CN114179063B - A kind of heterogeneous vascularized artificial skeletal muscle tissue, preparation method and micro robotic arm - Google Patents

Abstract

The invention relates to a heterogeneous vascularized artificial skeletal muscle tissue, a preparation method and a micro robotic arm, and belongs to the technical field of bionic robotic arms. Heterogeneous vascularized artificial skeletal muscle tissue includes multiple pairs of strip-shaped muscle bands that are symmetrically arranged along the long axis and have different curvatures. Each strip-shaped muscle band includes multiple bionic micro-muscle bundles arranged alternately in layers along the long axis. and hollow microfibers, bionic micromuscle bundles and hollow microfibers are connected through the first hydrogel. The micro-manipulator includes a heterogeneous vascularized artificial skeletal muscle tissue, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanism is located at both ends of the heterogeneous vascularized artificial skeletal muscle tissue, and the actuator is fixed on a pair of heterogeneous vascularized artificial bones. between muscle tissues. The robotic arm uses heterogeneous vascularized artificial skeletal muscle tissue as a driver, eliminating the need for motors and complex mechanical structures, effectively reducing the size of peripheral drive equipment and achieving miniaturization and lightweight of the robotic arm device.

Description

A kind of heterogeneous vascularized artificial skeletal muscle tissue, preparation method and micro robotic arm

Technical field

The invention relates to a heterogeneous vascularized artificial skeletal muscle tissue, a preparation method and a micro robotic arm, and belongs to the technical field of bionic robotic arms.

Background technique

Insect-like robots are a type of robot based on insect models. However, due to limitations in energy, drive and other technologies, it is still difficult to miniaturize the movement execution system of insect-like robots, resulting in a huge body of insect-like robots that is far from the actual insect appearance. The robotic arm constructed by the fusion of artificial muscle tissue and machinery is a new type of robotic arm system that integrates biological actuation systems and mechanical electronics at the cellular and tissue scales. Artificial muscle tissue replaces the traditional motor to drive the robotic arm, which allows the robotic arm to have disruptive advantages such as miniaturization and high energy efficiency. It is one of the effective and feasible methods to miniaturize the movement execution system of insect-like robots.

Artificial muscle tissue constructed from skeletal muscle cells has the potential to provide high-intensity actuation force for robotic arms. However, although existing artificial muscle tissue already has certain actuation capabilities, most of its structures are simple blocks or strips. It is quite different from the hierarchically assembled structure of "muscle fibers (muscle cells)-muscle bundles-skeletal muscles" in living organisms, and the degree of bionics is low. The arrangement of muscle fibers is the main factor that determines the biological performance of muscles. Therefore, this simple biological structure limits the actuation capabilities of artificial muscle tissue.

Contents of the invention

In view of this, the object of the present invention is to provide a heterogeneous vascularized artificial skeletal muscle tissue, a preparation method and a micro robotic arm.

In order to achieve the above objects, the technical solutions of the present invention are as follows:

A heterogeneous vascularized artificial skeletal muscle tissue, including multiple pairs of strip-shaped muscle bands symmetrically arranged along the long axis and having different curvatures. Each strip-shaped muscle band includes multiple bionics arranged alternately in layers along the long axis. Micromuscle bundles and hollow microfibers, bionic micromuscle bundles and hollow microfibers are connected through the first hydrogel; bionic micromuscle bundles are fibrous synchronized structures formed by the skeletal muscle cell structure and the fibroblast structure that wraps the skeletal muscle cell structure. The axis nested microstructure; the fibroblast structure consists of the second hydrogel wrapping fibroblasts; the skeletal muscle cell structure consists of the third hydrogel wrapping the skeletal muscle cells, and the skeletal muscle cells follow the long axis direction of the bionic micro-muscle bundle. Directional arrangement; the hollow microfibers are composed of skeletal muscle cells wrapped in the fourth hydrogel, and the skeletal muscle cells are directionally arranged along the long axis of the hollow microfibers; both ends of the heterogeneous vascularized artificial skeletal muscle tissue are wrapped in the fifth hydrogel middle.

Further, the length of the long axis of the heterogeneous vascularized artificial skeletal muscle tissue is 0.8cm-1.2cm; the number of strip-shaped muscle strips is 6, and each strip-shaped muscle strip includes 30-60 bionic strips. Micromuscle bundles and 30 to 60 hollow microfibers; the outermost pair of strip-shaped muscle bands have a curvature radius of 1.5cm to 2.5cm, the middle pair of strip-shaped muscle bands have a curvature radius of 2.5cm to 4cm, and the innermost pair of striped muscle bands have a curvature radius of 2.5cm to 4cm. The radius of curvature of the strip-shaped muscle band is 4cm~5cm.

Further, the diameter of the skeletal muscle cell structure in the bionic micromuscle bundle is 50 μm to 100 μm, and the thickness of the fibroblast cell structure is 50 μm to 100 μm; the inner cavity diameter of the hollow microfiber is 50 μm to 100 μm, and the wall thickness is 50 μm. ~100μm.

Further, the first hydrogel, the third hydrogel and the fifth hydrogel are GelMA hydrogels; the second hydrogel and the fourth hydrogel are mixed water of GelMA and calcium alginate. gel.

Further, the skeletal muscle cells are spindle-shaped, and the angle between the long axis of the spindle shape and the long axis of the bionic micromuscle bundle or hollow microfiber is less than 20°.

A method for preparing heterogeneous vascularized artificial skeletal muscle tissue, the method steps include:

(1) Microfluidic chip nozzle assembly: three needles of different sizes are coaxially nested and assembled, and then a transparent tube with a tip at the end of the largest size needle is installed to form a microfluidic chip nozzle;

(2) Assembly of the micro-pillar array collection platform: Fix the micro-pillars on the collection platform according to the number and curvature requirements of each strip-shaped muscle strip in the heterogeneous vascularized artificial skeletal muscle tissue, and assemble the micro-pillar array collection platform; then Immerse the bottom of the micropillar array collection platform and the lower part of the micropillars into the CaCl ₂ solution;

(3) Plan the moving path of the microfluidic chip nozzle on the micropillar array collection platform according to the structural requirements of heterogeneous vascularized artificial skeletal muscle tissue;

(4) Inject the third hydrogel solution wrapping skeletal muscle cells into the innermost needle, inject the second hydrogel solution wrapping fibroblasts into the middle layer needle, and inject the dextran solution into the innermost needle. In the outer needle, the ultraviolet lamp illuminates the transparent tube, and the tip of the transparent tube is vertically immersed in the CaCl ₂ solution. According to the planned movement path, the microfluidic chip nozzle moves vertically and stably on the micro-pillar array collection platform, and the micro-pillar array collects Bionic micromuscle bundles are formed on the platform;

(5) Replace the innermost layer with a dextran solution, and follow the same steps as (4) to form hollow microfibers on the micropillar array collection platform;

(6) Take out the micropillar array collection platform from the CaCl ₂ solution, spray the first hydrogel solution on the surface of the bionic micromuscle bundles and hollow microfibers, irradiate and cross-link, and then culture to obtain a heterogeneous vascularized artificial bone. Muscle tissue.

Further, the height of the micro-column is 3 mm ~ 4 mm, the diameter is 0.2 mm ~ 0.3 mm, the distance between two adjacent micro columns is 2 mm ~ 5 mm; the height of the bottom of the micro column immersed in the CaCl ₂ solution is 0.2 mm ~ 0.4mm.

A micro robotic arm, including a heterogeneous vascularized artificial skeletal muscle tissue, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanism is located at both ends of the heterogeneous vascularized artificial skeletal muscle tissue, and the actuator is fixed on a pair of heterogeneous blood vessels between artificial skeletal muscle tissue.

Further, the actuator includes a figure-eight frame and an elastic connector. The figure-eight frame includes two parallel rods and an inclined rod corresponding to the parallel rods. The parallel rods are connected to the inclined rods. The two parallel rods are connected to the inclined rods. The parallel rods are respectively connected to the second hydrogel block, and the inclination angle of the inclined rod is 45° to 60°; both ends of the elastic connector are connected to the inclined rod respectively.

Further, the electrode stimulation mechanism includes a copper sheet electrode, a base and a wire. The second hydrogel blocks at both ends of the heterogeneous vascularized artificial skeletal muscle tissue are respectively fixed on one side of the base, and the copper sheet electrodes are respectively fixed on On the second side of the base, the actuator is fixed on the third side of the base; the copper electrode is connected to the external power supply through wires.

beneficial effects

The present invention provides a heterogeneous vascularized artificial skeletal muscle tissue. Compared with traditional block/strip artificial muscle tissue, the heterogeneous vascularized artificial skeletal muscle tissue realizes the co-culture of fibroblasts and skeletal muscle cells and Arranged in an orderly manner, fibroblasts can promote the recovery of the actuation function of skeletal muscle cells. At the same time, the orderly arrangement helps to align the direction of the actuation force generated by each skeletal muscle cell along the axial direction of the bionic micromuscle bundle, enhancing The actuation force of artificial muscle tissue and the vascularized structure can ensure the supply of cell nutrients during the culture process and promote the cell activity of artificial skeletal muscle tissue.

The present invention provides a method for preparing heterogeneous vascularized artificial skeletal muscle tissue. The method involves injecting a hydrogel solution wrapping cells into a coaxially nested microfluidic chip nozzle, and extruding it after ultraviolet irradiation. The preparation of heterogeneous vascularized artificial skeletal muscle tissue with special structure was realized on the micropillar array collection platform immersed in _CaCl2 solution.

The invention provides a micro robotic arm that uses heterogeneous vascularized artificial skeletal muscle tissue as a driver without the need for a motor or a complex mechanical structure, effectively reducing the volume of peripheral drive equipment and realizing the miniaturization of the robotic arm device. Lightweight and lightweight.

Description of the drawings

Figure 1 is a schematic structural diagram and a partial enlarged view of the heterogeneous vascularized artificial skeletal muscle tissue in the present invention.

Figure 2 is a schematic diagram of the curvature of the strip muscle band in the present invention.

Figure 3 is a schematic diagram of the directional arrangement structure of skeletal muscle cells in the present invention.

Figure 4 is a schematic structural diagram and a partial enlarged view of the microfluidic chip nozzle and micropillar array collection platform in the present invention.

Figure 5 is a schematic structural diagram and a partial enlarged view of the micromanipulator in the present invention.

Among them, 1-heterogeneous vascularized artificial skeletal muscle tissue, 2-fibroblasts, 3-skeletal muscle cells, 4-bionic micromuscle bundles, 5-hollow microfibers, 6-skeletal muscle cells with spindle-shaped long axis and The angle between the long axes of the hollow microfibers, 7 - the radius of curvature of the innermost pair of strip muscle bands, 8 - the radius of curvature of the middle pair of strip muscle bands, 9 - the radius of curvature of the outermost pair of strip muscle bands , 10-Mounting hole, 11-Elastic connector, 12-Parallel rod, 13-Incline rod, 14-Paddle foot, 15-Copper electrode, 16-Base, 17-Second hydrogel block, 18 -Microneedle, 19-figure-eight skeleton, 20-microfluidic chip nozzle, 21-XYZ three-axis movement operator, 22-coaxial microfluidic chip nozzle, 23-binocular vision sensor, 24-micropillar array Collection platform, 25-microcolumn, 26-gas/liquid interface.

Detailed ways

The present invention will be described in further detail below with reference to specific embodiments.

As shown in Figure 1, a heterogeneous vascularized artificial skeletal muscle tissue includes multiple pairs of strip-shaped muscle bands that are symmetrically arranged along the long axis and have different curvatures. Each strip-shaped muscle band includes multiple pairs of muscle bands divided along the long axis. The bionic micro-muscle bundles 4 and hollow microfibers 5 are alternately arranged in layers. The bionic micro-muscle bundles 4 and the hollow microfibers 5 are connected through the first hydrogel; the bionic micro-muscle bundles 4 are composed of skeletal muscle cell structures and wrap the skeletal muscle cells. A fibrous coaxial nested microstructure formed by a structured fibroblast structure; the fibroblast structure consists of a second hydrogel wrapping fibroblasts 2; the skeletal muscle cell structure consists of a third hydrogel wrapping skeletal muscle cells 3 , the skeletal muscle cells 3 are oriented and arranged along the long axis direction of the bionic micro muscle bundle; the hollow microfiber 5 is composed of the fourth hydrogel wrapping the skeletal muscle cells 3, and the skeletal muscle cells 3 are oriented and arranged along the long axis direction of the hollow microfiber 5; Both ends of the heterogeneous vascularized artificial skeletal muscle tissue 1 are wrapped in the fifth hydrogel 17 .

As shown in Figure 2, the long axis length of the heterogeneous vascularized artificial skeletal muscle tissue 1 is 0.8cm~1.2cm (such as 0.8cm, 1.0cm, 1.2cm); the number of strips of muscle strips is 6 Each strip-shaped muscle band includes 30 to 60 (such as 30, 35, 40, 45, 51, 60) bionic micro-muscle bundles and 30 to 60 (such as 30, 35 Roots, 40 roots, 45 roots, 51 roots, 60 roots) hollow microfibers 5; the curvature radius 7 of the outermost pair of strip-shaped muscle bands is 1.5cm ~ 2.5cm (such as 1.5cm, 2.1cm, 2.5cm), and the center The curvature radius 8 of a pair of strip muscle bands is 2.5cm~4cm (such as 2.5cm, 3.2cm, 4cm), and the curvature radius 9 of the innermost pair of strip muscle bands is 4cm~5cm (such as 4cm, 4.8cm, 5cm ).

The diameter of the skeletal muscle cell structure in the bionic micromuscle bundle 4 is 50 μm ~ 100 μm (such as 50 μm, 60 μm, 70 μm, 85 μm, 91 μm, 100 μm), and the thickness of the fibroblast cell structure is 50 μm ~ 100 μm (such as 50 μm, 65 μm, 73 μm , 80 μm, 90 μm, 100 μm); the inner cavity diameter of the hollow microfiber 5 is 50 μm ~ 100 μm (such as 50 μm, 62 μm, 78 μm, 83 μm, 91 μm, 100 μm), and the wall thickness is 50 μm ~ 100 μm (such as 50 μm, 60 μm, 70 μm ,80μm,90μm,100μm).

The first hydrogel, the third hydrogel and the fifth hydrogel are GelMA hydrogel (such as 5.5% w/v GelMA hydrogel); the second hydrogel and the fourth hydrogel are The gel is a mixed hydrogel of GelMA and calcium alginate (such as 5.5% w/v GelMA mixed with 0.85% w/v calcium alginate).

As shown in Figure 3, the skeletal muscle cells 3 are spindle-shaped, and the angle 6 between the long axis of the spindle shape and the long axis of the bionic micromuscle bundle or hollow microfiber 5 is less than 20° (such as 0°, 5°, 11°, 18°).

As shown in Figure 4, a method for preparing heterogeneous vascularized artificial skeletal muscle tissue, the method steps include:

(1) Microfluidic chip nozzle 20 assembly: three needles of different sizes are coaxially nested and assembled (for example, the port of the 14-gauge needle is on the outermost layer, the port of the 18-gauge needle is on the middle layer, and the port of the 25-gauge needle is on the middle layer. Innermost layer), and then put a transparent tube with a tip at the end of the largest size needle to form a microfluidic chip nozzle 20;

(2) Assembly of the micro-pillar array collection platform: According to the number and curvature requirements of each strip-shaped muscle strip in the heterogeneous vascularized artificial skeletal muscle tissue, the micro-pillars 25 are fixed on the collection platform and assembled into a micro-pillar array collection platform; Then the bottom of the micro-pillar array collection platform and the lower part of the micro-pillar 25 are immersed in the CaCl ₂ solution;

(3) Plan the moving path of the microfluidic chip nozzle on the micropillar array collection platform according to the structural requirements of heterogeneous vascularized artificial skeletal muscle tissue;

(4) Inject the third hydrogel solution (such as 5.5% w/v GelMA solution) surrounding the skeletal muscle cells 3 into the innermost needle, and inject the second hydrogel solution (such as 5.5% w/v GelMA solution) surrounding the fibroblasts 2 into the innermost needle. /vGelMA and 0.8% w/v calcium alginate mixed solution) is injected into the middle layer needle, and the dextran solution (such as 19% w/v dextran solution) is injected into the outermost needle, and the UV light makes it transparent tube, the tip of the transparent tube is vertically immersed in the _CaCl solution (such as 0.5% w/v CaCl solution), and the _microfluidic chip nozzle moves stably vertically on the micropillar array collection platform according to the planned movement path, such as by Two XYZ three-axis moving manipulators 21 respectively control the relative positions of the coaxial microfluidic chip nozzle 22 and the micropillar array collection platform 24, forming bionic micromuscle bundles on the micropillar array collection platform;

(5) Replace the innermost layer with a dextran solution (such as a 19% w/v dextran solution), and follow the same steps as (4) to form hollow microfibers on the micropillar array collection platform;

(6) Take out the micropillar array collection platform from the CaCl ₂ solution, spray the first hydrogel solution (such as 0.2% w/v GELMA solution) on the surface of the bionic micromuscle bundles and hollow microfibers, and irradiate and cross-link. After culture, a heterogeneous vascularized artificial skeletal muscle tissue was obtained.

The height of the micro-column 25 is 3mm~4mm (such as 3mm, 3.5mm, 4mm), the diameter is 0.2mm~0.3mm (such as 0.2mm, 0.25mm, 0.3mm), and the distance between two adjacent micro-columns 25 It is 2mm～5mm (such as 2mm, 3mm, 4mm, 5mm); the height of the bottom of the micro-column 25 immersed in the CaCl ₂ solution is 0.2mm～0.4mm (such as 0.2mm, 0.35mm, 0.4mm).

As shown in Figure 5, a micro-manipulator includes a heterogeneous vascularized artificial skeletal muscle tissue 1, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanism is located at both ends of the heterogeneous vascularized artificial skeletal muscle tissue 1 to execute The mechanism is fixed between a pair of heterogeneous vascularized artificial skeletal muscle tissues 1 .

The actuator includes a figure-eight frame 19 and an elastic connector 11. The figure-eight frame includes two parallel rods 12 and an inclined rod 13 corresponding to the parallel rods 12. The parallel rods 12 are opposite to the inclined rods 13. connection, two parallel rods 12 are connected to the second hydrogel block 17 respectively, and the inclination angle of the inclined rods is 45° to 60° (such as 45°, 50°, 55°, 60°); the elastic connector 11 The two ends are respectively connected with the inclined rod 13. For example, one of the inclined rods 13 is connected to the annular mounting hole, which can be used for subsequent connection with the body mechanism of the aquatic insect, and the other inclined rod is connected to the paddle feet 14 to construct a swimming leg mechanism of the aquatic insect, suitable for paddling.

The electrode stimulation mechanism includes a copper electrode 15, a base 16 and a wire. The second hydrogel blocks 17 at both ends of the heterogeneous vascularized artificial skeletal muscle tissue 1 are respectively fixed on one side of the base, such as through microneedle 18 for fixation; the copper electrodes 15 are respectively fixed on the second side of the base, and the actuator is fixed on the third side of the base; the copper electrodes are connected to the external power supply through wires.

The copper electrodes 15 are respectively connected to the power supply through wires, providing the skeletal muscle cells with an input voltage with a peak value of 2 volts and a frequency of 0.1 Hz to 10 Hz, stimulating the heterogeneous vascularized artificial skeletal muscle tissue to contract and relax at the same frequency.

In summary, the invention includes but is not limited to the above embodiments. Any equivalent replacement or partial improvement made within the spirit and principles of the invention will be deemed to be within the protection scope of the invention.

Claims (10)

1. A heterovascularized artificial skeletal muscle tissue, characterized in that: the bionic micro-muscle fiber comprises a plurality of pairs of strip-shaped muscle belts which are symmetrically arranged along the long axis direction and have different curvatures, each strip-shaped muscle belt comprises a plurality of bionic micro-muscle bundles (4) and hollow micro-fibers (5) which are alternately arranged in a layered manner along the long axis direction, and the bionic micro-muscle bundles (4) and the hollow micro-fibers (5) are connected through first hydrogel; the bionic micro-muscle bundles (4) are fibrous coaxial nested microstructures formed by skeletal muscle cell structures and fibroblast structures wrapping the skeletal muscle cell structures; the fibroblast structure consists of the fibroblast (2) wrapped by the second hydrogel; the skeletal muscle cell structure is formed by wrapping skeletal muscle cells (3) by third hydrogel, and the skeletal muscle cells (3) are arranged in an oriented manner along the long axis direction of the bionic micro-muscle bundles; the hollow microfibers (5) are formed by wrapping skeletal muscle cells (3) by fourth hydrogel, and the skeletal muscle cells (3) are arranged in an oriented manner along the long axis direction of the hollow microfibers (5); both ends of the heterogeneous vascularized artificial skeletal muscle tissue (1) are wrapped in a fifth hydrogel (17).

2. A heterovascularized artificial skeletal muscle tissue in accordance with claim 1, wherein: the length of the long axis of the heterogeneous vascularized artificial skeletal muscle tissue (1) is 0.8 cm-1.2 cm; the number of the strip-shaped muscle belts is 6, and each strip-shaped muscle belt comprises 30-60 bionic micro-muscle bundles and 30-60 hollow micro-fibers (5); the radius of curvature of the outermost pair of strip-shaped muscle belts is 1.5 cm-2.5 cm, the radius of curvature of the middle pair of strip-shaped muscle belts is 2.5 cm-4 cm, and the radius of curvature of the innermost pair of strip-shaped muscle belts is 4 cm-5 cm.

3. A heterovascularized artificial skeletal muscle tissue in accordance with claim 1, wherein: the diameter of the skeletal muscle cell structure in the bionic micro-muscle bundle (4) is 50-100 mu m, and the thickness of the fibroblast structure is 50-100 mu m; the hollow microfiber (5) has an inner cavity diameter of 50-100 μm and a wall thickness of 50-100 μm.

4. A heterovascularized artificial skeletal muscle tissue in accordance with claim 1, wherein: the first hydrogel, the third hydrogel and the fifth hydrogel are GelMA hydrogels; the second hydrogel and the fourth hydrogel are mixed hydrogels of GelMA and calcium alginate.

5. A heterovascularized artificial skeletal muscle tissue in accordance with claim 1, wherein: the skeletal muscle cells (3) are spindle-shaped, and the included angle between the long axis of the spindle-shaped appearance and the long axis direction of the bionic micro-muscle bundles or the hollow micro-fibers (5) is smaller than 20 degrees.

6. A method of preparing a heterovascularized artificial skeletal muscle tissue according to any one of claims 1-5, wherein: the method comprises the following steps:

1. assembling a micro-fluidic chip spray head: coaxially nesting and assembling three needles with different sizes, and sleeving a transparent tube with the tip end at the tail end of the maximum-size needle to form a micro-fluidic chip spray head;

2. assembling a micro-column array collection platform: fixing microcolumns (25) on a collection platform according to the number and curvature requirements of each strip-shaped muscle band in heterogeneous vascularized artificial skeletal muscle tissue, and assembling a Cheng Wei column array collection platform; then immersing the bottom of the micropillar array collection platform and the lower part of the micropillar (25) into CaCl ₂ In solution;

3. planning a moving path of a micro-fluidic chip spray head on a micro-column array collection platform according to the structural requirement of heterogeneous vascularized artificial skeletal muscle tissue;

4. injecting a third hydrogel solution wrapping skeletal muscle cells (3) into an innermost needle, injecting a second hydrogel solution wrapping fibroblasts (2) into an intermediate needle, injecting a dextran solution into the outermost needle, irradiating a transparent tube with an ultraviolet lamp, and vertically immersing the tip of the transparent tube into CaCl ₂ The solution is subjected to vertical stable movement on a micro-fluidic chip spray head according to a planned movement path, and a bionic micro-muscle beam is formed on the micro-column array collection platform;

5. replacing the innermost layer with a glucan solution, and forming hollow microfibers on a micropillar array collection platform in the same manner as the rest;

6. micropillar array collection platform from CaCl ₂ Taking out the solution, spraying a first hydrogel solution on the surfaces of the bionic micro-muscle bundles and the hollow micro-fibers, irradiating and crosslinking, and culturing to obtain the heterogeneous vascularized artificial skeletal muscle tissue.

7. The method for preparing heterogeneous vascularized artificial skeletal muscle tissue of claim 6, wherein: the height of each microcolumn (25) is 3-4 mm, the diameter is 0.2-0.3 mm, and the distance between two adjacent microcolumns (25) is 2-5 mm; immersing the microcolumn (25) under CaCl ₂ The height of the solution is 0.2 mm-0.4 mm.

8. A micro-mechanical arm, characterized in that: comprising a heterovascularized artificial skeletal muscle tissue (1) according to any one of claims 1-5, an actuator and an electrode stimulation mechanism; the electrode stimulation mechanisms are positioned at two ends of the heterogeneous vascularized artificial skeletal muscle tissues (1), and the execution mechanism is fixed between the pair of heterogeneous vascularized artificial skeletal muscle tissues (1).

9. A micro-robot as defined by claim 8, wherein: the actuating mechanism comprises a splayed framework (19) and elastic connecting pieces (11), the splayed framework comprises two parallel rod pieces (12) and inclined rod pieces (13) corresponding to the parallel rod pieces (12) one by one, the parallel rod pieces (12) are connected with the inclined rod pieces (13), the two parallel rod pieces (12) are respectively connected with the second hydrogel blocks (17), and the inclination angle of the inclined rod pieces is 45-60 degrees; both ends of the elastic connecting piece (11) are respectively connected with the inclined rod piece (13).

10. A micro-robot as defined by claim 8, wherein: the electrode stimulation mechanism comprises copper sheet electrodes (15), a base (16) and a lead, wherein second hydrogel blocks (17) at two ends of the heterogeneous vascularized artificial skeletal muscle tissue (1) are respectively fixed on one surface of the base, the copper sheet electrodes (15) are respectively fixed on the second surface of the base, and the executing mechanism is fixed on the third surface of the base; the copper sheet electrode is connected with an external power supply through a lead.