Zhang Liwen, Zhao Song, Zhou Xinzhao, Jing Xueshan, Zhou Yu, Wang Yan, Zhu Yantong, Liu Xiaolin, Zhao Zehui, Zhang Deyuan, Feng Lin, Chen Huawei
School of Mechanical Engineering and Automation, Beihang University, Beijing, China.
Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing, China.
Research (Wash D C). 2023 Jun 21;6:0177. doi: 10.34133/research.0177. eCollection 2023.
Miniature magnetic-driven robots with multimode motions and high-precision pose sensing capacity (position and orientation) are greatly demanded in in situ manipulation in narrow opaque enclosed spaces. Various magnetic robots have been carried out, whereas their deformations normally remain in single mode, and the lack of the robot's real-time status leads to its beyond-sight remagnetization and manipulation being impossible. The function integration of pose sensing and multimode motion is still of challenge. Here, a multimotion thin-film robot is created in a novel multilayer structure with a magnetic-driven layer covered by a heating-sensing conductive layer. Such a heating-sensing layer not only can segmentally and on-demand heat the magnetic-driven layer for in situ magnetization reprogramming and multimode motions but also can precisely detect the robot's pose (position and orientation) from its electrical-resistance effect by creating a small deformation under preset magnetic fields. Under the integration of reprogramming and sensing, necessary multimode motions, i.e., swimming, rolling, crawling, and obstacle-crossing, are achieved under a reprogramming field of 10 mT, and high-precision poses sensing with an accuracy of ± 3 mm in position and ± 2.5° in orientation is obtained even under a low magnetic strength of of 5 mT, which combined help realize accurate out-of-sight manipulations in the enclosed space environment. Finally, a gastroscope robot for stomach drug delivery has been demonstrated for more gastrointestinal medical treatments.
在狭窄的不透明封闭空间内进行原位操作时，对具有多模式运动和高精度姿态传感能力（位置和方向）的微型磁驱动机器人有很大需求。人们已经开展了各种磁机器人的研究，然而它们的变形通常仍处于单一模式，并且由于缺乏机器人的实时状态信息，导致其在视线外重新磁化和操作变得不可能。姿态传感和多模式运动的功能集成仍然具有挑战性。在此，通过一种新颖的多层结构制造了一种多运动薄膜机器人，其磁驱动层被加热传感导电层覆盖。这样的加热传感层不仅可以对磁驱动层进行分段按需加热，以实现原位磁化重新编程和多模式运动，还可以通过在预设磁场下产生小变形，利用其电阻效应精确检测机器人的姿态（位置和方向）。在重新编程和传感的集成下，在10 mT的重新编程磁场下实现了必要的多模式运动，即游泳、滚动、爬行和穿越障碍物，甚至在5 mT的低磁场强度下，也能获得位置精度为±3 mm、方向精度为±2.5°的高精度姿态传感，这两者共同有助于在封闭空间环境中实现精确的视线外操作。最后，展示了一种用于胃内给药的胃镜机器人，以用于更多的胃肠医疗治疗。
