CN-122004716-A - Bullet-like fish-coating magnetic control micro-robot and control method thereof

CN122004716ACN 122004716 ACN122004716 ACN 122004716ACN-122004716-A

Abstract

The application belongs to the technical field of magnetic control micro robots and intelligent control, and relates to a bullet-simulated fish-coating magnetic control micro robot and a control method thereof, wherein the bullet-simulated fish-coating magnetic control micro robot system comprises a robot body and a control part, 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 intervals of a preset distance, and the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the robot designed by the application can adapt to large peristaltic deformation of intestinal tracts, efficiently span mucous membrane folds and adapt to unstructured characteristics of the intestinal tracts, and can accurately reach focus areas to provide a path for accurate diagnosis and treatment of intestinal diseases.

Inventors

LI GONGXIN
XIE HUITING
FANG LU
DU YIJIE
MAO YUTING

Assignees

江南大学

Dates

Publication Date: 20260512
Application Date: 20260327

Claims (10)

1. The utility model provides a imitative bullet fish-coating magnetic control micro-robot which characterized in that includes: The magnetic driving module comprises two magnetic driving sub-modules which are symmetrical and fixed on the same surface of the energy storage module at intervals of a preset distance; the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the magnetic field generating module is used for forming a magnetic field around the magnetic driving module and the energy storage module under the control of the controller and adjusting the direction and the intensity of the magnetic field; The controller is connected with the magnetic field generating module and used for controlling the magnetic field generating module to form a magnetic field along the positive direction of the Z axis and gradually increasing the magnetic field intensity in the jumping preparation stage until the two magnetic driving sub-modules drive the two ends of the energy storage module to rotate towards the positive direction of the Z axis to form a V-shaped bending configuration, so that the energy storage module part between the magnetic driving sub-modules stores elastic potential energy; in the jumping stage, the magnetic field generating module is controlled to change the magnetic field direction from the positive Z-axis direction to the positive X-axis direction and keep the magnetic field intensity constant, so that the magnetic driving sub-module which is close to the positive X-axis direction drives the connected energy storage module part to rotate towards the positive X-axis direction and flap the platform, the magnetic driving module and the energy storage module are jumped by the reaction force of the platform and the elastic potential energy stored by the energy storage module, and then the magnetic field generating module is controlled to change the magnetic field direction from the positive X-axis direction to the positive Z-axis direction and keep the magnetic field intensity constant, so that the magnetic driving module and the energy storage module move along the negative X-axis direction; When the lower surfaces of the two magnetic driving sub-modules are positioned on the same horizontal plane, the magnetization direction of each magnetic driving sub-module is the horizontal direction far away from the other magnetic driving sub-module, the symmetry center of the two magnetic driving sub-modules is the origin, the connecting line direction of the two magnetic driving sub-modules is the X axis, and the vertical direction is the Z axis.
2. The bullet-like fish-coating magnetically controlled micro-robot of claim 1, wherein when the magnetic driving sub-module and the connected energy storage module part thereof near the positive direction of the X-axis rotate, the absolute acceleration of the mass center thereof is divided into translational acceleration and rotational acceleration; the method is specifically expressed as follows: , , Wherein, the Representing the translational acceleration of the magnetic driving sub-module which is close to the positive direction of the X axis and the energy storage module part connected with the magnetic driving sub-module; magnetic driving sub-module representing positive direction near X-axis the included angle between the connected energy storage module part and the positive direction of the X axis; representing the distance between the centroid of the magnetic driving sub-module and the centroid of the energy storage module connected with the magnetic driving sub-module, which is close to the positive direction of the X axis; Representing the component of the magnetic driving sub-module near the positive direction of the X axis and the energy storage module part connected with the magnetic driving sub-module in the horizontal direction; representing the rotational acceleration of the magnetic drive sub-module near the positive direction of the X-axis and the connected energy storage module part; representing the component of the magnetic drive sub-module near the positive X-axis direction and the connected energy storage module portion in the vertical direction.
3. The bullet-like fish-coating magnetically controlled micro-robot of claim 2, wherein when the magnetic driving sub-module near the positive direction of the X-axis drives the connected energy storage module part to rotate towards the positive direction of the X-axis and beat the platform, the mass center acceleration of the magnetic driving sub-module near the positive direction of the X-axis and the connected energy storage module part thereof satisfies: , , Wherein, the Representing the modulus of elasticity of the platform; Representing the damping coefficient of the platform; a component representing the internal force at the center of mass of the energy storage module in a horizontal direction; representing a component of the internal force at the center of mass of the energy storage module in a vertical direction; representing the mass of the magnetic drive sub-module and the connected energy storage module part thereof near the positive direction of the X axis; representing gravitational acceleration; Magnetic driving sub-module near positive X-axis direction and connection thereof the resultant moment expression when the energy storage module part rotates is: , Wherein, the Magnetic drive sub-module representing positive direction near X-axis and the magnetic moment received by the energy storage module part connected with the magnetic moment; representing the moment of inertia of the magnetic drive sub-module near the positive direction of the X-axis and the energy storage module part connected with the magnetic drive sub-module; 。
4. The bullet-like fish-coating magnetically controlled micro-robot of claim 3, wherein when the magnetic driving sub-module and the connected energy storage module part thereof close to the negative direction of the X-axis rotate, the absolute acceleration of the mass center thereof is divided into translational acceleration and rotational acceleration; the method is specifically expressed as follows: , , Wherein, the Representing the translational acceleration of the magnetic driving sub-module and the energy storage module connected with the magnetic driving sub-module close to the X-axis negative direction; Magnetic drive sub-module representing negative direction near X-axis the included angle between the connected energy storage module part and the positive direction of the X axis; representing the distance between the centroid of the magnetic drive sub-module and the centroid of the energy storage module connected thereto, which is close to the negative X-axis direction; Representing the component of the magnetic drive sub-module near the negative X-axis direction and the connected energy storage module part in the horizontal direction; representing the rotational acceleration of the magnetic drive sub-module and the connected energy storage module portion near the negative X-axis direction; Representing the component of the magnetic drive sub-module near the negative X-axis direction and the connected energy storage module portion in the vertical direction.
5. The bullet-like fish-coating magnetically controlled micro-robot of claim 4, wherein when the magnetic driving sub-module near the positive direction of the X-axis drives the connected energy storage module part to rotate towards the positive direction of the X-axis and beat the platform, the mass center acceleration of the magnetic driving sub-module near the negative direction of the X-axis and the connected energy storage module part thereof satisfies: , , Wherein, the Representing the mass of the magnetic drive sub-module and the connected energy storage module portion thereof in a direction adjacent to the negative X-axis; representing the friction force applied to the magnetic driving sub-module and the energy storage module connected with the magnetic driving sub-module in the negative direction close to the X axis; representing the supporting force applied to the magnetic driving sub-module and the energy storage module connected with the magnetic driving sub-module in the negative direction close to the X axis; The magnetic driving sub-module close to the X-axis negative direction and the combined moment expression when the magnetic driving sub-module is connected with the energy storage module to partially rotate are as follows: , Wherein, the Representing the magnetic moment applied to the magnetic driving sub-module and the energy storage module connected with the magnetic driving sub-module in the negative direction close to the X axis; Representing the moment of inertia of the magnetic drive sub-module and the connected energy storage module portion near the negative X-axis direction; 。
6. the bullet-like fish-coating magnetically controlled micro-robot of claim 1, wherein the cross-sectional shape of the energy storage module along the length direction is a convex shape, and the convex portion is located between the two magnetic driving sub-modules: the length of the energy storage module is 15mm, the width of the energy storage module is 4mm, the height of the protruding part is 0.5mm, and the height of the non-protruding part is 0.5mm; The magnetic driving sub-module is cuboid, the length of the magnetic driving sub-module is 5mm, the width of the magnetic driving sub-module is 4mm, and the height of the magnetic driving sub-module is 1mm.
7. The bullet-like fish-coating magnetic control micro-robot of claim 1, wherein the magnetic driving sub-module is made of a composite material of neodymium-iron-boron magnetic particles and a PDMS matrix, and the energy storage module is made of a PDMS material.
8. The bullet-like magnetically controlled micro-robot of claim 1 wherein the angle between the magnetic drive sub-module and the positive Z-axis direction is inversely proportional to the magnetic field strength during the skip preparation phase; In the jumping stage, the jumping height of the magnetic driving sub-module and the energy storage module and the moving distance along the X-axis negative direction are proportional to the magnetic field intensity.
9. The bullet-like fish-coating magnetic control micro-robot according to claim 1, wherein when the magnetic field strength is 10-15 mT, the jump height of the magnetic driving sub-module and the energy storage module is 1.8-4.7 mm, and the moving distance along the X-axis negative direction is 6-20 mm.
10. The method for controlling the bullet-simulated fish-coating magnetic control micro-robot is characterized by being applied to the controller in the bullet-simulated fish-coating magnetic control micro-robot according to any one of claims 1-9, and comprises the following steps: In the jump preparation stage, controlling the magnetic field generation module to form a magnetic field along the positive direction of the Z axis and gradually increasing the magnetic field intensity until the two magnetic driving sub-modules drive the two ends of the energy storage module to rotate towards the positive direction of the Z axis to form a V-shaped bending configuration, so that the energy storage module part between the magnetic driving sub-modules stores elastic potential energy; In the jumping stage, the magnetic field generating module is controlled to enable the magnetic field direction to change from the positive Z-axis direction to the positive X-axis direction and keep the magnetic field intensity constant, the magnetic driving sub-module which is close to the positive X-axis direction drives the energy storage module part which is connected with the magnetic driving sub-module to rotate to the positive X-axis direction and flap the platform, the magnetic driving module and the energy storage module are made to jump by the reaction force of the platform and the elastic potential energy stored by the energy storage module, and then the magnetic field generating module is controlled to enable the magnetic field direction to change from the positive X-axis direction to the positive Z-axis direction and keep the magnetic field intensity constant, so that the magnetic driving module and the energy storage module move along the negative X-axis direction; After the jump is finished, the magnetic field generating module is controlled to enable the magnetic field intensity to be 0, and the magnetic driving module and the energy storage module fall back to the platform under the action of gravity.

Description

Bullet-like fish-coating magnetic control micro-robot and control method thereof Technical Field The invention relates to the technical field of magnetic control micro robots and intelligent control, in particular to a bullet-simulated fish-coating magnetic control micro robot and a control method thereof. Background Intestinal diseases are high-grade diseases worldwide, and are commonly diagnosed in clinic by using an endoscope. However, the conventional endoscopy is easy to cause discomfort to the patient, and risks such as intestinal bleeding and perforation exist, so that the diagnosis and treatment requirements of complex intestinal diseases are difficult to meet. In recent years, the micro-robot can adapt to complex physiological environments of intestinal tracts by virtue of the advantages of small volume, flexible movement, high control precision and the like, and has great application potential in the field of accurate diagnosis and treatment of intestinal diseases. Among the numerous driving modes of the micro-robot, the magnetic field driving has the characteristics of strong penetrating capacity, high control precision, remote control, high safety of human-computer interaction and the like, can be adapted to the special environment of intestinal application, and becomes the preferred driving mode of the micro-robot applied to the field of accurate diagnosis and treatment of intestinal diseases. At present, the common magnetic control robot mainly realizes movement in three modes of crawling, rolling and spiral propulsion, and the intestinal tracts have complex physiological characteristics of large peristaltic deformation, raised folds on the surface of the mucous membrane and the like, so that great challenges are brought to the intestinal tract application of the magnetic control micro-robot. The crawling robot takes the contact friction force with the surface of the intestinal mucosa as advancing power, is easily influenced by mucous secreted by the intestinal mucosa, and the adhesion resistance generated by the mucous can lead to the occurrence of clamping and stopping of the robot at the folds of the mucosa due to uneven friction stress, so that continuous and stable propulsion cannot be realized, and the movement efficiency is seriously influenced. The rolling robot is rolled to be attached to the inner wall of the intestinal canal to finish movement, the requirement on flatness of the inner wall of the intestinal canal is high, and the robot easily sideslip at the convex part of folds of the intestinal mucosa, so that the robot deviates from a preset movement track. The spiral propulsion type robot depends on the generation propulsion of a spiral structure, in the intestinal peristalsis process, the spiral structure is easy to be blocked with intestinal folds, so that the robot cannot flexibly adjust the motion gesture, and finally, the robot is difficult to accurately reach a focus area, and the application of the robot in the targeted diagnosis and treatment field is greatly limited. In summary, how to design a magnetic micro-robot which can adapt to large deformation of intestinal peristalsis and can efficiently span folds on the surface of a mucous membrane so as to accurately reach a focus area, and provide a novel, safe and reliable technical path for accurate diagnosis and treatment of intestinal diseases is a problem to be solved at present. Disclosure of Invention Therefore, the invention aims to solve the technical problems that a magnetic control robot in the prior art cannot adapt to large peristaltic deformation of intestinal tracts and is protruded across folds of the mucous membrane surface, so that a focus area cannot be reached accurately, and a technical path is provided for accurate diagnosis and treatment of intestinal diseases. In order to solve the technical problems, the invention provides a bullet-like fish-coating magnetic control micro-robot, which comprises: The magnetic driving module comprises two magnetic driving sub-modules which are symmetrical and fixed on the same surface of the energy storage module at intervals of a preset distance; the energy storage module is used for realizing non-magnetic connection of the two magnetic driving sub-modules; the magnetic field generating module is used for forming a magnetic field around the magnetic driving module and the energy storage module under the control of the controller and adjusting the direction and the intensity of the magnetic field; The controller is connected with the magnetic field generating module and used for controlling the magnetic field generating module to form a magnetic field along the positive direction of the Z axis and gradually increasing the magnetic field intensity in the jumping preparation stage until the two magnetic driving sub-modules drive the two ends of the energy storage module to rotate towards the positive direction of the Z axis to form a V-shaped bending configuration, so t