Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion char...Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion characteristics of ray fish,this article proposes a micro-robot with magnetic controlled bionic ray structure.The micro-robot is made of soft elastic materials such as poly dimethyl siloxane(PDMS),Ethylene-Propylene-Diene Monomer(EPDM),and magnetic material Neodymium Iron Boron(NdFeB)nanoparticles.The external driving magnetic field is a periodic oscillating magnetic field generated by a Helmholtz coil.In order to verify the feasibility of the ray-inspired micro-robot,the motion principle was analyzed and several experiments were carried out.Experimental results demonstrated that the ray-inspired micro-robot can excellently mimic the crucial swimming characteristics of rays under the driving force of a oscillating magnetic field with an intensity of 5 mT and a frequency of 5 Hz,the swimming speed of the biomimetic micro-robot can reach nearly 2 body lengths per second.Analysis shows that the speed and stability of the micro-robot primarily depends not only on the amplitude and frequency of the vertical oscillating magnetic field,but also on the magnitude of the horizontal uniform magnetic field.This article demonstrates that the designed biomimetic micro-robot has the potential application of remotely performing specialized tasks in confined,complex environments such as microchannel-based scenarios.展开更多
A novel non-cable whole tectorial membrane micro-robot for an endoscope is developed. The micro-robot we have fabricated and tested can propel itself in the intestine tract of a pig in an autonomous manner by earthwor...A novel non-cable whole tectorial membrane micro-robot for an endoscope is developed. The micro-robot we have fabricated and tested can propel itself in the intestine tract of a pig in an autonomous manner by earthworm-like locomotion. The silicone of bellow shape is laid over the outer surface of the micro-robot to reduce the affection of the viscoelastic properties of the intestine. Wireless power transfer and communication systems are employed to realize the non-cable locomotion of the mi-cro-robot. The prototype of the micro-robot is 13.5 mm in diameter and 108 mm in length. The experimental results show that the towing force for the micro-robot is about 0.8 N, which is much smaller than the maximum driving force 2.55 N of the linear actuator. The supplying power of the wireless power transfer system fulfills the needs of the micro-robot system and the mi-cro-robot can creep reliably in the large intestine of a pig and other contact environments.展开更多
A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different...A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it＇ s motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A DSP based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.展开更多
The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner sur...The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner surface measurement unit, can go into the pipe to get the data of displace- ment and axis curvature, and the shape data of the inner surface. With the conic-shape laser beam shot by the inner surface measurement unit, the intersectional curve between the laser beam and the inner-surface of the tested pipe can be calculated in the local coordination system （LCS） of the inner surface measurement unit. The relation between the LCS and the global coordination system （GCS） can be deduced, too. After the robot reaches the end of the pipe, all measured intersectional curves can be translated into the same coordination system to become a point cloud of the inner surface of the pipe according to the relations between LCS and GCS. Depending on this points cloud, the CAD model of the inner surface of the pipe can be reconstructed easily with reverse engineering tools, and the feature of flaw of the pipe can be obtained with flaw analysis tools.展开更多
To address the problem of flexible drive control of gastrointestinal(GI)tract micro-capsule robot posture,a novel dual helix magnetorheological fluid(MRF)micro-robot(DHMRFMR)is proposed and developed in this paper.Bas...To address the problem of flexible drive control of gastrointestinal(GI)tract micro-capsule robot posture,a novel dual helix magnetorheological fluid(MRF)micro-robot(DHMRFMR)is proposed and developed in this paper.Based on the mechanical properties of magnetorheological fluid,the relationship model of magnetic field force is obtained,and the thrust model is established.Double micro DC deceleration motor is used to drive the two ends of the helical actuator to make the DHMRFMR forward and backward,by changing the external magnetic field rotation speed,direction and distance,adjust the attitude direction of the robot.Numerical simulation software ANSYS is used to analyze the motion law of external fluid of DHMRFMR,and the visualization of fluid velocity and pressure distribution is realized.The front-end helix actuator can change the flow path of the fluid,and the middle and tail of the DHMRFMR bear less pressure,which improves the stability and flexibility of the robot.The novel DHMRFMR is suitable for internal drive in bending environment,and has a good application prospect in biomedical engineering field in human intestinal unstructured environment.展开更多
A wireless power transfer system for endoscopic micro-robot operating at 36 kHz is presented in this paper. The issue of patient＇ s health and safety regarding exposure to the electromagnetic field is addressed. The ...A wireless power transfer system for endoscopic micro-robot operating at 36 kHz is presented in this paper. The issue of patient＇ s health and safety regarding exposure to the electromagnetic field is addressed. The specific absorption rate and current density can be used to investigate the electromagnetic influences on the biological tissues surrounded by the wireless power launching coil. In view of this purpose, the limited close-ound solenoid electromagnetic model is built, the relationship between the electric intensity and the specific absorption rate and current density is deduced, and the simulation experiments are done. Experimental results show that the values of SAR and current density related to different tissue catalogs are all very small and do not exceed their own limits respectively when the resonance frequency of operation is 36 kHz.展开更多
A noninvasive method to drive medical micro-robots into endocoeles has been proposed and a kind of medical micro robot driven by the method has been designed. The robot has a spirally grooved impeller. When the spiral...A noninvasive method to drive medical micro-robots into endocoeles has been proposed and a kind of medical micro robot driven by the method has been designed. The robot has a spirally grooved impeller. When the spirally grooved impeller rotates, a hydrodynamic film between the robot and endocoeles is formed because of mucus existence in endocoeles. The generated axial thrust force of the impeller can drive robots to move. Because the hydrodynamic film is formed when the robot moves in endocoeles, injury may be prevented, so it can alleviate or avoid pain of sufferers. The generated axial thrust force of the impeller has been estimated according to the hydrodynamic lubrication theory and has been confirmed by experiments.展开更多
Micro-robots(MRs)are miniature machines with dimensions smaller than 1 mm and have semior fully-autonomous capabilities,including sensing,decision-making,and performing operations.These MRs have garnered significant a...Micro-robots(MRs)are miniature machines with dimensions smaller than 1 mm and have semior fully-autonomous capabilities,including sensing,decision-making,and performing operations.These MRs have garnered significant attention in the precision medicine and personalized treatment field due to their ability to navigate narrow areas of the human body with non-desirable fluid flow.Specifically,MRs are actuated by a mechanism that generates propulsive force through the interaction between MRs’actuation modules and external energy sources in a specific direction.This driving mechanism enables the precise execution of medical treatment such as targeted drug delivery and minimally invasive surgeries.Nonetheless,MRs currently encounter certain challenges in clinical practice,including reliance on external energy sources,short lifespan,and difficulties in degradation or recovery within the human body.This article aims to review the common components and characteristics of driving mechanism for MRs’actuation modules,propose possible solutions to address current clinical challenges,and ultimately,explore the desirable structural and functional composition for the future development of MRs.Through these efforts,this review hopes to provide guidance for the future development of MRs in the field of precision medicine.展开更多
基金supported by the National Natural Science Foundation of China(No.52005116)the Guangzhou Science and Technology Plan Project(No.SL2024A03J00589)+2 种基金the Guangdong Province Ordinary University Characteristic Innovation Project(No.2023KTSCX100)the Guangdong Basic and Applied Basic Research Foundation(No.2020A1515111176 and No.2023A1515011791)the Guangzhou University Graduate Innovation Research Project,(No.2022GDJC-M20)。
文摘Biomimetic micro-robot technology based on non-contact and cable-free magnetic actuation has become one of the crucial focuses of future biomedical research and micro-industrial development.Inspired by the motion characteristics of ray fish,this article proposes a micro-robot with magnetic controlled bionic ray structure.The micro-robot is made of soft elastic materials such as poly dimethyl siloxane(PDMS),Ethylene-Propylene-Diene Monomer(EPDM),and magnetic material Neodymium Iron Boron(NdFeB)nanoparticles.The external driving magnetic field is a periodic oscillating magnetic field generated by a Helmholtz coil.In order to verify the feasibility of the ray-inspired micro-robot,the motion principle was analyzed and several experiments were carried out.Experimental results demonstrated that the ray-inspired micro-robot can excellently mimic the crucial swimming characteristics of rays under the driving force of a oscillating magnetic field with an intensity of 5 mT and a frequency of 5 Hz,the swimming speed of the biomimetic micro-robot can reach nearly 2 body lengths per second.Analysis shows that the speed and stability of the micro-robot primarily depends not only on the amplitude and frequency of the vertical oscillating magnetic field,but also on the magnitude of the horizontal uniform magnetic field.This article demonstrates that the designed biomimetic micro-robot has the potential application of remotely performing specialized tasks in confined,complex environments such as microchannel-based scenarios.
基金Project (No. 2007AA04Z234) supported by the Hi-Tech Researchand Development Program (863) of China
文摘A novel non-cable whole tectorial membrane micro-robot for an endoscope is developed. The micro-robot we have fabricated and tested can propel itself in the intestine tract of a pig in an autonomous manner by earthworm-like locomotion. The silicone of bellow shape is laid over the outer surface of the micro-robot to reduce the affection of the viscoelastic properties of the intestine. Wireless power transfer and communication systems are employed to realize the non-cable locomotion of the mi-cro-robot. The prototype of the micro-robot is 13.5 mm in diameter and 108 mm in length. The experimental results show that the towing force for the micro-robot is about 0.8 N, which is much smaller than the maximum driving force 2.55 N of the linear actuator. The supplying power of the wireless power transfer system fulfills the needs of the micro-robot system and the mi-cro-robot can creep reliably in the large intestine of a pig and other contact environments.
文摘A micro-robot with 4 DOFs is presented in this paper. An inchworm-like biped mechanical structure is selected with the advantages of small size and minimal weight. It can walk on wall as an inchworm with two different locomotion modes such as crawling and overturn. With rotation mode, this robot can change it＇ s motion direction. The robot can also transit between different surfaces. The kinematics model of the robot has been analyzed. A DSP based embedded controller is used for minimal power consumption and efficient control. The micro-robot can move flexibly and fit complicated un-structural environment well.
基金This project is supported by National Hi-tech Research and DevelopmentProgram of China (863 program, No.2001AA423130).
文摘The presented system consists of field devices, a control system and a host computer system. The field devices, which are composed of an in-pipe micro-robot, a displacement sensor, a curvature sensor, and an inner surface measurement unit, can go into the pipe to get the data of displace- ment and axis curvature, and the shape data of the inner surface. With the conic-shape laser beam shot by the inner surface measurement unit, the intersectional curve between the laser beam and the inner-surface of the tested pipe can be calculated in the local coordination system （LCS） of the inner surface measurement unit. The relation between the LCS and the global coordination system （GCS） can be deduced, too. After the robot reaches the end of the pipe, all measured intersectional curves can be translated into the same coordination system to become a point cloud of the inner surface of the pipe according to the relations between LCS and GCS. Depending on this points cloud, the CAD model of the inner surface of the pipe can be reconstructed easily with reverse engineering tools, and the feature of flaw of the pipe can be obtained with flaw analysis tools.
基金supported by the Key Research Development and Promotion Special Project of Henan Province,under Grant 212102310119 and 212102210358Scientific Research Foundation for High-level Talents of Henan Institute of Technology,under Grant KQ1869+6 种基金Research and Practice Project of Higher Education Teaching Reform in Henan Province,under Grant 2021SJGLX289University-Industry Collaborative Education Program,under Grant 202101187010 and 202102120046Innovation and Entrepreneurship Training Program for College Students of Henan Province,under Grant 202211329011Educational and Teaching Reform Research and Practice Project of Henan Institute of Technology,under Grant 2021-YB023 and JJXY-2021005Innovative Education Curriculum Construction Project of Henan Institute of Technology,under Grant CX-2021-0052022 Xinxiang Federation of Social Sciences Research topic,under Grant SKL-2022-254 and SKL-2022-2282022 Annual Research Topic of Henan Federation of Social Sciences,under Grant SKL-2022-2692.
文摘To address the problem of flexible drive control of gastrointestinal(GI)tract micro-capsule robot posture,a novel dual helix magnetorheological fluid(MRF)micro-robot(DHMRFMR)is proposed and developed in this paper.Based on the mechanical properties of magnetorheological fluid,the relationship model of magnetic field force is obtained,and the thrust model is established.Double micro DC deceleration motor is used to drive the two ends of the helical actuator to make the DHMRFMR forward and backward,by changing the external magnetic field rotation speed,direction and distance,adjust the attitude direction of the robot.Numerical simulation software ANSYS is used to analyze the motion law of external fluid of DHMRFMR,and the visualization of fluid velocity and pressure distribution is realized.The front-end helix actuator can change the flow path of the fluid,and the middle and tail of the DHMRFMR bear less pressure,which improves the stability and flexibility of the robot.The novel DHMRFMR is suitable for internal drive in bending environment,and has a good application prospect in biomedical engineering field in human intestinal unstructured environment.
文摘A wireless power transfer system for endoscopic micro-robot operating at 36 kHz is presented in this paper. The issue of patient＇ s health and safety regarding exposure to the electromagnetic field is addressed. The specific absorption rate and current density can be used to investigate the electromagnetic influences on the biological tissues surrounded by the wireless power launching coil. In view of this purpose, the limited close-ound solenoid electromagnetic model is built, the relationship between the electric intensity and the specific absorption rate and current density is deduced, and the simulation experiments are done. Experimental results show that the values of SAR and current density related to different tissue catalogs are all very small and do not exceed their own limits respectively when the resonance frequency of operation is 36 kHz.
文摘A noninvasive method to drive medical micro-robots into endocoeles has been proposed and a kind of medical micro robot driven by the method has been designed. The robot has a spirally grooved impeller. When the spirally grooved impeller rotates, a hydrodynamic film between the robot and endocoeles is formed because of mucus existence in endocoeles. The generated axial thrust force of the impeller can drive robots to move. Because the hydrodynamic film is formed when the robot moves in endocoeles, injury may be prevented, so it can alleviate or avoid pain of sufferers. The generated axial thrust force of the impeller has been estimated according to the hydrodynamic lubrication theory and has been confirmed by experiments.
基金supported by the National Natural Science Foundation of China(Grants No.U1904206,32271469,52273305)Natural Science Foundation of Xiamen(Grants No.3502Z20227010)Fundamental Research Funds for the Central Universities(Grants No.20720230037).
文摘Micro-robots(MRs)are miniature machines with dimensions smaller than 1 mm and have semior fully-autonomous capabilities,including sensing,decision-making,and performing operations.These MRs have garnered significant attention in the precision medicine and personalized treatment field due to their ability to navigate narrow areas of the human body with non-desirable fluid flow.Specifically,MRs are actuated by a mechanism that generates propulsive force through the interaction between MRs’actuation modules and external energy sources in a specific direction.This driving mechanism enables the precise execution of medical treatment such as targeted drug delivery and minimally invasive surgeries.Nonetheless,MRs currently encounter certain challenges in clinical practice,including reliance on external energy sources,short lifespan,and difficulties in degradation or recovery within the human body.This article aims to review the common components and characteristics of driving mechanism for MRs’actuation modules,propose possible solutions to address current clinical challenges,and ultimately,explore the desirable structural and functional composition for the future development of MRs.Through these efforts,this review hopes to provide guidance for the future development of MRs in the field of precision medicine.
