Classifications

• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/70—Manipulators specially adapted for use in surgery
  • A61B34/72—Micromanipulators
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/70—Manipulators specially adapted for use in surgery
  • A61B34/73—Manipulators for magnetic surgery
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J7/00—Micromanipulators
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
  • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
  • B25J9/00—Programme-controlled manipulators
  • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
  • B25J9/065—Snake robots
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F1/00—Springs
  • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
  • F16F1/3605—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by their material
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F1/00—Springs
  • F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
  • F16F1/373—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by having a particular shape
• • H—ELECTRICITY
  • H01—ELECTRIC ELEMENTS
  • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
  • H01F7/00—Magnets
  • H01F7/06—Electromagnets; Actuators including electromagnets
  • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
  • H01F7/121—Guiding or setting position of armatures, e.g. retaining armatures in their end position
  • H01F7/122—Guiding or setting position of armatures, e.g. retaining armatures in their end position by permanent magnets
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
  • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
  • A61B2017/00345—Micromachines, nanomachines, microsystems
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
  • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/30—Surgical robots
  • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F2224/00—Materials; Material properties
  • F16F2224/02—Materials; Material properties solids
  • F16F2224/0283—Materials; Material properties solids piezoelectric; electro- or magnetostrictive
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F2236/00—Mode of stressing of basic spring or damper elements or devices incorporating such elements
  • F16F2236/02—Mode of stressing of basic spring or damper elements or devices incorporating such elements the stressing resulting in flexion of the spring
  • F16F2236/027—Mode of stressing of basic spring or damper elements or devices incorporating such elements the stressing resulting in flexion of the spring of strip- or leg-type springs
• • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
  • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
  • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
  • F16F2238/00—Type of springs or dampers
  • F16F2238/02—Springs
  • F16F2238/026—Springs wound- or coil-like

Definitions

• the present invention relates to a device for propelling and controlling a microstructure, for example a mobile flexible tube such as a stent or a catheter, or even a microrobot, intended to move in a fluid, in particular in a vessel. of a subject, such as an artery or vein, or in an organ of a subject, such as a brain, heart, liver, pancreas, etc.
• a mobile flexible tube or a microrobot can be used to perform various biomedical operations, in particular in the context of minimally invasive surgeries or targeted therapies.
• micro-medical device The possibility of reaching deep and functional structures without creating damage is a major challenge in minimally invasive surgery, especially in neurosurgery. Thanks to microtechnologies, it has become possible to send a completely autonomous micromedical device inside a vessel or an organ of a subject. However, such a micro-medical device requires a system allowing its propulsion and its piloting in three dimensions with a precision at least equal to the size of the device, even in a heterogeneous and sensitive environment.
• the aim of the invention is to provide a device for propelling and controlling a microstructure, such as a flexible tube or a microrobot, ensuring efficient and reliable propulsion and piloting of the microstructure, including in a fluid environment with low Reynolds number, with an accuracy at least equal to the size of the microstructure, while preserving as much as possible the integrity of the environment in which the microstructure moves.
• the invention relates to a device for propelling and controlling a microstructure, such as a flexible tube or a microrobot, comprising:
• propulsion element comprising at least one portion deformable in elongation / contraction along a main axis connecting a front part and a rear part of the propulsion element;
• At least two guide elements able, under the effect of an energy input by a respective connection to an energy source, to generate a rotation of the propulsion element respectively around a first axis of rotation and around a second axis of rotation transverse to each other and to the main axis of the propulsion element;
• control unit configured to actuate, by selectively controlling one or more of the links to a power source, a rotation of the propulsion element about at least one axis transverse to the main axis in a coordinated manner with a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis
• the guide elements further comprising at least two guide segments based on active material deformable in a reversible manner under the effect of 'a supply of energy by a respective connection to an energy source, each guide segment being able, under the effect of an energy supply, to generate, by its deformation, a rotation of the propulsion element around an axis of rotation transverse to the main axis of the propulsion element.
• a propulsion and control device makes it possible to control the microstructure in three dimensions, thanks to the possibility of actuating a rotation of the propulsion element around at least two axes of rotation, transverse to each other and to the main axis, in a coordinated manner with a propulsion of the microstructure obtained by a deformation of the deformable portion of the propulsion element.
• two axes are transverse to each other when they are not parallel, which includes the case of two axes perpendicular to each other, without however being limited thereto.
• the actuation of the rotation is carried out in a coordinated manner, in particular simultaneous or sequential, with the deformation of the deformable portion of the propulsion element, in order to obtain a desired displacement and trajectory. of the microstructure in the environment in which it moves, which is in particular a fluid environment with low Reynolds number. More precisely, the actuation of the rotation can be carried out simultaneously with the deformation of the deformable portion of the propulsion element, or sequentially with the deformation of the deformable portion of the propulsion element, ie in such a way that the rotation and the deformation are carried out one after the other, in particular in a repetitive manner.
• a microstructure provided with the propulsion and control device according to the invention typically has an outside diameter less than or equal to 5mm, in particular less than or equal to 2mm or 1mm.
• the propulsion element comprises at least a first guide segment and a second guide segment such that the deformation of the first guide segment generates a rotation of the propulsion element around a first perpendicular axis of rotation. to the main axis of the propulsion element, and the deformation of the second guide segment generates a rotation of the propulsion element about a second axis of rotation perpendicular to both the main axis of the element propulsion and the first axis of rotation.
• the segment is an area of the deformable portion of the propulsion element which is coated with the active material.
• the segment is a segment comprising a support provided with the active material which is attached to the deformable portion of the propulsion element.
• the deformable portion of the propulsion element is made of a material having a Young's modulus included in a range going from 0.1 to 10 GPa, preferably from 0.5 to 2 GPa.
• the front part, the rear part and the deformable portion of the propulsion element are all made up of the same one. material.
• the material constituting the front part, the rear part and the deformable portion is a biocompatible polymer.
• An example of a suitable material for the front part, the rear part and / or the deformable part is a UV curable hybrid inorganic-organic polymer, such as the product ORMOCLEAR manufactured by the company MICRO RESIST TECHNOLOGY GmbH.
• At least one guide segment comprises an electroactive material or a bimetal element
• the propulsion and piloting device comprising a source of electrical energy connected to the guide segment so as to activate its deformation.
• the energy source is in particular a power supply connected by means of an electric wire or cable to the electroactive material or to the two-part element of the guide segment.
• an electroactive material is a material which deforms, in particular by changing its shape or its size, under the effect of an input of electrical energy.
• electroactive materials suitable within the scope of the invention include shape memory alloys such as Nitinol; or electroactive polymers (EAP, or Electroactive Polymers), in particular dielectric electroactive polymers and ionic electroactive polymers.
• an ionic electroactive polymer which can be used in the context of the invention is poly (3,4-ethylenedioxythiophene) (PEDOT).
• a bimetallic element is an element comprising two materials which, under the effect of a supply of heat, which can in particular be induced by an electric current when the materials are electrically conductive, deform elastically individually according to different mechanical characteristics, which creates, by their solid contact, a very accentuated deformation of the bimetal element.
• Such bimetallic elements can be formed, in particular, by co-rolling two metal strips.
• Examples of bimetallic elements suitable in the context of the invention are bimetallic strips of copper and steel, or bimetallic strips of iron and nickel, because they are bimetallic strips combining metallic materials having thermal expansion coefficients. very different.
• At least one guide segment comprises a photoactive material
• the propulsion and piloting device comprising a source of radiation, the radiation of which is emitted opposite the guide segment so as to activate its deformation.
• the radiation source is in particular a laser source or an LED (light-emitting diode), the radiation of which is transmitted to the photoactive material of the guide segment using an optical fiber having a distal end positioned opposite the photoactive material of the guide segment. guide segment.
• a photoactive material is a material which deforms under the effect of radiation, in particular under the effect of an input of light energy.
• photoactive materials suitable for the purposes of the invention include liquid crystal arrays comprising azobenzene molecules.
• the radiation source can then be a white light source, comprising all wavelengths of the visible spectrum.
• a photoactive material which can be used in the context of the invention is an actuator based on double photosensitive liquid crystals, in particular containing an azomerocyanine dye locally converted into the hydroxyazopyridinium form by acid treatment.
• At least two of said guide segments are configured to actuate a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis when they are deformed simultaneously and to actuate a rotation of the propelling element around an axis of rotation transverse to the main axis when selectively deformed.
• the guide segments are distributed isotropically around the main axis of the propulsion element. This results in improved control for the directional steering of the propelling element.
• the deformable portion of the propulsion element comprises a single flexible tab arranged helically around the main axis between the part. front and rear part of the propulsion element, the flexible tab comprising at least two guide segments distributed along the flexible tab and configured to generate by their deformation a rotation of the propulsion element respectively around a first axis of rotation and around a second axis of rotation transverse to each other and to the main axis of the propulsion element.
• the deformable portion of the propulsion element comprises at least two flexible tabs arranged helically around the main axis between the front part and the rear part of the propulsion element, the propulsion and piloting device. comprising at least one pair of guide segments, respectively on a first flexible tab and on a second flexible tab, configured to generate by their deformation a rotation of the propulsion element respectively around a first axis of rotation and around a second axis of rotation transverse to each other and to the main axis of the propulsion element.
• the guide elements comprise at least two electromagnetic guide coils, each provided with a respective connection to a source of electrical energy, which form an electromagnetic transducer with a magnet integral with the control element.
• propulsion the magnet being substantially parallel to the main axis of the propulsion element in the rest position, each guide coil being able, under the effect of a supply of electrical energy, to generate a rotation of the magnet with respect to its rest position causing rotation of the propulsion element about an axis of rotation transverse to the main axis of the propulsion element.
• each electromagnetic transducer comprising a guide coil and the magnet integral with the propulsion element
• the magnet is inserted inside the guide coil for actuating a rotation of the propulsion element.
• Such an arrangement ensures an electromagnetic conversion efficiency making it possible to reliably and precisely control the rotation of the propulsion element by acting on the electrical connection of each guide coil.
• the polarity of the magnet and the power supply to each guide coil are adapted in order to obtain the desired rotation of the propulsion element.
• the propulsion and control device further comprises an electromagnetic linear actuator coil, provided with a respective connection to a source of electrical energy, which also forms an electromagnetic transducer with the magnet integral with the propulsion element, the linear actuator coil being able, under the effect of a supply of electrical energy, to generate a translation of the magnet parallel to the main axis causing a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis.
• an electromagnetic linear actuator coil provided with a respective connection to a source of electrical energy, which also forms an electromagnetic transducer with the magnet integral with the propulsion element, the linear actuator coil being able, under the effect of a supply of electrical energy, to generate a translation of the magnet parallel to the main axis causing a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis.
• At least two of said electromagnetic guide coils are configured to actuate a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis when they are simultaneously supplied with electrical energy and to generate a rotation of the magnet with respect to its rest position causing a rotation of the propulsion element about an axis of rotation transverse to the main axis when they are selectively supplied.
• each guide coil has its central axis substantially parallel to the main axis of the propulsion element. According to another embodiment, each guide coil has its central axis substantially perpendicular to the main axis of the propulsion element.
• the number of guide coils can be any number greater than or equal to two.
• the following arrangements can be envisaged within the framework of the invention: two guide coils arranged one behind the other in the direction of the main axis of the propulsion element, with their central axes not coincident and substantially parallel to the principal axis of the element of propulsion; two guide coils arranged side by side with their central axes substantially parallel to the main axis of the propulsion element; at least three guide coils, in particular three, four, five or six guide coils, arranged one behind the other in the direction of the main axis of the propulsion element, with their central axes not coincident and substantially parallel to the main axis of the propulsion element; at least three guide coils, in particular three, four, five or six guide coils, distributed around the main axis of the propulsion element, with their central axes substantially parallel to the main axis of the propulsion element ; at least three guide coils, in particular three, four,
• control unit is further configured to actuate a deformation of the deformable portion of the elongation / contraction propulsion element along the main axis.
• the propulsion and control device comprises a linear actuator, configured to actuate a deformation of the deformable portion of the propulsion element in elongation / contraction along the main axis.
• the linear actuator comprises an electromagnetic transducer comprising a combination of an electromagnetic coil fixed to one end of the deformable portion and of a permanent magnet fixed to the other end of the deformable part.
• the linear actuator comprises a pump. This embodiment is suitable when the deformable portion of the propulsion element can contain a fluid in its interior volume, in particular when the deformable portion has an envelope forming a continuous peripheral wall.
• the deformable portion of the propulsion element comprises a bellows and the actuator comprises a pump.
• the propulsion and piloting device comprises at least one propulsion eyelash integral with the front part of the propulsion element, one end of the propulsion eyelash being integral with the front part while the other end of the propelling eyelash is a free end configured to move freely so as to generate a non-reciprocal movement of the microstructure, in particular in a fluid with a low Reynolds number of between 10-5 and 10-1. Thanks to the presence of such cilia, a propulsive movement of the microstructure is obtained even in a viscous or viscoelastic material, in particular in an organ of a subject such as the brain.
• the successive cycles of elongation / contraction of the deformable portion of the propulsion element cause a displacement of the propulsion cilia in the viscous or viscoelastic material, thus inducing a net propulsive force due to the interaction of the propulsion cilia with the viscous or viscoelastic material.
• the path of the free end of the or each propulsion eyelash in the contraction phase of the propelling element in a low Reynolds number fluid between 10-5 and 10-1, is different from the path of the free end of the or each propelling cilium in said fluid in the elongation phase of the propulsion element.
• the path of the free end of the propelling cilia (s) in a viscous or viscoelastic material is topologically equivalent to an elliptical path or to a circular path for each elongation / contraction cycle. of the deformable portion.
• a free end path topologically equivalent to a line segment is not suitable for obtaining non-reciprocal microstructure motion, even if different dynamics are applied along the path.
• the rear part of the propulsion element comprises at least one propulsion eyelash. In the context of the invention, it is understood that the presence of propulsion eyelashes only on the front part of the propulsion element is sufficient.
• an arrangement with propelling eyelashes also provided on the rear part can help propel the microstructure in a viscous or viscoelastic material.
• the or each propulsion eyelash of the rear part may be identical or different from the propulsion eyelash (s) of the front part of the propulsion element.
• the or each propulsion eyelash of the front part and / or of the rear part of the propulsion element is made of a material having a Young's modulus included in a range going from 0.1 to 10 GPa. , preferably 0.5 to 2 GPa.
• the or each propulsion eyelash is made of the same material as the deformable portion of the propulsion element.
• the material of the propellant eyelash is a biocompatible polymer.
• suitable materials for the propelling eyelash (s) include polydimethylsiloxane (PDMS), silicon, or a UV curable hybrid inorganic-organic polymer such as ORMOCLEAR.
• the at least two guide elements are positioned radially outside the deformable portion.
• the deformable portion comprises an oscillating disc arranged between the front part and the rear part, the at least two guide elements being arranged between the rear part and the oscillating disc.
• the propulsion and piloting device comprises at least two propulsion elements arranged one behind the other, the control unit being configured to actuate cycles of deformation of the elongation / contraction propulsion elements. along their main axes according to predefined temporal sequences, so as to generate a non-reciprocal movement of the microstructure, in particular in a fluid with a low Reynolds number of between 10 5 and 10 1 .
• a such an arrangement is another way to achieve non-reciprocal movement of the microstructure, allowing efficient movement in low Reynolds number fluids. This arrangement can be used alone or in combination with at least one propelling eyelash to generate non-reciprocal movement as described above.
• the subject of the invention is also a microstructure comprising a propulsion and piloting device as described above.
• the microstructure is configured to move in a low Reynolds number fluidic material, in particular a fluidic material having a Reynolds Re number between 10 5 and 10 1 .
• the Reynolds number Re is a dimensionless quantity which quantifies the relative importance of inertial forces and viscous forces for given flow conditions.
• a subject of the invention is also a method for propelling and controlling a microstructure, such as a flexible tube or a microrobot, comprising a propulsion and piloting device as described above, the method comprising steps in which:
• microstructure comprising the propulsion and control device in a low Reynolds number fluid in particular between 10 5 and 10 1 ;
• - Is actuated, by selectively controlling, with the aid of the control unit, one or more of the connections to an energy source, a rotation of the propulsion element about at least one axis transverse to the main axis of the propulsion element in a coordinated manner with a deformation of the deformable portion of the propulsion element in elongation / contraction along the main axis.
• FIG. 1 is a schematic sectional view of a microrobot comprising a propulsion and piloting device according to a first embodiment of the invention, with a propulsion element in the form of a helical spring with three flexible legs, each leg flexible comprising a guide segment based on electroactive material provided with a respective electrical connection;
• FIG. 2 is a section similar to Figure 1 showing the activation of a rotational movement of the microrobot;
• - Figure 3 is a partial perspective view on a larger scale of the propulsion element of the microrobot of Figures 1 and 2;
• FIG. 4 is a section similar to Figure 2 for a microrobot comprising a propulsion and control device according to a second embodiment of the invention, with a propulsion element in the form of a helical spring with three flexible legs , each flexible paste comprising a guide segment based on photoactive material associated with an optical fiber transmitting a respective radiation;
• FIG. 5 is a section similar to Figure 2 for a microrobot comprising a propulsion and control device according to a third embodiment of the invention, with a propulsion element in the form of a helical spring with two flexible legs , each flexible tab comprising a plurality of guide segments based on electroactive material, where each guide segment of each flexible tab is provided with a respective electrical connection so as to be able to be supplied independently by an electrical supply;
• FIG. 6 is a section similar to Figure 2 for a microrobot comprising a propulsion and control device according to a fourth embodiment of the invention, with a propulsion element in the form of a helical spring with a single leg flexible comprising a plurality of guide segments based on electroactive material, where each guide segment of the flexible tab is provided with a respective electrical connection so as to be able to be supplied independently by an electrical supply;
• FIG. 7 is a section similar to Figure 2 for a microrobot comprising a propulsion and control device according to a fifth embodiment of the invention, with two propulsion elements arranged one behind the other, the control unit being configured to actuate cycles of deformation of the elongation / contraction propulsion elements according to their main axes according to time sequences predefined in a manner to generate a non-reciprocal movement of the microstructure;
• FIG. 8 is a section similar to Figure 1 for a microrobot comprising a propulsion and control device according to a sixth embodiment of the invention, with a propulsion element in the form of a helical spring with three flexible legs and a three-coil electromagnetic transducer comprising a linear actuator coil and two rotational guide coils each provided with a respective electrical link;
• Figure 9 is a section similar to Figure 8 showing the activation of a rotational movement of the microrobot
• FIG. 10 is a perspective view on a larger scale of part of the propulsion element of the microrobot of Figures 8 and 9;
• FIG. 11 is a perspective view similar to Figure 10 of part of the propulsion element of a microrobot comprising a propulsion and piloting device according to a seventh embodiment of the invention
• FIG. 12 is a perspective view similar to Figure 10 of part of the propulsion element of a microrobot comprising a propulsion and piloting device according to an eighth embodiment of the invention.
• FIG. 13 is a partial perspective view similar to Figure 3 of the propulsion element of a microrobot comprising a propulsion and piloting device according to a ninth embodiment of the invention
• - Figure 14 is a partial perspective view similar to Figure 13 of the propulsion element of a microrobot comprising a propulsion and piloting device according to a tenth embodiment of the invention
• FIG. 15 is a partial perspective view similar to Figure 13 of the propulsion element of a microrobot comprising a propulsion and piloting device according to an eleventh embodiment of the invention
• FIG. 16 is a partial perspective view similar to Figure 15 of the same embodiment of the invention, but in action. DESCRIPTION OF EMBODIMENTS
• the microrobot 10 is configured to move through a viscous or viscoelastic material, for example in the cerebrospinal fluid or the extracellular matrix of the brain of a subject, which are low Reynolds number fluidic materials for the microrobot.
• the microrobot 10 comprises a propulsion and control device 1 according to the invention, to which is attached an active part 11 of the microrobot which may be, for example: a sensor; an actuator; a reservoir suitable for releasing a drug; etc.
• the propulsion and piloting device 1 comprises a propulsion element 2 comprising a front part 21, a rear part 23, and a deformable portion 20 connecting the front part 21 and the rear part 23
• the deformable portion 20 is a helical spring deformable in elongation / contraction along a main axis X2 of the propulsion element 2.
• the main axis X2 of the propulsion element 2 is defined here as a central axis of the deformable portion 20 substantially perpendicular to the plane of a distal plate 230 of the rear part 23, to which the deformable portion 20 is fixed.
• the coil spring forming the deformable portion 20 comprises three flexible tabs 22, 24, 26 arranged helically around the main axis X2 between the front part 21 and the rear part 23 of the propulsion element.
• Each flexible tab 22, 24, 26 is provided with a respective guide segment 3, 5, 7 based on electroactive material, for example electroactive ionic polymer PEDOT.
• Each of the three guide segments 3, 5, 7 is reversibly deformable under the effect of an input of electrical energy, and connected to a power supply 8 by a respective electrical cable 83, 85, 87.
• Each guide segment 3, 5, 7 is able, by its deformation when it is supplied with electrical energy, to generate a deformation of the corresponding flexible tab and a rotation of the propulsion element 2.
• the axis of the rotation generated by the deformation of the guide segment is transverse to the main axis X2 of the propulsion element as well as to the axes of the rotations generated by the deformation of each of the other two segments guidance.
• the guide segments 3, 5, 7 are distributed isotropically around the main axis X2 of the propulsion element 2, which makes it possible to optimize the directional piloting of the propulsion element.
• the guide segments 3, 5, 7 form, with the flexible tabs 22, 24, 26 a single versatile functional group providing both rotation and propulsion.
• the present invention does not present a coupling of different elements each providing a distinct function.
• the propulsion and piloting device 1 also comprises a linear actuator 4 configured to actuate sequentially elongation / contraction cycles of the deformable portion 20 of the propulsion element 2.
• the actuator 4 is an electromagnetic transducer comprising a permanent magnet. 41 and an electromagnetic coil 42.
• the magnet 41 is fixed to the front part 21 of the propulsion element 2, at the front end of the deformable portion 20, while the coil 42 is mounted on the rear part 23, and therefore fixed to the rear end of the deformable portion 20.
• the magnet 41 approaches or moves away from the coil 42, which induces a contraction or an elongation of the coil. deformable portion 20.
• the front portion 21 of the propulsion element 2 comprises on its surface a plurality of propulsion eyelashes 28, configured to interact with the material in which the microrobot 10 moves.
• the sequential cycles of elongation / contraction of the deformable portion 20 actuated by the electromagnetic transducer 4 cause a displacement of the propelling cilia 28 in the material, producing a propulsive force which causes a displacement of the microrobot 10.
• each propelling eyelash 28 is configured such that the path of the free end 29 of the propelling eyelash 28 in a viscous or viscoelastic material in the contraction phase of the deformable portion 20 is different from that of the free end 29 in the viscous or viscoelastic material in the elongation phase of the deformable portion 20.
• the path of the free end 29 of the propelling eyelash 28 in a viscous or viscoelastic material is topologically equivalent to an elliptical path or a circular path for each cycle of elongation / contraction. This results in non-reciprocal movement of the microrobot 10, allowing efficient movement of the microrobot 10 in low Reynolds number fluidic materials, such as cerebrospinal fluid or the extracellular matrix of the brain.
• the propulsion and piloting device 1 also comprises a control unit 9 configured to actuate, by selectively controlling one or more of the electrical connections 83, 85, 87, a rotation of the propulsion element 2 about at least one axis. transverse to the main axis X2.
• the control unit 9 is also configured to actuate a deformation of the deformable portion 20 in elongation / contraction along the main axis X2.
• the control unit 9 thus actuates a single element, the propulsion element 2, and makes it possible, by actuating this single element, to generate a propulsion and a rotation of the device 1.
• a method of propelling and piloting the microrobot 10 in a low Reynolds number fluid comprises the selective control of one or more of the electrical links 83, 85, 87, to the aid of the control unit 9, to actuate a rotation of the propulsion element 2 about at least one axis transverse to the main axis X2 in a coordinated manner, whether simultaneously or sequentially, with a deformation of the deformable portion 20 in elongation / contraction along the main axis X2.
• a microrobot 10 having the following characteristics exhibits good propulsion and guidance performance in low Reynolds number fluidic materials:
• - diameter of the microrobot 10 2 mm
• - length of the deformable portion 20 of the propulsion element 2 0.5 mm
• - length of the linear actuator coil 42 0.5 mm
• each propulsion eyelash 28 2500 ⁇ m 2 .
• the front part 21, the rear part 23 and the deformable portion 20 were manufactured in one piece by 3D laser lithography using a hybrid inorganic-organic ORMOCLEAR polymer which can be UV cured as the photosensitive resin.
• the photosensitive resin was applied to a glass substrate and a point laser selectively cured the photosensitive resin according to a 3D CAD plane.
• the propelling eyelashes 28 were made in one piece with the front part 21, that is to say made of the same material as the front part 21.
• the guide segments 3, 5, 7 were obtained by deposition of a layer of ionic electroactive polymer PEDOT on each of the flexible tabs 22, 24, 26 of the deformable portion 20.
• the linear actuation coil 42 was obtained by winding a copper wire on the rear part 23.
• the magnet 41 is a permanent neodymium magnet fixed by gluing with an acrylic adhesive on the front part 21.
• the microrobot 10 of the second embodiment differs from the first embodiment in that the guide segments 3, 5, 7 have a photoactive material, instead of an electroactive material.
• the propulsion and piloting device 1 comprises, for each guide segment 3, 5, 7 based on photoactive material, a dedicated radiation source, the radiation of which is brought opposite the guide segment so as to activate its deformation.
• the photoactive material of each guide segment 3, 5, 7 is an array of liquid crystals comprising molecules of azobenzene
• the source of radiation for each guide segment 3 , 5, 7 is a white light source, the different sources being housed in the same housing 8 '.
• all of the guide segments 3, 5, 7 are based on the same photoactive material and, to avoid radiation interactions liable to activate the deformation of a guide segment other than the associated one.
• the radiation is transmitted to the photoactive material of each guide segment 3, 5, 7 using a respective optical fiber 83 ', 85', 87 ', having a distal end positioned facing the photoactive material of the guide segment 3, 5, 7.
• the guide segments 3, 5, 7 can be based on different photoactive materials, suitable for being activated by radiation of different wavelengths .
• each guide segment 3, 5, 7 is associated with a source of radiation emitting in the wavelength range which is specific to it.
• the radiation can be transmitted to the photoactive material of the guide segment 3, 5, 7 using an optical fiber having a distal end positioned facing the photoactive material of the guide segment.
• the microrobot 10 of the third embodiment differs from the first embodiment in that the deformable portion 20 of the propulsion element 2 is a coil spring comprising two flexible legs 22, 24, instead of three flexible legs as in the first. embodiment.
• the two flexible tabs 22, 24 are arranged helically around the main axis X2 between the front part 21 and the rear part 23 of the propulsion element and are each provided with three guide segments based on electroactive material, respectively 3i , 32, 33 and 5i, 52, 53.
• the guide segments 3i, 32, 33 or 5i, 52, 53 are distributed along the flexible tab and connected to a power supply 8 by a respective electric wire, all the electric wires of the various guide segments of a flexible tab 22 or 24 passing through a cable 83 or 85.
• the microrobot 10 of the fourth embodiment differs from the first embodiment in that the deformable portion 20 of the propulsion element 2 is a coil spring comprising a single flexible tab 22 arranged helically around the main axis X2 between the front part 21 and the rear part 23 of the propulsion element.
• the flexible tab 22 comprises four guide segments based on electroactive material 3i, 32, 33, 34, which are distributed along the flexible tab 22 and each connected to an electrical supply 8 by a respective electrical wire, all the electrical wires various guide segments of the flexible tab 22 passing through a cable 83.
• the guide segments 3i, 32, 33, 34 are configured to generate by their deformation a rotation of the propulsion element 2 respectively about a first axis of rotation and about a second axis of rotation transverse to each other and to the main axis X2 of the propulsion element.
• elements similar to those of the first embodiment bear identical references.
• the microrobot 10 of the fifth embodiment differs from the first embodiment in that the propulsion and piloting device 1 comprises two propulsion elements 2i and 2i arranged one behind the other, the control unit 9 being configured.
• the deformable portion 201 or 202 is identical to the deformable portion 20 of the first embodiment, ie comprises three flexible tabs 22i, 24i, 26i or 22i, 242, 262 arranged helically around the main axis X21 or X22 of the propulsion element.
• Each flexible tab 22i, 24i, 26i or 22i, 242, 262 is provided with a respective guide segment 31, 5i, 7i or 32, 52, h based on electroactive material, reversibly deformable under the effect of a supply of electrical energy, and connected to an electrical supply 81 or 82 by a respective electrical cable 83i, 85i, 87i or 832, 852, 872.
• the propulsion and piloting device 1 of this fifth embodiment does not include a linear actuator similar to the electromagnetic transducer 4 of the previous embodiments, for sequentially actuating cycles of elongation / contraction of the deformable portion 20i or 202 of the propulsion element.
• the guide segments 3i, 5i, 7i or 32, 52, h based on electroactive material are configured to actuate a deformation of the portion.
• deformable 201 or 2 ⁇ 2 in elongation / contraction along the main axis X21 or X22 when they are deformed simultaneously, and to actuate a rotation of the propulsion element 2i or h around an axis of rotation transverse to the main axis X21 or X22 when selectively deformed.
• the microrobot 10 of the sixth embodiment differs from the first embodiment in that the guide elements comprise two guide electromagnetic coils 43 and 45, instead of guide segments based on active material.
• the guide coils 43 and 45 are each provided with a respective connection 63, 65 to a source of electrical energy 6 and form an electromagnetic transducer with a permanent magnet 41 integral with the front part 21 of the propulsion element 2.
• the magnet 41 is substantially parallel to the main axis X2 of the propulsion element in the rest position.
• Each of the two guide coils 43, 45 is able, under the effect of a supply of electrical energy, to generate a rotation of the magnet 41 relative to its rest position, which causes a rotation of the propulsion element 2 around an axis of rotation transverse to the main axis X2.
• the propulsion and piloting device 1 of this sixth embodiment also comprises an electromagnetic coil 42 for linear actuation, similar to the coil 42 of the previous embodiments, which is provided with a respective link 62 to the source of. electrical energy 6 and which also forms an electromagnetic transducer with the magnet 41.
• the linear actuator coil 42 is suitable, under the effect of a supply of electrical energy, in generating a translation of the magnet 41 parallel to the main axis X2, which causes deformation of the deformable portion 20 in elongation / contraction along the main axis X2.
• the relative arrangement of the linear actuator coil 42 and of the guide coils 43, 45 is visible in the enlarged view of FIG. 10.
• the respective grooves 232, 23 3 , 23s of FIG. reception of the coils 42, 43, 45 The central axis of the linear actuator coil 42 received in the groove 232 is aligned with the main axis X2 of the propulsion element 2.
• the central axis of the control coil. guide 43 received in the groove 233 is offset with respect to the main axis X2 of the propulsion element 2, in an upward direction and in a direction sinking into the plane of the sheet in FIG. 10.
• the central axis of the guide coil 45 received in the groove 235 is offset relative to the main axis X2 of the propulsion element 2, in a downward direction and a direction outgoing from the plane of the sheet on the figure 10.
• the propulsion and control device 1 comprises three guide coils 43, 45, 47 (not shown) each provided with a respective connection to a source of electrical energy and configured to form an electromagnetic transducer. with a permanent magnet 41 integral with the front part of the propulsion element 2.
• the respective grooves 23 3 , 23s, 237 for receiving the guide coils 43, 45, 47 can be seen.
• the three coils of guide 43, 45, 47 are arranged one behind the other in the direction of the main axis X2 of the propulsion element 2, with their central axes not coincident and substantially parallel to the main axis X2.
• the central axis of the guide coil 43 received in the groove 23 3 is offset with respect to the main axis X2 of the propulsion element 2, in a direction down and a direction sinking in the plane of the sheet in FIG. 11.
• the central axis of the guide coil 45 received in the groove 23s is offset with respect to the main axis X2 of the propulsion element 2, in an upward direction and a direction sinking into the plane of the sheet in FIG. 11.
• the central axis of the guide coil 47 received in the groove 237 is offset with respect to the main axis X2 of the propulsion element 2, in a downward direction and a direction emerging from the plane of the sheet in FIG. 11.
• the three guide coils 43, 45, 47 are configured to actuate a deformation of the deformable portion 20 of the propulsion element 2. in elongation / contraction along the main axis X2 when they are simultaneously supplied with electrical energy, and to generate a rotation of the magnet 41 relative to its rest position causing a rotation of the propulsion element 2 around an axis of rotation transverse to the main axis X2 when it them are selectively fed.
• the propulsion and control device 1 comprises a linear actuator coil 42 and three guide coils 43, 45, 47 (not shown), each provided with a respective connection to a source of electrical energy and configured to form an electromagnetic transducer with a permanent magnet 41 integral with the front part of the propulsion element 2.
• the respective grooves 232, 23 3 , 23s, 237 for receiving the coils 42 are shown. , 43, 45, 47.
• the linear actuator coil 42 is disposed at the rear of the propulsion element 2 with its central axis substantially parallel to the main axis X2 of the propulsion element 2, while the three guide coils 43, 45, 47 are distributed around the linear actuator coil 42 being equidistant from each other, with their central axes substantially perpendicular to the main axis X2.
• the actuation of the deformation of the deformable portion 20 in elongation / contraction along the main axis X2 is obtained by supplying the linear actuator coil 42, while the actuation of the rotation of the 'magnet 41 with respect to its rest position, causing rotation of the propulsion 2 around an axis of rotation transverse to the main axis X2, is obtained by selectively supplying the guide coils 43, 45, 47.
• the propulsion element 2 comprises, like the propulsion element of the embodiment illustrated in FIG. 3, a front part 21, a rear part 23, and a deformable portion 20 connecting the front part 21 and the rear part 23.
• the deformable portion 20 is a helical spring deformable in elongation / contraction along a main axis X2 of the propulsion element 2.
• the axis X2 is defined. in the same manner as above, as the central axis of the deformable portion 20 substantially perpendicular to the plane of the distal plate 230 of the rear part 23, to which the deformable portion 20 is fixed.
• the coil spring forming the deformable portion 20 comprises three flexible tabs 22, 24, 26 arranged helically around the main axis X2 between the front part 21 and the rear part 23 of the propulsion element 2.
• the helical spring forming the deformable portion 20 cooperates with at least one guide element 3, 5, 7 each extending between the front part 21 and the rear part 23 of the propulsion element 2.
• the guide elements extend around the coil spring.
• the coil spring extends around the at least one guide element 3, 4, 5.
• the device 1 comprises three guide elements. guide 3, 5, 7 each forming a lug or deformable segment, arranged helically around the main axis X2 between the front part 21 and the rear part 23 of the propulsion element.
• each deformable segment 3, 5, 7 and the flexible tabs 22, 24, 26 are regularly distributed over the circumference of the propulsion element 2, so that the element propulsion 2 has a circular alternation of flexible legs 22, 24, 26 and deformable segments 3, 5, 7.
• each deformable segment 3, 5, 7 is radially aligned with a flexible tab 22, 24, 26 of the coil spring.
• Each flexible tab 22, 24, 26 thus cooperates, in each of the embodiments of FIGS. 13, 14, with a guide element 3, 5, 7.
• each deformable segment 3, 5, 7 comprises, for example, an electroactive material, for example of ionic electroactive polymer PEDOT.
• each of the three guide elements 3, 5, 7 is reversibly deformable under the effect of an input of electrical energy.
• Each guide element 3, 5, 7 is able, by its deformation when it is supplied with electrical energy, to generate a deformation of the corresponding flexible tab 22, 24, 26 and a rotation of the propulsion element 2.
• the axis of the rotation generated by the deformation of the guide segment is transverse to the main axis X2 of the propulsion element 2 as well as to the axes of the rotations generated by the deformation of each of the other two guide elements.
• the isotropic distribution of the guide segments 3, 5, 7 around the main axis X2 of the propulsion element 2 makes it possible, as for the first embodiment, to optimize the directional control of the propulsion element 2
• the guide segments 3, 5, 7 form, with the flexible tabs 22, 24, 26 a single versatile functional group ensuring both rotation and propulsion.
• the present invention does not present a coupling of different elements each providing a distinct function.
• the device 1 for propelling and controlling the microrobot 10 is, like the previous embodiments, configured to move in a viscous or viscoelastic material, for example in the cerebrospinal fluid or the extracellular matrix of a subject's brain, which are low Reynolds number fluidic materials.
• the propulsion element 2 comprises a front part 21, a rear part 23, and a rear part. deformable portion 20 connecting the front part 21 and the rear part 23.
• the deformable part 20 is divided into a front sub-part 20A and a rear sub-part 20B, the two sub-parts 20A, 20B are connected to each other by a disc oscillating 30.
• the oscillating disc 30 is located between the front 21 and rear 23 parts, equidistant from each of them.
• the oscillating disc 30 has a diameter similar to the distal plate 230. However, in an embodiment not shown, the diameter of the oscillating disc 30 may be greater than that of the distal plate. 230.
• the oscillating disc 30 is substantially parallel to the distal plate 230.
• the oscillating disc 30 of the propulsion element 2 which comprises, on its surface, a plurality of propulsion eyelashes 28. , configured to interact with the material in which the microrobot 10 moves.
• the sequential cycles of elongation / contraction of the deformable portion 20 cause the displacement of the propelling cilia 28 in the material, producing the propulsive force which causes a displacement of the microrobot 10.
• the oscillating disc 30, may be advantageous, for the oscillating disc 30, to have a diameter greater than the distal plate 230, so as to facilitate the attachment of the propulsion eyelashes 28 thereon.
• the front sub-part 20A of the deformable portion 20 is a helical spring deformable in elongation / contraction along a main axis X2 of the propulsion element 2.
• the main axis X2 of the 'propulsion element 2 in a manner similar to the previous embodiments, such as the central axis of the deformable portion 20 substantially perpendicular to the plane of the distal plate 230 of the rear part 23, to which the deformable portion 20 is fixed.
• the coil spring forming the front sub-part 20A of the deformable portion 20 comprises three flexible tabs 22, 24, 26 arranged helically around the main axis X2 between the front part 21 and the oscillating disc 30 of the propulsion element.
• the rear sub-part 20B of the deformable portion 2 comprises at least one guide element 3, 5, 7 based on material electroactive, for example in ionic electroactive polymer PEDOT. More precisely, in the eleventh embodiment of the invention, the deformable portion 2 comprises three guide elements 3, 5, 7 forming guide segments 3, 5, 7. Each of the three guide segments 3, 5, 7 is reversibly deformable under the effect of a supply of electrical energy, and connected to an electrical supply. At rest, the three guide segments 3, 5, 7 have the same length. As clearly visible in FIG. 15, the guide segments 3, 5, 7 are distributed isotropically around the main axis X2 of the propulsion element 2, which makes it possible to optimize the directional control of the element. of propulsion.
• the three guide segments 3, 5, 7 each form a tab extending between the rear part 23 of the deformable portion 2 and the oscillating disc 30. More precisely, the three guide segments are arranged helically around the main axis. X2 between the rear subpart 23 and the oscillating disc 30 of the propulsion element 2.
• each guide segment 3, 5, 7 is capable, by its deformation when supplied with electrical energy, to generating an inclination of the oscillating disc 30. This can be seen in figure 16.
• the oscillating disc 30 tilts in different directions, thus generating a rotary oscillating movement. This rotary oscillating movement induces a rotation of the propulsion element 2.
• the axis of the rotation generated by the deformation of the guide segment is transverse to the main axis X2 of the propulsion element as well as the axes of the rotations generated by the deformation of each of the other two guide segments.
• the guide segments 3, 5, 7 cooperate directly with the flexible tabs 22, 24, 26 and form with them, a single versatile functional group ensuring at faith rotation and propulsion.
• the present invention does not present a coupling of different elements each providing a distinct function.
• a propulsion and piloting device makes it possible to move a microstructure in 3D space reliably and precisely by actuating, in a coordinated manner, on the one hand a rotation of the element. of propulsion around at least two axes of rotation transverse to each other and to the main axis, and on the other hand a deformation of the deformable portion of the element of propulsion to generate a propulsion of the microstructure.
• a rotation of the element. of propulsion around at least two axes of rotation transverse to each other and to the main axis, and on the other hand a deformation of the deformable portion of the element of propulsion to generate a propulsion of the microstructure.
• all the spatial and temporal combinations to actuate the rotation and the deformation of the deformable portion of the propulsion element can be envisaged.
• the rotation and the deformation can, as desired, be actuated simultaneously, or be actuated one after the other, which makes it possible to move the microstructure along a desired path in its environment.
• the present invention by virtue of its small size and the reduced number of functional elements (reduction made possible by the polyfunctional aspect of the various elements, in particular of the guide segments), allows a significant gain in energy for a given displacement.
• the deformable portion of the propulsion element is a helical spring with one, two or three flexible tabs.
• the deformable portion of the propulsion element may comprise a spring, helical or not, having any number of flexible tabs, or else a deformable structure other than a spring, for example a bellows.
• the deformable portion of the propulsion element can also include a combination of a spring and a bellows, each fold of the bellows being for example positioned at a coil of the spring and the bellows casing filling the space. between the successive turns of the spring.
• the linear actuator may be an actuator other than an electromagnetic transducer such as as described above, involving an electromagnetic coil and a permanent magnet.
• the actuator for actuating the deformation of the deformable portion in elongation / contraction may be a pump, the elongation / contraction of the deformable portion then being able to be obtained by alternating fluid inlet / outlet in the internal volume of the deformable portion actuated by the pump.
• a propulsion and piloting device may include several guide segments having active materials of different compositions or types.
• guide segments comprising an electroactive material can be combined with guide segments comprising a bimetal element; or guide segments comprising a photoactive material can be combined with guide segments comprising an electroactive material or a bimetal element, the various energy supply links for activating the guide segments being adapted accordingly.
• Guide segments based on active material can also be combined with guide coils of the type of those of the embodiments of Figures 8 to 12.
• the propulsion and control device comprises guide coils as guide elements for generating rotation of the propulsion element
• the number of guide coils is any number greater than or equal to two
• the guide coils can be arranged as desired one behind the other, next to each other, or even concentrically, being combined. or not with a linear actuator coil.
• Advantageous arrangements include for example: three guide coils distributed around the main axis of the propulsion element, with their central axes substantially parallel to the main axis, being arranged equidistantly between them.
• the guide coils can be either arranged at the rear of the propulsion element without a linear actuator coil, the actuation of the deformation of the deformable portion in elongation / contraction according to l 'main axis then being obtained by simultaneously supplying all the guide coils with electrical energy, while the actuation of the rotation of the magnet relative to its rest position, causing a rotation of the propulsion element around an axis of rotation transverse to the main axis, is obtained by supplying the guide coils selectively; either arranged at the rear of the propulsion element being combined with a linear actuator coil, the actuation of the deformation of the elongation / contraction deformable portion along the main axis then being obtained by supplying the coil d linear actuation, while actuation of the rotation of the magnet with respect
• a propulsion and piloting device can of course be implemented to move other types of microstructures, in the medical field or in other fields, in particular a device according to the invention can be used.
• a movable flexible tube such as a stent or catheter.

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• 2020
  • 2020-09-18 WO PCT/FR2020/051623 patent/WO2021053305A1/fr unknown
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