiency, and targeted heat dissipation is conducted on the chip hot spots. According to the invention, the hot spot position of the chip can be accurately positioned by acquiring the surface temperature distribution and the heat flux density distribution of the chip; the magnetic field control parameters are used for controlling the micro-robot to move to the position above the hot spot, and dynamic tracking and heat dissipation of the hot spot are achieved; in addition, the magnetic field control parameters can be continuously adjusted according to the initial heat exchange efficiency, and the purpose of effective heat dissipation of chip hot spots is achieved.

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 invention discloses an MOF-based magnetic control micro-robot capable of being constructed in a customized mode and a preparation method and application of the MOF-based magnetic control micro-robot, and belongs to the technical field of micro-robots. The preparation method comprises the following steps that a micro-nano machining template method and a two-phase interface self-assembly method are coupled, and the magnetic MOF micro-robot is prepared; amino modification is conducted on the magnetic MOF micro-robot through a ligand exchange method, lipase is loaded through an ion adsorption method, and finally the MOF-based magnetic control micro-robot capable of being built in a customized mode is obtained. The micro-robot prepared by the preparation method disclosed by the invention can realize efficient driving under the action of a magnetic field, and can realize accurate control and execution of complex tasks; and meanwhile, the preparation method disclosed by the invention is simple and easy to implement, and is a preparation process of the customizable magnetic control MOF micro-robot capable of being prepared in a large scale.

The invention discloses a multi-coil magnetic field real-time optimization method based on a particle swarm algorithm and a driving system. The magnetic field of a multi-coil magnetic driving system is optimized. The position parameters of the multiple coils are adjusted to generate a magnetic field in the space, and the position parameters of the coils are collected in the process of driving the micro-robot through simulation and experiments. A pre-optimized parameter interval is obtained through particle swarm optimization pre-optimization processing, in order to enable the system to have good real-time performance, small sample sampling is carried out in the pre-optimized parameter interval in the optimization process, the result in the pre-optimized parameter interval is closer to the optimal value through optimization processing, the sampling interval range is very small, and therefore the real-time performance of the system is improved. Small sample sampling can meet the accuracy of the magnetic field, and in addition, real-time optimization of a driving system can also be met. The pre-optimization process of the method can be realized in a simulation environment, the cost can be reduced, and the dependence of the optimization process on real operation is reduced.

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 belongs to the technical field of micro-robot preparation, and provides a magnetic micro-robot with ROS response and shape self-adaptability, a preparation method and application thereof. The preparation method comprises the following steps: mixing eight-arm polyethylene diamine, eight-arm succinimidyl carboxylate, iron oxide nanoparticles, antioxidant material, cell adhesion molecule and PBS buffer to obtain a mixture; mixing the mixture with n-hexane, liquid paraffin and span 80, and performing magnetic stirring, and then standing to obtain a magnetic micro-robot mixture; and separating the magnetic micro-robot mixture by using a permanent magnet to obtain magnetic gel microspheres, i.e. the magnetic micro-robot. The magnetic micro-robot prepared by the application has ROS response and good shape self-adaptability, and can be widely applied to the medical field.

The present invention provides a microrobot for plaque removal and a control method thereof, relating to the field of medical device technology. The microrobot includes a microrobot body and an in vitro control system connected to the microrobot body through signals; the microrobot body is obtained by 3D printing using a photocurable resin doped with magnetic powder; and the in vitro control system controls the operation of the microrobot body using a magnetic control system of a three-dimensional Helmholtz coil. The microrobot for plaque removal provided by the present invention uses a photocurable resin doped with magnetic powder to obtain the microrobot body through 3D printing, achieves coupling between the microrobot's atherectomy module and a magnetic drive module, and saves space occupied by permanent magnets in traditional magnetic microrobots. This facilitates a compact design of the microrobot, thereby reducing its size and expanding its application range.

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 invention provides a preparation method of a sheet-shaped micro-robot with a sandwich structure and a precise operation system. The method comprises the following steps: obtaining a silicon wafer provided with a sheet-shaped porous diatom shell sheet, carrying out film coating treatment on the silicon wafer, and carrying out micro-operation on the silicon wafer to separate the diatom micro-robot. Natural diatomite is used as a template, the diatomite-based heterogeneous magnetic microrobot is constructed, efficient capture and detection of salmonella are realized through a unique three-dimensional porous structure and a motion mode of the diatomite-based heterogeneous magnetic microrobot, and the diatomite-based heterogeneous magnetic microrobot has extremely high application value and research potential; according to the system, accurate control over multiple motion modes of the micro robot can be achieved.

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.

The utility model discloses a magnetic micro-robot positioning device for head interventional operation, which belongs to the technical field of micro-robot positioning and comprises a positioning cap framework structure, the positioning cap framework structure is a partially spherical structure, and a positioning bulge is arranged in the middle of the upper part of the positioning cap framework structure. Connecting protrusions are arranged on the lower portions of the two sides of the positioning cap framework structure, the two connecting protrusions are connected with one end of a beam respectively, the other end of the beam is connected with a support, the support is installed on a fixing column, and magnetic sensors are symmetrically arranged on the two sides of the positioning cap framework structure and electrically connected with an expander and a processor in sequence. And the processor is connected with the upper computer. The positioning device is suitable for terminal insertion, can solve the problem of small high-precision positioning range, and is convenient to wear, simple to operate, large in positioning range, relatively simple to operate and convenient to use in an operation.

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 belongs to the technical field of acoustic flow control, and discloses an acoustic micro-robot control system and method based on an interface scattering coupling enhanced sound field, and the acoustic micro-robot control system based on the interface scattering coupling enhanced sound field comprises a micro-robot, a micro-flow control device, an acoustic transducer, a sound field and a micro-scale target; according to the invention, a coupling sound field with enhanced local sound energy radiation can be formed, motion control of the micro-robot, and local sound field motion and patterned structure control are carried out through background sound field motion or modulation, so that selective capture and precise control of a micro-scale target are realized, and the precision of the micro-scale target is improved. The limitation that a traditional micro-robot usually depends on mechanical force such as contact to conduct further micro-scale target operation is overcome, a novel functional micro-robot is achieved, the micro-robot has the capacity of constructing a local secondary physical field, secondary physical field construction and control based on the micro-robot are achieved, and the application range of the micro-robot is widened. And the non-contact control function of the micro-robot is realized.

The invention discloses a metal / alloy micro-nano three-dimensional structure preparation method based on complex reaction, and relates to the technical field of micro-nano three-dimensional structure preparation, and the specific method comprises the following steps: S1, synthesizing photoresist by taking acrylic acid as a polymerization monomer; s2, processing and forming photoresist through a femtosecond laser two-photon polymerization technology to obtain a three-dimensional polymer bracket; and S3, the three-dimensional polymer support is subjected to a complexation reaction in a metal salt solution, a sample is sintered after the reaction, and the metal / alloy micro-nano three-dimensional structure is obtained. The method is compatible with various metal elements, the machining resolution reaches the submicron level, and a solid foundation is laid for application of a metal / alloy micro-nano three-dimensional structure in the fields of nano optics, micro robots, mechanical metamaterials and the like.