基于双光子3D打印的pH响应型微尺度柔性单关节加工方法  

Processing of Two⁃Photon 3D Printed pH⁃Responsive Microscale Soft Joints

作　　者：赵秀宝 郭仁春 章昱昭 王金刚 郑建辰 王晓朵[2,3] Zhao Xiubao;Guo Renchun;Zhang Yuzhao;Wang Jingang;Zheng Jianchen;Wang Xiaoduo(College of Information Engineering,Shenyang University of Chemical Technology,Shenyang 110027,Liaoning,China;State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,Liaoning,China;Institutes for Robotics and Intelligent Manufacturing,Chinese Academy of Sciences,Shenyang 110016,Liaoning,China;University of Chinese Academy of Sciences,Beijing 100049,China)

机构地区：[1]沈阳化工大学信息工程学院,辽宁沈阳110027 [2]中国科学院沈阳自动化研究所机器人学国家重点实验室,辽宁沈阳110016 [3]中国科学院机器人与智能制造创新研究院,辽宁沈阳110016 [4]中国科学院大学,北京100049

出　　处：《中国激光》2023年第20期177-186,共10页Chinese Journal of Lasers

基　　金：国家重点研发计划(2022YFB4700100);辽宁省应用基础研究计划(2023JH2/101600037);中国科学院青年创新促进会项目(2022199);中国博士后基金(2022M723313)。

摘　　要：微型软体机器人通常具有结构尺寸小、柔性可变形等特征,在生物传感以及靶向载药等方面具有广阔的应用前景。刺激响应型水凝胶材料对外界刺激具有膨胀收缩的能力,是一种优异的微型软体机器人本体材料。目前针对提升微型软体机器人变形能力的研究主要聚焦于材料性能的提升和加工工艺的优化上,而通过微型软体机器人关节结构优化来提升其变形性能的研究相对较少。鉴于此,笔者提出了一种基于双光子聚合加工的双层膜弧形关节的设计方法,有效提升了双层膜关节的形变能力。通过改变双光子聚合过程中的激光功率和扫描速度,可有效调节pH响应材料的溶胀响应特性,进而获得双层膜关节的变形或驱动能力。进一步,笔者制备了圆心角不同的双层膜弧形关节,结果表明:不同圆心角的双层膜弧形关节在pH响应下的形变能力具有明显差异,当圆心角为240°时形变率最大,形变率是传统直角形双层膜关节的6.73倍。基于双层膜设计和构建的弧形关节具有良好的稳定性和形变能力,为微型机器人的高效驱动提供了新的设计思路。Objective Soft microactuators,usually characterized by a small structural size and flexibility,have good application potential in biomedical fields,such as in drug delivery and tissue repair,and have therefore received significant attention from researchers.Hydrogels have good biocompatibility and are considered to be ideal materials for fabricating miniature flexible actuators.Hydrogels can not only be doped and chemically modified to impart stimulus responsiveness but also used to fabricate microscale soft actuators with certain deformation or actuation functions by optimizing their structural design.However,significant research efforts have focused on enhancing the material performance and optimizing the process,and only few studies have explored the effect of the actuator structure itself on its shape deformation capabilities.In this study,the design of a curved double-layer membrane structure is proposed based on the two-photon polymerization technology combined with the existing micro-robot bilayer membrane joint structure.A curved double-layer structure prepared from a pH-responsive hydrogel using optimized parameters exhibited 573%improvement in the deformation capacity compared with that of a straight-sided joint.This study provides a new design concept for the efficient driving and wide application of micro-robots.Methods First,the effects of the laser power and scanning speed on the performance of the machined structures were explored.We varied the parameters to process a set of microhand-shaped structures.As shown in Fig.1(a),the scanning speed was varied from 10000 to 25000μm/s at 2500μm/s intervals,and the processing power was varied from 15 to 35 mW at 5 mW intervals.Figures 1(b),(c)show the optical and SEM images of the microhand-shaped structure.By varying the processing power and scanning speed,35 sets of data were obtained with pH response thresholds between 7 and 8 for the pH-responsive materials used in the study[see Figs.1(d),(e)].Different laser powers or scanning speeds allow the printin

关 键 词：激光技术 双光子聚合 微尺度 双层膜 变形性能 

分 类 号：TN249[电子电信—物理电子学]