Magnetically controllable robotic device and its method of making

Patent metadata

Field	Value
Publication number	US-11433559-B2
Application number	US-201916406215-A
Country	US
Kind code	B2
Filing date	May 8, 2019
Priority date	May 8, 2019
Publication date	Sep 6, 2022
Grant date	Sep 6, 2022

Abstract

A magnetically controllable robotic device including a body having a first body part and a second body part movably connected with the first body part. The first body part and the second body part are both rigid. The first body part is magnetically-responsive such that the first body part can be controlled by an external magnetic field generated by an magnetic control system. The first body part may be controlled such that the magnetically controllable robotic device is moved by the external magnetic field.

First claim

The invention claimed is:

1. A magnetically-controllable robotic device, comprising:
a body having
a first rigid body part that generally elongates along and is symmetric about a first long axis, the first rigid body part comprising a first arm portion and a second arm portion, and
a second rigid body part movably connected with the first rigid body part;

wherein the first arm portion and the second arm portion are arranged symmetrically about the first long axis for interacting with the second rigid body part,
wherein the first rigid body part is pivotable relative to the second rigid body part between a first end position, in which the first arm portion contacts one side of the second rigid body part, and a second end position, in which the second arm portion contacts an opposite side of the second rigid body part; and
wherein the first rigid body part is magnetically-responsive such that the first rigid body part can be controlled by an external magnetic field generated by an magnetic control system.

2. The magnetically-controllable robotic device of claim 1 , wherein the second rigid body part is movably connected with the first rigid body part through a joint.

3. The magnetically-controllable robotic device of claim 2 , wherein the joint is a pivot-type joint through which the second rigid body part pivotably connects with the first rigid body part.

4. The magnetically-controllable robotic device of claim 3 , wherein the pivot-type joint is provided partly by the first rigid body part and partly by the second rigid body part.

5. The magnetically-controllable robotic device of claim 4 , wherein the first rigid body part comprises a first connection portion and the second rigid body part comprises a second connection portion connected with the first connection portion, and wherein the first connection portion and the second connection portion provide the pivot-type joint.

6. The magnetically-controllable robotic device of claim 5 , wherein the first connection portion and the second connection portion are non-detachably connected with each other.

7. The magnetically-controllable robotic device of claim 6 , wherein one of the first connection portion and the second connection portion comprises a rod, and the other of the first connection portion and the second connection portion defines an opening through which the rod extends.

8. The magnetically-controllable robotic device of claim 7 , wherein the rod and the opening are correspondingly shaped and sized such that a clearance exists between the rod and the opening.

9. The magnetically-controllable robotic device of claim 1 , wherein the second rigid body part generally elongates along a second long axis, and the second rigid body part is symmetric about the second long axis.

10. The magnetically-controllable robotic device of claim 9 , wherein the first long axis and the second long axis are collinear.

11. The magnetically-controllable robotic device of claim 1 , wherein the first rigid body part comprises a U-shaped portion that is formed at least partly by the first arm portion and the second arm portion.

12. The magnetically-controllable robotic device of claim 5 , wherein the body further comprises a third rigid body part pivotably connected with the second rigid body part through a further pivot-type joint.

13. The magnetically-controllable robotic device of claim 12 , wherein the second rigid body part comprises a further second connection portion and the third rigid body part comprises a third connection portion connected with the further second connection portion, wherein the first connection portion and the second connection portion provide the further pivot-type joint.

14. The magnetically-controllable robotic device of claim 13 , wherein one of the further second connection portion and the third connection portion comprises a rod, and the other of the further second connection portion and the third connection portion defines an opening through which the rod extends.

15. The magnetically-controllable robotic device of claim 13 , wherein the second connection portion and the further second connection portion are arranged at opposite ends of the second rigid body part.

16. The magnetically-controllable robotic device of claim 15 , wherein one of the second connection portion and the further second connection portion comprises a rod, and the other of the second connection portion and the further second connection portion defines an opening for receiving a rod.

17. The magnetically-controllable robotic device of claim 1 , wherein the magnetically-controllable robotic device further comprises magnetically-responsive material arranged on at least part of a surface of the first rigid body part that makes the first rigid body part magnetically-responsive.

18. The magnetically-controllable robotic device of claim 17 , wherein the magnetically-responsive material is in the form of a coating arranged on at least part of the first rigid body part.

19. The magnetically-controllable robotic device of claim 18 , wherein the magnetically-responsive coating is arranged on only part of the first rigid body part and other parts of the magnetically-controllable robotic device are devoid of magnetically-responsive material.

20. The magnetically-controllable robotic device of claim 17 , wherein the magnetically-responsive material contains metallic material, and wherein the metallic material comprises: nickel, iron, cobalt, neodymium, or any of their combination.

21. The magnetically-controllable robotic device of claim 1 , wherein the first rigid body part and the second rigid body part are integrally formed using a photo-curable material.

22. The magnetically-controllable robotic device of claim 1 , wherein the magnetically-controllable robotic device is tetherless.

23. A method for making a magnetically-controllable robotic device, comprising:
forming a body, the body having
a first rigid body part that generally elongates along and is symmetric about a first long axis and comprising a first arm portion and a second arm portion, and
a second rigid body part movably connected with the first rigid body part,
the first arm portion and the second arm portion being arranged symmetrically about the first long axis for interacting with the second rigid body part, and
the first rigid body part being pivotable relative to the second rigid body part between a first end position, in which the first arm portion contacts one side of the second rigid body part, and a second end position, in which the second arm portion contacts an opposite side of the second rigid body part; and

arranging the first rigid body part to be magnetically-responsive such that the first rigid body part can be controlled by an external magnetic field generated by an magnetic control system.

24. The method of claim 23 , wherein arranging the first rigid body part to be magnetically-responsive comprises applying magnetically-responsive material on at least part of a surface of the first rigid body part.

25. The method of claim 24 , wherein the application of magnetically-responsive material on at least part of a surface of the first rigid body part is performed using electron beam deposition, dipping, electroplating, sputtering, or chemical vapor deposition.

26. The method of claim 24 , wherein the magnetically-responsive material is arranged in the form of a magnetically-responsive coatin

Assignees

• Univ City Hong Kong

Inventors

• Sun Dong
• Liao Pan
• Xing Liuxi

Classifications

• B25J13/006

  by means of a wireless system for controlling one or several manipulators · CPC title

• B25J7/00 Primary

  Micromanipulators {(specimen supports for investigating or analysing materials G01N23/2204; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20)} · CPC title

• B25J9/08

  characterised by modular constructions · CPC title

• A61B34/30

  Surgical robots · CPC title

• B25J9/065

  Snake robots · CPC title