CN112438835A - Control device and control system of nano robot - Google Patents
Control device and control system of nano robot Download PDFInfo
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- CN112438835A CN112438835A CN201910804153.4A CN201910804153A CN112438835A CN 112438835 A CN112438835 A CN 112438835A CN 201910804153 A CN201910804153 A CN 201910804153A CN 112438835 A CN112438835 A CN 112438835A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/0008—Introducing ophthalmic products into the ocular cavity or retaining products therein
- A61F9/0017—Introducing ophthalmic products into the ocular cavity or retaining products therein implantable in, or in contact with, the eye, e.g. ocular inserts
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00736—Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments
Abstract
The utility model provides a controlling means and control system of nanometer robot, wherein, the controlling means's of nanometer robot eye frame comprises two fixing device that link together, be provided with the magnetic field unit that a plurality of arrays were arranged in the control area among the fixing device, the magnetic field unit provides magnetic field, all when operating condition the magnetic field that the magnetic field unit provided constitutes magnetic nanometer robot's motion magnetic field, in order to drive magnetic nanometer robot removes in user's eyes accurately, and then improves the targeting of the eye of magnetic nanometer robot dosing, heating and operation. In the practical application process, the moving magnetic field can be changed by controlling the states of some magnetic field units, so that the moving direction of the magnetic nano robot is changed, and the omnidirectional control on the movement of the magnetic nano robot is realized.
Description
Technical Field
The present disclosure relates to the field of robot control technologies, and more particularly, to a control device and a control system for a nano robot.
Background
The eye is an important human information-receiving organ, and about 80% of the knowledge in the brain is acquired by the eye. Therefore, the health state of the eyes is a major concern.
Because of the danger of ocular drug delivery and the special pharmacokinetic environment of the eye, how to safely and efficiently carry out ocular drug delivery has become one of the most challenging subjects facing researchers in the medical field today. The development of a drug delivery system based on nanotechnology, such as microemulsion, nanosuspension, vesicles, liposomes, nanoparticles, dendrimers, cyclodextrins and the like, can remarkably improve the distribution rate of drugs to eyes, and is favored by pharmaceutical researchers. The nanoparticle type administration mode has proved to have great application prospect at present. When nanoparticles of different particle size and charge are injected into the vitreous of rabbits, the drug migrates through the retinal layers and tends to accumulate in the retinal pigment epithelial cells (RPEs). These findings can be used to design novel drug delivery systems that target drugs to the posterior segment of the eye, effective drug delivery systems for the treatment of ocular diseases, particularly RPE cells and retina.
In the existing eye drug delivery process based on the nanotechnology, the functions of drug delivery, local heating or target cutting are generally required to be realized by using a nano robot, but a complete control device of the nano robot is not provided at present, and the targeting property of the nano robot for eye drug delivery cannot be further improved.
Disclosure of Invention
In order to solve the technical problem, the present application provides a control device and a control system for a nano robot, so as to achieve the purpose of accurately controlling the movement of the magnetic nano robot, improve the accuracy of the movement of the magnetic nano robot on the eyes, and further improve the targeting properties of the magnetic nano robot for eye drug administration, heating and surgery.
In order to achieve the technical purpose, the embodiment of the application provides the following technical scheme:
a control apparatus of a nano-robot for controlling a magnetic nano-robot positioned in an eye of a user, the control apparatus of the nano-robot comprising:
an eye frame comprising two fixation devices connected together, the fixation devices comprising a centrally located control region and a fixation region surrounding the control region;
the magnetic field units are positioned in the control area and are arranged in an array mode, each magnetic field unit comprises an operating state and a non-operating state, and the magnetic field units are used for providing a magnetic field in the operating state; the magnetic fields provided by all the magnetic field units form a moving magnetic field of the magnetic nano robot;
the control unit is connected with all the magnetic field units and is used for controlling the state of the magnetic field units and providing working current for the magnetic field units when the magnetic field units are in a working state;
and the sucker structures are positioned in the fixed area, have translational freedom degrees vertical to the plane of the eye frame and are used for carrying out vacuumizing operation when a vacuumizing command is received.
Optionally, the magnetic field unit further includes: a rotational degree of freedom in a plane parallel to the control area.
Optionally, the control area further includes a loading device, the loading device includes a protection surface and a loading surface which are oppositely arranged, and a plurality of annular grooves which penetrate through the loading surface are arranged in the loading surface.
Optionally, the magnetic field unit includes: relays, coils and bars; the relay is electrically connected with the coil, and the coil is wound on the surface of the bar;
the relay comprises a normally closed state, a first conduction state and a second conduction state; when the relay is in a normally closed state, the coil is disconnected with the control unit, and the magnetic field unit is in a non-working state;
when the relay is in a first conduction state, the coil is connected with the control unit, the control unit provides first-direction current for the coil, and the magnetic field unit is in a working state and provides a first-direction magnetic field;
when the relay is in a second conduction state, the coil is connected with the control unit, the control unit provides current in a second direction for the coil, and the magnetic field unit is in a working state and provides a magnetic field in the second direction;
the bar is disposed in the annular groove such that the bar has rotational freedom in a plane parallel to the control region.
Optionally, the angle between the bar and the surface of the loading face is in the range of 45 ° to 90 °.
Optionally, the diameter of the coil is within a range of 100-10000 nm.
Optionally, the diameter of the wire rod ranges from 10 nm to 1000 nm.
Optionally, the length of the part of the wire rod, which is located on the side of the loading surface, which is away from the protective film, ranges from 50 nm to 300 nm.
Optionally, each magnetic field unit is individually connected to the programmable logic controller in the control unit through a control connection line;
the programmable logic controller comprises connecting pins corresponding to the number of the magnetic field units, and each connecting pin is independently connected with one control connecting line, so that the programmable logic controller independently controls each magnetic field unit through the connecting pins.
Optionally, the surface of the suction cup structure is further provided with a contact sensor for feeding back a contact signal to the control unit when the suction cup structure is in contact with the skin around the eyes of the user.
Optionally, the control unit is further configured to display a contact state of all the sucker structures with the skin around the eyes of the user according to the received contact signal.
Optionally, the method further includes:
and the rubber buckle is connected with the eye frame, has telescopic freedom and is used for surrounding the head of a user so as to assist the fixation of the eye frame and the user.
Optionally, the suction cup structure is further configured to perform atmosphere exchange when receiving an atmosphere exchange instruction.
Optionally, the control unit is further configured to send a lifting command to the suction cup structure to control the suction cup structure to move in a direction perpendicular to the plane of the eye frame.
Optionally, a range of values of the translational distance of the sucker structure perpendicular to the eye frame plane is as follows: 0.1-20 mm.
Optionally, the value range of the vacuum degree of the sucker structure after the vacuum pumping operation is 0.2-0.5 pa.
A control system of a nano-robot, comprising:
the display device is used for displaying the position of the magnetic nano robot in the eyes of the user;
the control device of a nano-robot as claimed in any one of the above claims, for controlling a magnetic nano-robot positioned in the eyes of a user.
It can be seen from the above technical solutions that the present application provides a control device and a control system of a nano robot, wherein an eye frame of the control device of the nano robot is composed of two fixing devices connected together, a plurality of magnetic field units arranged in an array are disposed in a control area of the fixing devices, the magnetic field units provide a magnetic field when in a working state, and the magnetic field provided by all the magnetic field units forms a moving magnetic field of the magnetic nano robot to drive the magnetic nano robot to precisely move in eyes of a user, thereby improving targeting of eye drug administration, heating and surgery of the magnetic nano robot.
In the practical application process, the moving magnetic field can be changed by controlling the states of some magnetic field units, so that the moving direction of the magnetic nano robot is changed, and the omnidirectional control on the movement of the magnetic nano robot is realized.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a front view of a control apparatus of a nano-robot according to an embodiment of the present application;
fig. 2 is a side view of a control apparatus of a nano-robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control region of a magnetic nano robot according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control region of a magnetic nano robot according to another embodiment of the present application;
fig. 5 is a schematic structural diagram of a magnetic field unit according to an embodiment of the present application;
FIG. 6 is a schematic diagram illustrating a connection relationship of a magnetic field unit according to an embodiment of the present application;
fig. 7 is a schematic diagram illustrating an array arrangement of magnetic field units according to an embodiment of the present application;
FIG. 8 is a schematic structural view of a bar provided in accordance with an embodiment of the present application;
FIG. 9 is a schematic structural view of a bar provided in accordance with another embodiment of the present application;
fig. 10 is a schematic structural diagram of a control structure of a magnetic nano-robot according to yet another embodiment of the present application;
FIG. 11 is a schematic illustration of eye imaging of a user provided by an embodiment of the present application;
fig. 12 is a schematic diagram of magnetic fields provided by the magnetic field units arranged in an array according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
An embodiment of the present application provides a control apparatus of a nano robot, as shown in fig. 1 and fig. 2, where fig. 1 is a front view of the control apparatus of the nano robot, and fig. 2 is a side view of the control apparatus of the nano robot; the control device of the nano robot comprises:
an eye frame comprising two fixation devices 100 connected together, the fixation devices 100 comprising a centrally located control region 110 and a fixation region 120 surrounding the control region 110;
a plurality of magnetic field units 111 arranged in an array in the control region 110, wherein the magnetic field units 111 include an operating state and a non-operating state, and the magnetic field units 111 are used for providing a magnetic field in the operating state; the magnetic field provided by all the magnetic field units 111 forms the moving magnetic field of the magnetic nano robot;
the control unit is connected with all the magnetic field units 111 and is used for controlling the state of the magnetic field units 111 and providing working current for the magnetic field units 111 when the magnetic field units 111 are in a working state;
a plurality of sucker structures 121 located in the fixed area 120, the sucker structures 121 having a translational degree of freedom perpendicular to the eye frame plane for performing a vacuum pumping operation upon receiving a vacuum pumping command.
The magnetic nano robot can be used as a drug-loaded robot to carry out drug delivery when the motion reaches the affected part of the eyes of a user so as to realize precise drug delivery and targeted therapy; the magnetic nano robot can also be used as a heating medium in thermal therapy, and is heated when reaching the target position of the eyes of a user; in addition, the magnetic nano robot can also be a robot carrying a cutting part, and can perform surgical cutting when reaching the affected part of the eyes of the user.
The magnetic nano robot needs to be provided with magnetism to realize the movement under the driving of the moving magnetic field. Optionally, the magnetic nano robot may be made of metal iron, cobalt, nickel or alloy nanoparticles or ferrite (ferroferric oxide, iron sesquioxide), and the like. This is not a limitation of the present application.
In the control device of the nano-robot provided in this embodiment, the magnetic field units 111 arranged in an array in the control region 110 of the eye frame are the main structure for providing the moving magnetic field for the movement of the magnetic nano-robot. The suction cup structure 121 in the fixing area 120 is used for being adsorbed to the skin around the eyes of the user after the vacuum pumping operation, so that the control device of the nano robot is relatively fixed to the user, and the problem that the movement direction of the magnetic nano robot is changed beyond expectation due to the change of the relative position of the control device of the nano robot and the eyes of the user when the magnetic nano robot controls the movement in the movement magnetic field is avoided.
The translational degree of freedom of the sucker structure 121 in a plane perpendicular to the eye frame can enable the relative distance between the sucker structure 121 and the skin around the eyes of the user to be adjusted through the translational motion of the sucker structure 121, so as to ensure the balance of the whole eye frame, and in addition, the magnetic force of the moving magnetic field received by the magnetic nano robot can be adjusted by adjusting the relative distance between the sucker structure 121 and the skin around the eyes of the user; further, the relative distance between the sucker structure 121 and the skin around the eyes of the user is adjusted, so that the control device of the nano robot can be applied to users with different facial shapes or fat degrees, and the applicability of the control device of the nano robot is improved.
Optionally, a range of values of the translational distance of the suction cup structure 121 perpendicular to the eye frame plane is as follows: 0.1-20 mm. The value range of the vacuum degree of the sucker structure 121 after the vacuum pumping operation is 0.2-0.5 Pa.
The control unit controls the state of the magnetic field units 111, which is an important means for controlling the motion magnetic field provided by all the magnetic field units 111, and when the motion magnetic field changes, the motion of the magnetic nano-robot driven by the motion magnetic field changes correspondingly in a meeting, so that the motion control of the magnetic nano-robot is realized.
For example, the control unit may change the motion magnetic field by controlling the switching (without magnetic field) of some magnetic field units 111 between the working state and the non-working state, so as to change the change of the motion state of the magnetic nano robot under the driving of the motion magnetic field;
in addition, the control unit can also change the moving magnetic field by controlling the direction of the magnetic field provided by some magnetic field units 111, so as to change the moving state of the magnetic nano robot under the driving of the moving magnetic field;
the control unit can also change the moving magnetic field by controlling the magnitude of the magnetic field provided by some magnetic field units 111, so as to change the motion state of the magnetic nano robot under the driving of the moving magnetic field.
In a specific control process, the control unit may further control parameters such as the state of the magnetic field unit 111 and the magnitude of the provided magnetic field by using a halbach array principle, so as to implement motion control of the magnetic nano robot by using a small amount of magnetic field provided by the magnetic field unit 111.
In summary, in this embodiment, the eye frame of the control device of the nano robot is composed of two fixing devices 100 connected together, a plurality of magnetic field units 111 arranged in an array are disposed in a control region 110 of the fixing device 100, the magnetic field units 111 provide a magnetic field in a working state, and the magnetic field provided by all the magnetic field units 111 forms a moving magnetic field of the magnetic nano robot to drive the magnetic nano robot to precisely move in the eyes of a user, so as to improve targeting of eye drug delivery, heating and surgery of the magnetic nano robot.
In the practical application process, the moving magnetic field can be changed by controlling the states of some magnetic field units 111, so that the moving direction of the magnetic nano robot is changed, and the omnidirectional control on the movement of the magnetic nano robot is realized.
On the basis of the above embodiments, in an embodiment of the present application, as shown in fig. 3 and 4, a loading device is further included in the control area 110, the loading device includes a protection surface 112 and a loading surface 113 which are oppositely arranged, and a plurality of annular grooves penetrating through the loading surface 113 are provided in the loading surface 113;
the magnetic field unit 111 further includes: a rotational degree of freedom in a plane parallel to the control area 110.
In fig. 3, the magnetic field unit 111 is perpendicular to the surface of the control region 110; in fig. 4, the extension direction of the magnetic field unit 111 is at an angle of 0-45 ° to the surface of the control region 110.
Because the motion trail of the magnetic nano robot is generally translation up and down, left and right, front and back and the like, the magnetic field unit 111 is arranged at an inclination angle of 45 degrees shown in fig. 4 in the advancing process, and the advancing of the magnetic nano robot is facilitated.
As shown in fig. 5, the magnetic field unit 111 includes: relay 1113, coil 1111, and bar 1112; the relay 1113 is electrically connected with the coil 1111, and the coil 1111 is wound on the surface of the bar 1112;
the relay 1113 comprises a normally closed state, a first conduction state and a second conduction state; when the relay 1113 is in a normally closed state, the coil 1111 is disconnected from the control unit, and the magnetic field unit 111 is in a non-working state;
when the relay 1113 is in a first conducting state, the coil 1111 is connected with the control unit, the control unit provides a first-direction current for the coil 1111, and the magnetic field unit 111 is in a working state and provides a first-direction magnetic field;
when the relay 1113 is in the second conducting state, the coil 1111 is connected to the control unit, the control unit provides the coil 1111 with a second-direction current, and the magnetic field unit 111 is in the working state and provides a second-direction magnetic field;
the bars 1112 are disposed in the annular grooves such that the bars 1112 have rotational freedom in a plane parallel to the control region 110.
In this embodiment, the protection surface 112 is used to protect the magnetic field unit 111 from external electromagnetic interference and dust.
In some embodiments of the present application, each magnetic field unit 111 is individually connected to the control unit, so that the control unit can individually control the state of each magnetic field unit 111, thereby achieving precise control of the moving magnetic field.
That is, referring to fig. 6, each of the magnetic field units 111 is individually connected to the programmable logic controller in the control unit through a control connection 130;
the programmable logic controller includes connection pins corresponding to the number of the magnetic field units 111, and each connection pin is individually connected to one of the control connection lines 130, so that the programmable logic controller individually controls each of the magnetic field units 111 through the connection pin.
In FIG. 6, +/-denotes: the power-on state has a magnetic field in the direction of N-S;
-/+: in the electrified state, a magnetic field exists, and the direction N of the magnetic field is exchanged with the direction S of the magnetic field.
A Programmable Logic Controller (PLC) is a core control device in the control unit, all the control connection lines 130 are connected to the integrated circuit board to implement electrical connection with the PLC, all the magnetic field units 111 are driven by the PLC in a unified manner, and each of the magnetic field units 111 is connected to the PLC separately, so that in the control process, the PLC can provide a corresponding signal through each connection pin to implement separate driving of each magnetic field unit 111.
Optionally, the coil 1111 is formed by winding a nano coil, and a diameter of the coil 1111 ranges from 100nm to 10000 nm.
Correspondingly, the bar 1112 is made of nano-scale materials, and the diameter of the bar 1112 ranges from 10 nm to 1000 nm; the bar 1112 is made of soft magnet which is easy to magnetize and demagnetize. The saturation magnetic induction is high, the coercive force (Hc) is low, the hysteresis loop is narrow and long in area, and the loss is low (HdB area is small). The preferred choice is pure magnetic iron, silicon steel permalloy (Fe, Ni) ferrite, etc.
The combined state of the break contacts of the relay 1113 includes three sets of modes, so that the relay 1113 has three states of a normally closed state, a first conduction state and a second conduction state.
It should be noted that the first direction current and the second direction current flow in opposite directions. The first direction magnetic field and the second direction magnetic field are opposite in direction.
Referring to fig. 7, 8 and 9, fig. 7 shows an array arrangement of a plurality of magnetic field units, fig. 8 and 9 show a schematic diagram of a possible structure of the bar 1112, and the bar 1112 may be a cylindrical bar 1112 with an equal size at the top and bottom (as shown in fig. 8) or a bar 1112 with a conical protruding structure (as shown in fig. 8). h1 represents the length of the bar 1112 beyond the loading surface 113 (i.e. the length of the part of the bar on the side of the loading surface facing away from the protective film), the longer the length of h1 is, the more accurate the control of the magnetic nano robot is, but the more easily the bar 1112 is damaged, the less the magnetic force of the magnetic field can be provided, the value of h1 can be in the range of 10-10000nm, and preferably, the value of h1 is in the range of 50-300nm (i.e. the length of the part of the bar on the side of the loading surface facing away from the protective film is in the range of 50-300 nm).
With reference to fig. 7 and 8, in the magnetic field unit array arrangement structure, the distance (L2) in the horizontal direction and the distance (L3) in the vertical direction between adjacent magnetic field units determine the operation accuracy of the magnetic nano robot, L2 and L3 may be equal or unequal, and the value ranges of L2 and L3 are both 5-100nm, so that the value range of the minimum operation speed of the magnetic nano robot can be ensured to be 5-100nm/min under the control of the magnetic field unit array arrangement structure as shown in the figure.
On the basis of the above embodiment, in another embodiment of the present application, the surface of the suction cup structure 121 is further provided with a contact sensor for feeding back a contact signal to the control unit when the suction cup structure 121 is in contact with the skin around the eye of the user.
In this embodiment, due to the presence of the contact sensor, the suction cup structure 121 can feed back contact information when the user's periocular skin is in contact with the suction cup structure, so that the control unit issues a vacuum pumping command according to the contact state between the suction cup structure and the user's periocular skin.
Correspondingly, the control unit is further configured to display the contact state of all the sucker structures 121 with the skin around the eyes of the user according to the received contact signal.
Optionally, the control unit is further configured to send a lifting command to the suction cup structure 121 to control the suction cup structure 121 to move in a direction perpendicular to the eye frame plane.
The control unit may include one or more display screens or touch screens to display the contact state of all the suction cup structures 121 with the skin around the eyes of the user, the vacuum state of the suction cup structures 121 after the vacuum suction operation, the lifting state of the suction cup structures 121, and the like. When the control unit includes one or more touch panels, the control command sending button of the above states (the contact state of the suction cup structure 121 with the skin around the eyes of the user, the vacuum state of the suction cup structure 121, and the lifting state of the suction cup structure 121) may also be integrated in the touch panels.
Optionally, the suction cup structure 121 is further configured to perform an atmosphere exchange when receiving an atmosphere exchange instruction, so as to release the adsorption state with the skin around the eyes of the user.
On the basis of the above embodiment, in another embodiment of the present application, as shown in fig. 10, the control apparatus of the nano robot further includes:
the rubber buckle 130 is connected with the eye frame, and the rubber buckle 130 has a telescopic degree of freedom and is used for being arranged around the head of a user so as to assist the fixation of the eye frame and the user.
The rubber buckle 130 is connected with the eye frame and forms an annular structure together with the eye frame, so that the purpose of assisting the fixation of the eye frame and a user is achieved by sleeving the eye frame on the head of the user.
After the rubber buckle 130 is provided, before the vacuum pumping operation of the suction cup structure 121, the rubber buckle 130 is simply fixed, and then the vacuum pumping operation of the suction cup structure 121 is started; after the vacuum pumping operation of the suction cup structure 121 is completed, the rubber buckle 130 continues to stabilize the eye frame, so as to perform a double fixing function; after the control device of the nano robot completes the corresponding operation of the magnetic nano robot, the suction cup structure 121 firstly performs atmosphere exchange to release the adsorption state with the skin around the eyes of the user, and due to the existence of the rubber buckle 130, the eye frame does not fall off at this time, thereby ensuring the safety of the user and the control device of the nano robot.
The following describes the operation of the control device of the nano-robot according to the embodiment of the present application with a specific eye surgery procedure:
referring to fig. 11 and 12, fig. 11 is a schematic view of an eye image of a user; fig. 12 is a schematic diagram of the magnetic fields provided by the magnetic field units 111 arranged in an array;
the specific administration process comprises the following steps:
1. injecting or dropping the magnetic nano robot into the eyes 1 hour before the eyes are operated by a user;
2. a user is fixed on a display micro-mirror workbench, so that data can be conveniently observed and transmitted;
3. the eye frame is simply fixed on the head of a user through a rubber buckle 130, and the position is well determined; the rubber buckle 130 is buckled to the back of the user;
4. the control unit controls the sucker structures 121 to lift, and the contact sensors identify the sucker structures 121 to ensure that each sucker structure 121 is attached to the skin around the eyes of a user;
5. the control unit controls the suction cup structure 121 to perform vacuum pumping operation, so that the suction cup structure 121 pumps air between the inside of the suction cup structure 121 and the skin, and the suction cup structure 121 is firmly adsorbed on the skin to play a role in fixing;
6. the control unit controls the magnetic field unit 111 to be in a working state, the polar directions of the magnetic field unit 111 in the working state are uniform magnetic field polar directions, the voltage, the current and the power are consistent, and the upper surface S and the lower surface N are consistent;
7. a control unit is used for setting a single row of first magnetic field units 111 as S and a second as N, wherein S, N between adjacent magnetic field units are arranged in a staggered manner; the even and odd rows are S, N staggered, as shown in FIG. 12;
8. then only the magnetic field in the vicinity of the tumor region in fig. 11, for example, the positions numbered 1-20 in fig. 11, is retained, and the magnetic field units 111 in the remaining region are in a non-operating state;
9. propelling force: after the magnetic fields provided by the magnetic field units 111 in the areas 17 and 18 are closed, the magnetic fields provided by the magnetic field units 111 in the areas 12 and 13 can attract the magnetic nano robot to move forwards at 5 nm/min; the current and voltage provided by the magnetic field unit 111 in the areas 12 and 13 are increased, so that the movement speed of the magnetic nano robot can be increased; changing the magnetic field polarity provided by the magnetic field unit 111 in the regions 12 and 13 or enhancing the current provided to the magnetic field unit 111 in one of the regions 12 and 13 can steer the motion of the magnetic nano-robot;
10. when the magnetic nano robot reaches the middle area between areas 12 and 13, the method of step 9 is adopted, the magnetic field provided by the magnetic field unit 111 in areas 12 and 13 is turned off, and the magnetic field provided by the magnetic field unit 111 in areas 7 and 8 can be used for enabling the nano robot to reach areas 7 and 8.
11. Repeating steps 9 and 10 can advance the magnetic nano robot to the tumor region.
Correspondingly, the embodiment of the present application further provides a control system of a nano robot, including:
the display device is used for displaying the position of the magnetic nano robot in the eyes of the user;
the control device of the nano-robot according to any of the above embodiments, for controlling a magnetic nano-robot located in the eyes of a user.
The display device may be the display micromirror stage mentioned in the above embodiments, and may be, for example, a Hitachi scanning electron microscope of Hitachi scanning type.
To sum up, this application embodiment provides a controlling means and control system of nanometer robot, wherein, the controlling means's of nanometer robot eye frame comprises two fixing device that link together, be provided with the magnetic field unit that a plurality of arrays were arranged in the control area among the fixing device, the magnetic field unit provides magnetic field, all when operating condition the magnetic field that the magnetic field unit provided constitutes the motion magnetic field of magnetism nanometer robot, in order to drive magnetism nanometer robot is accurate in user's eyes and is removed, and then improves the targeted of eye dosing, heating and operation of magnetism nanometer robot.
In the practical application process, the moving magnetic field can be changed by controlling the states of some magnetic field units, so that the moving direction of the magnetic nano robot is changed, and the omnidirectional control on the movement of the magnetic nano robot is realized.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (17)
1. A control apparatus of a nano robot for controlling a magnetic nano robot positioned in an eye of a user, the control apparatus of the nano robot comprising:
an eye frame comprising two fixation devices connected together, the fixation devices comprising a centrally located control region and a fixation region surrounding the control region;
the magnetic field units are positioned in the control area and are arranged in an array mode, each magnetic field unit comprises an operating state and a non-operating state, and the magnetic field units are used for providing a magnetic field in the operating state; the magnetic fields provided by all the magnetic field units form a moving magnetic field of the magnetic nano robot;
the control unit is connected with all the magnetic field units and is used for controlling the state of the magnetic field units and providing working current for the magnetic field units when the magnetic field units are in a working state;
and the sucker structures are positioned in the fixed area, have translational freedom degrees vertical to the plane of the eye frame and are used for carrying out vacuumizing operation when a vacuumizing command is received.
2. The apparatus of claim 1, wherein the magnetic field unit further comprises: a rotational degree of freedom in a plane parallel to the control area.
3. The apparatus of claim 2 further comprising a loading device in the control area, the loading device comprising opposing protective and loading surfaces, the loading surface having a plurality of annular grooves formed therein extending through the loading surface.
4. The apparatus of claim 3, wherein the magnetic field unit comprises: relays, coils and bars; the relay is electrically connected with the coil, and the coil is wound on the surface of the bar;
the relay comprises a normally closed state, a first conduction state and a second conduction state; when the relay is in a normally closed state, the coil is disconnected with the control unit, and the magnetic field unit is in a non-working state;
when the relay is in a first conduction state, the coil is connected with the control unit, the control unit provides first-direction current for the coil, and the magnetic field unit is in a working state and provides a first-direction magnetic field;
when the relay is in a second conduction state, the coil is connected with the control unit, the control unit provides current in a second direction for the coil, and the magnetic field unit is in a working state and provides a magnetic field in the second direction;
the bar is disposed in the annular groove such that the bar has rotational freedom in a plane parallel to the control region.
5. The apparatus of claim 4 wherein said bar is angled from said load face surface in the range of 45 ° to 90 °.
6. The apparatus as claimed in claim 4, wherein the diameter of the coil is in the range of 100-10000 nm.
7. The device according to claim 4, characterized in that the diameter of the bar has a value in the range 10-1000 nm.
8. The device according to claim 7, characterized in that the length of the portion of the bar situated on the side of the loading face facing away from the protective film has a value in the range 50-300 nm.
9. The apparatus of claim 1, wherein each of said magnetic field units is individually connected to a programmable logic controller in said control unit by a control connection;
the programmable logic controller comprises connecting pins corresponding to the number of the magnetic field units, and each connecting pin is independently connected with one control connecting line, so that the programmable logic controller independently controls each magnetic field unit through the connecting pins.
10. The device of claim 1, wherein the sucker structure surface is further provided with a contact sensor for feeding back a contact signal to the control unit when the sucker structure is in contact with the skin around the eyes of the user.
11. The device of claim 10, wherein the control unit is further configured to display the contact status of all the sucker structures with the skin around the eyes of the user according to the received contact signal.
12. The apparatus of claim 1, further comprising:
and the rubber buckle is connected with the eye frame, has telescopic freedom and is used for surrounding the head of a user so as to assist the fixation of the eye frame and the user.
13. The apparatus of claim 1, wherein the suction cup structure is further configured to perform an atmosphere exchange upon receiving an atmosphere exchange command.
14. The device of claim 1, wherein the control unit is further configured to send a lift command to the suction cup structure to control movement of the suction cup structure in a direction perpendicular to the eye frame plane.
15. The apparatus of claim 14, wherein the suction cup structure has a range of translational distances normal to the eye frame plane of: 0.1-20 mm.
16. The apparatus of claim 1, wherein the suction cup structure has a vacuum level after the vacuum pumping operation in a range of 0.2 to 0.5 pa.
17. A control system of a nano robot, comprising:
the display device is used for displaying the position of the magnetic nano robot in the eyes of the user;
the control device of a nano-robot as claimed in any of claims 1 to 16, for controlling a magnetic nano-robot located in the eye of a user.
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