Microrobot configured to move in a viscous material
Inventors
Duplat, Bertrand • OULMAS, Ali • FRANCOIS, Quentin
Assignees
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Publication Number
US-12396683-B2
Publication Date
2025-08-26
Expiration Date
Abstract
A microrobot configured to move in a viscous material, in particular in an organ of a subject such as a brain, the microrobot having a propulsion structure comprising a head portion, a rear portion and a deformable portion connecting the head portion and the rear portion. The deformable portion is deformable in elongation/contraction along a main axis connecting the head portion and the rear portion. The head portion includes at its surface at least one propulsion cilium, one end of the at least one propulsion cilium being attached to the head portion and the other end of the at least one propulsion cilium being a free end configured to move freely in the viscous material. The propulsion structure further includes a motor configured to actuate sequentially elongation/contraction cycles of the deformable portion.
Core Innovation
The invention relates to a microrobot configured to move in a viscous material using a propulsion structure having a head portion, a rear portion, and a deformable portion extending along a main axis connecting the head portion and the rear portion. The deformable portion is deformable in elongation/contraction along the main axis, and an actuator actuates sequential elongation/contraction cycles of the deformable portion, thereby driving propulsion motion in the viscous material.
The head portion presents a surface that carries at least one propulsion cilium. One end of the propulsion cilium is attached to the head portion, while the other end is a free end configured to move freely in the viscous material. The actuator-driven sequential elongation/contraction cycles cause the cilium to move, so that the microrobot propulsion structure generates movement through the viscous environment.
The propulsion cilium includes a cilium body having an asymmetric cross section taken transversely to a longitudinal axis of the cilium body. The cilium also includes an enlarged end portion forming the free end, where a cross-sectional area of the enlarged end portion taken transversely to the longitudinal axis of the cilium body is less than a cross-sectional area of the enlarged end portion in at least one plane parallel to the longitudinal axis of the cilium body. These geometric features are used together with the sequential elongation/contraction actuation of the deformable portion.
Claims Coverage
The independent claim is directed to a microrobot with a propulsion structure that combines a main-axis elongation/contraction deformable portion, an actuator for sequential cycles, and at least one propulsion cilium on a head surface featuring an asymmetric cilium body and an enlarged free end with a specified cross-sectional-area relationship.
Main-axis elongation/contraction propulsion structure with sequential actuation
A microrobot having a propulsion structure comprising a head portion presenting a surface, a rear portion, and a deformable portion extending along a main axis connecting the head portion and the rear portion, the deformable portion being deformable in elongation/contraction along the main axis; and an actuator configured to actuate sequentially elongation/contraction cycles of the deformable portion.
Head-surface propulsion cilium with attached end and free end
The head portion comprises, at its surface, at least one propulsion cilium, one end of the at least one propulsion cilium being attached to the head portion and the other end of the at least one propulsion cilium being a free end configured to move freely in the viscous material.
Asymmetric cross-section cilium body
The at least one propulsion cilium comprises a cilium body having an asymmetric cross section taken transversely to a longitudinal axis of the cilium body.
Enlarged cilium free end with cross-sectional-area relationship
The at least one propulsion cilium comprises a cilium body and an enlarged end portion forming the free end of the at least one propulsion cilium, wherein a cross-sectional area, at the enlarged end portion that taken transversely to a longitudinal axis of the cilium body is less than a cross-sectional area of the enlarged end portion in at least one plane parallel to the longitudinal axis of the cilium body.
Overall, the claim coverage centers on a microrobot propulsion structure in which actuator-driven sequential elongation/contraction cycles move a head-surface propulsion cilium whose geometry includes an asymmetric cilium body and an enlarged free end with a specified cross-sectional-area relationship.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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