Drug delivery device for intestinal capsule robot

Abstract

A drug delivery device for an intestinal capsule robot comprises: a drug storage cover, a support base and a robot housing connected in sequence, a magnetic compartment door and a reset spring arranged between the drug storage cover and the support base, and a receiving coil with a magnetic core arranged inside the robot housing, wherein: the drug storage cover and the magnetic compartment door form a drug storage cavity, the magnetic compartment door can only move axially under the restriction of the inner wall of the drug storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic compartment door are magnetized together, the magnetic compartment door moves under the joint action of the external uniform magnetic field and the magnetic core of the receiving coil, and the drug storage cover is opened to achieve drug delivery; when the receiving coil senses an external alternating magnetic field, the magnetic compartment door does not move, and the receiving coil generates induced electric energy. The present invention realizes the functional reuse of the transmitting coil and the receiving coil in the wireless energy supply system, reasonably utilizes the existing functional components, and is conducive to the simplification and miniaturization of the system and the controllable drug delivery speed.

Description

Technical Field

[0001] The present invention relates to a technology in the field of medical micro-robots, in particular to a drug delivery device for an intestinal capsule robot. Background Art

[0002] The micro-intestinal capsule robot can realize autonomous movement in the intestine and has the ability to expand and stay, and the movement is often realized by a driving source such as a motor, so the battery cannot provide enough energy. The use of wireless power supply technology can effectively solve the problem of insufficient battery power supply. However, there are still some defects. First, in order to ensure sufficient energy, the receiving coil is often equipped with a magnetic core to strengthen the coupling with the transmitting coil, so the size of the coil is usually large, especially the three-dimensional solid receiving coil with multi-dimensional energy receiving capability. The limited volume inside the wirelessly powered robot has been filled with motors and reducers, expansion and motion mechanisms, receiving coils, image modules, and circuits, and cannot accommodate more functional modules to realize the drug delivery function, so the function is relatively single. Secondly, the existing robots with drug delivery functions are generally located inside the robot. The structural design cannot be modularized and is not portable. Not only that, the realization of the drug delivery function requires the assistance of additional devices such as motors and SMA heating devices, which are complex in design and require a large amount of internal space. Summary of the invention

[0003] In view of the defects that existing implantable drug delivery devices are all for solid particles or powdered drugs, cannot achieve multiple quantitative and timed release and release speed adjustment, have a single function, can only be used as a drug delivery device, and are large in size, the present invention proposes a drug delivery device for an intestinal capsule robot, which is driven by an external magnetic field and does not need to consume the energy of the intestinal capsule robot itself; it realizes the functional reuse of the transmitting coil and the receiving coil in the wireless power supply system, and rationally utilizes the existing functional components, which is conducive to the simplification and miniaturization of the system; the size of the drug outlet can be changed by adjusting the external driving magnetic field, thereby achieving controllable drug delivery speed.

[0004] The present invention is achieved through the following technical solutions:

[0005] The present invention relates to a drug delivery device for an intestinal capsule robot, comprising: a drug storage cover, a support base and a robot shell connected in sequence, a magnetic compartment door and a reset spring arranged between the drug storage cover and the support base, and a receiving coil with a magnetic core arranged inside the robot shell, wherein: the drug storage cover and the magnetic compartment door form a drug storage cavity, the magnetic compartment door can only move along the axial direction under the restriction of the inner wall of the drug storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic compartment door are magnetized together, the magnetic compartment door moves under the joint action of the external uniform magnetic field and the magnetic core of the receiving coil, and the drug storage cover is opened to implement drug delivery; when the receiving coil senses an external alternating magnetic field, the magnetic compartment door does not move, and the receiving coil generates induced electric energy.

[0006] The present invention relates to a control method for the above-mentioned drug delivery device. In the initial state, the magnetic compartment door forms a closed space for storing drugs with the drug storage cover under the elastic force of the reset spring. When reaching a given drug delivery position, a directional constant uniform magnetic field is applied externally. At this time, the traction magnetic core is directional magnetized. Under the joint traction of the external magnetic field and the magnetic core of the receiving coil, the traction core moves axially and further compresses the spring, and the drug outlet is opened. When the spring elastic force is balanced with the traction force of the magnetic core, the drug outlet is no longer opened. Since the spring elastic force and the compression length are linearly related, the amplitude of the drug outlet opening can be controlled by applying the size of the external magnetic field, thereby controlling the drug release speed and release amount. After the drug delivery is completed, by switching the external magnetic field to a high-frequency alternating magnetic field, the magnetic core is magnetized at high frequency and is not subject to external force provided by the magnetic field. The magnetic core compartment door returns to the initial position under the elastic force of the spring, and the receiving coil induces energy under the action of the alternating magnetic field to supply energy to the load. Through the conversion of the external magnetic field, the drug delivery and energy supply are controlled separately.

[0007] Technical Effects

[0008] Compared with the prior art, the present invention realizes different functions by switching between uniform magnetic field and high-frequency alternating magnetic field; reuses the magnetic core of the receiving coil in the existing capsule robot; balances the attraction generated by the magnetization of the magnetic core with the linear elastic force of the microspring to realize the opening and stopping of the door at a specific position. The device can be used to release liquid, granular, and powdered drugs; can realize the opening and stopping of the door at a specific position, thereby achieving controllable drug delivery speed and dosage; realizes the functional reuse of the magnetic core of the receiving coil, which is conducive to miniaturization, and at the same time, the introduction of the traction magnetic core increases the efficiency of the original receiving coil in receiving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is the appearance diagram of the present invention;

[0010] Figure 2 It is a schematic diagram of the explosion of the structure of the present invention;

[0011] Figure 3 This is a cross-sectional view of the drug outlet of the present invention in a closed state;

[0012] Figure 4 This is a cross-sectional view of the drug outlet of the present invention in an open state;

[0013] Figure 5 It is a schematic diagram of the relationship between the opening amplitude of the medicine outlet and the current size curve of the present invention.

[0014] Figure 6 It is a schematic diagram of the changes in the energy receiving efficiency of the receiving coil and the load receiving power before and after the introduction of the traction core of the present invention. DETAILED DESCRIPTION

[0015] like Figure 1-Figure 4 As shown, this embodiment relates to a drug delivery device for an intestinal capsule robot, comprising: a drug storage cover 1, a support base 4 and a robot housing 7 which are connected in sequence and form a cavity, as well as a magnetic compartment door 2 and a reset spring 3 arranged between the drug storage cover 1 and the support base 4, and a receiving coil 5 with a magnetic core 6 arranged inside the robot housing 7, wherein: the magnetic compartment door 2 can only move axially under the restriction of the inner wall of the drug storage cover 1 and the support base 4, and when the receiving coil 5 senses the external magnetic field, a magnetic attraction force is generated to attract the magnetic compartment door 2 toward the direction of the robot housing 7, thereby opening the drug storage cover 1 to achieve drug delivery.

[0016] The medicine storage cover 1 preferably has three medicine outlets 101 evenly distributed thereon.

[0017] The magnetic door 2 comprises: a traction magnetic core 201, a movable cover plate 202 and a door baffle 203, wherein: the outer diameter of the movable cover plate 202 is slightly smaller than the inner diameter of the medicine storage cover 1, and is in contact with the inner wall of the medicine storage cover 1 through a silicone layer and lubricating grease, and under the control of the traction magnetic core 201 and the reset spring 3, the medicine outlet 101 is opened and closed.

[0018] The pulling magnetic core 201 and the receiving wire coil magnetic core 6 are preferably both high magnetic permeability manganese-zinc ferrite cores.

[0019] The outer diameter of the support base 4 is equal to the outer diameter of the robot housing 7, and the support base 4 includes: a support member 401 and a spring base 402, wherein: the medicine storage cover 1 and the support member 401 are fixed by bolts and glued, one end of the return spring 3 is fixed in the spring base 402 by glue, and the other end is always in contact with the surface of the movable cover plate 202.

[0020] The number of the return springs 3 and the spring bases 402 is the same as the number of the medicine outlets.

[0021] like Figure 3As shown, when the intestinal capsule robot with a drug delivery device enters the intestine, in the initial state, the external magnetic field is a high-frequency alternating magnetic field generated by the transmitting coil for wireless energy supply. At this time, there is no attraction between the magnetic core 6 of the receiving coil and the traction magnetic core 201. The high magnetic permeability and magnetic concentration characteristics of the magnetic core are used to enhance the coupling between the transmitting coil and the receiving coil 5, thereby improving the efficiency of wireless energy transmission and making the robot run stably. At this time, the reset spring 3 is in a compressed state, and the drug outlet 101 is closed.

[0022] like Figure 4 As shown, when a drug administration operation is required, the magnetic field of the external transmitting coil is switched to a constant magnetic field, the magnetic core 6 of the receiving coil and the traction magnetic core 201 are magnetized, generating an attractive force, causing the magnetic compartment door 2 to move toward the support base 4, the drug outlet 101 gradually opens, and the reset spring 3 is further compressed.

[0023] When the attraction between the magnetic core 6 of the receiving coil and the pulling magnetic core 201 is balanced with the spring force of the return spring 3 or the magnetic door 2 moves to the maximum position, the magnetic door 2 stops moving and the drug outlet 101 remains. Therefore, the speed of drug administration can be changed by controlling the size of the external driving magnetic field.

[0024] When the drug administration operation is completed, the magnetic field of the external transmitting coil is switched to an alternating magnetic field, and under the spring force of the reset spring 3, the magnetic compartment door 2 moves in the opposite direction until the drug outlet 101 is completely closed.

[0025] After specific actual experiments in the constant magnetic field generated by the Helmholtz coil pair, different driving currents were passed through the coils to generate uniform magnetic fields of different strengths. The relationship between the opening amplitude of the magnetic door and the driving current is shown in the following figure: Figure 5 As shown, the results indicate that the drug delivery speed and dosage of the drug delivery device can be adjusted by the size of the external magnetic field.

[0026] After specific practical experiments in the alternating magnetic field generated by the Helmholtz coil pair, the receiving coil uses a single-dimensional receiving coil with a receiving coil size of 90 turns of 12 strands of AWG44 Litz wire are used for winding, the core material is manganese-zinc ferrite R10K, the resonant frequency of the transmitting coil and the receiving coil are set to 218kHz, the load resistance is 30Ω, and under 2A current drive, the load receiving power and efficiency on the central axis of the transmitting coil before and after the introduction of the pulling core are as follows Figure 6 As shown, the results show that pulling the magnetic core can improve the received power and energy transfer efficiency.

[0027] The above-mentioned specific implementation can be partially adjusted in different ways by those skilled in the art without departing from the principle and purpose of the present invention. The protection scope of the present invention shall be based on the claims and shall not be limited by the above-mentioned specific implementation. Each implementation scheme within its scope shall be subject to the constraints of the present invention.

Claims

1. A drug delivery device for an intestinal capsule robot, characterized in that: include: A medicine storage cover, a support base and a robot shell connected in sequence, a magnetic compartment door and a reset spring arranged between the medicine storage cover and the support base, and a receiving coil with a magnetic core arranged inside the robot shell, wherein: the medicine storage cover and the magnetic compartment door form a medicine storage cavity, the magnetic compartment door can only move along the axial direction under the restriction of the inner wall of the medicine storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic compartment door are magnetized together, the magnetic compartment door moves under the joint action of the external uniform magnetic field and the magnetic core of the receiving coil, and the medicine storage cover is opened to achieve drug administration; when the receiving coil senses an external alternating magnetic field, the magnetic compartment door does not move, and the receiving coil generates induced electrical energy; The magnetic bin door comprises: a traction magnetic core, a movable cover plate and a bin door baffle, wherein: the outer diameter of the movable cover plate is slightly smaller than the inner diameter of the medicine storage cover, and is in contact with the inner wall of the medicine storage cover through a silicone layer and lubricating grease, and the medicine outlet is opened and closed under the control of the traction magnetic core and the reset spring.

2. The drug delivery device for the intestinal capsule robot according to claim 1, characterized in that: The medicine storage cover is evenly provided with three medicine outlets.

3. The drug delivery device for the intestinal capsule robot according to claim 1, characterized in that: The traction magnetic core and the magnetic core of the receiving coil are both high magnetic permeability manganese-zinc ferrite cores.

4. The drug delivery device for the intestinal capsule robot according to claim 1, characterized in that: The outer diameter of the support base is equal to the outer diameter of the robot shell. The support base includes: a support member and a spring base, wherein: the medicine storage cover and the support member are fixed by bolts and glued, one end of the reset spring is fixed in the spring base by glue, and the other end is always in contact with the surface of the movable cover.

5. The drug delivery device for the intestinal capsule robot according to claim 2, characterized in that: The number of the return springs and spring bases is the same as the number of the medicine outlets.

6. A control method based on the drug delivery device according to any one of claims 1 to 5, characterized in that: In the initial state, the magnetic compartment door forms a closed space for storing drugs with the drug storage cover under the elastic force of the reset spring. When it reaches the given drug administration position, a directional constant uniform magnetic field is applied externally. At this time, the traction magnetic core is directionally magnetized. Under the joint traction of the external magnetic field and the magnetic core of the receiving coil, it moves axially and further compresses the spring, and the drug outlet is opened. When the spring force is balanced with the traction force of the magnetic core, the drug outlet is no longer open. Since the spring force and the compression length are linearly related, the amplitude of the drug outlet opening can be controlled by applying the size of the external magnetic field, thereby controlling the drug release rate and release amount. After the drug administration is completed, the external magnetic field is switched to a high-frequency alternating magnetic field. At this time, the magnetic core is magnetized at high frequency and is not subject to external force provided by the magnetic field. The magnetic core compartment door returns to its initial position under the elastic force of the spring. At the same time, the receiving coil induces energy under the action of the alternating magnetic field to supply energy to the load. Through the conversion of the external magnetic field, the drug administration and energy supply are controlled separately.

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