Micro-nano drug multi-load delivery and time-sharing release robot, preparation method and control method

Abstract

The present invention discloses a micro-nano drug multi-load transport and time-sharing release robot, a preparation method, and a control method. The robot includes a robot body, the outer surface of the robot body is coated with a strong magnetic layer, the outer surface of the strong magnetic layer is coated with a bioaffinity layer, and a plurality of cavities for loading drugs are constructed in the robot body. Each cavity has a plurality of holes on the wall corresponding to the robot body, and the holes are sealed by an infrared response layer after the drug loading is completed. The micro-nano drug multi-load transport and time-sharing release robot provided by the present invention can simultaneously deliver multiple drugs and release different drugs at different parts of a biological body at one time. The drug delivery is accurate, the drug release is sufficient, and the operation is simple and easy to promote. The robot of the present invention can produce different motion modes under the cooperation of a gradient magnetic field, a lateral double-rotating magnetic field, and a lateral single-rotating magnetic field, achieving accurate drug delivery to the site and also achieving drug delivery to a precise direction.

Description

Technical Field

[0001] The present invention belongs to the technical field of micro-nano robots, and particularly relates to a micro-nano drug multi-load delivery and time-sharing release robot, a preparation method and a control method. Background Art

[0002] The sizes of micro-nanorobots range from tens of nanometers to tens of micrometers and are divided into biological, artificial and bio-hybrid types. Biological and bio-hybrid micro-nanorobots usually contain natural organisms and have high biocompatibility. However, biological and bio-hybrid micro-nanorobots are difficult to form, which imposes considerable limitations on their applications. Most micro-nanorobots are artificial micro-nanorobots manufactured using top-down or bottom-up strategies. Top-down micro-nanorobot manufacturing strategies include physical vapor deposition, which is divided into direct deposition and grazing angle deposition, as well as roll-up technology for manufacturing micro-nanotubes and spiral microrobots and 3D printing technology (such as direct laser writing). Bottom-up micro-nanorobot manufacturing strategies include electrochemical / chemical deposition, wet chemical synthesis and self-assembly processes.

[0003] Artificial micro- and nanorobots can be categorized by structure as rigid robots and flexible robots. Flexible micro- and nanorobots can interact with the human body, possess overwhelming advantages in adapting to unpredictable environments, and can be used in biomedical applications. Soft micro- and nanorobots can be further categorized as active soft materials and smart materials. Active soft materials refer to soft robots made from polymers and organic components. The modulus and stiffness of soft materials are generally comparable to those of real biological cells, tissues, and organs, making micro- and nanorobots more similar to biological materials and therefore more suitable for biomedical applications. Some soft robots can change shape during navigation. Smart materials not only incorporate soft materials into their designs but also exhibit adaptability and variability when subjected to external stimuli (such as heat, light, ultrasound, magnetic fields, electric fields, and mechanical forces) through their own structure (e.g., spring-mass systems) or pre-defined hinges (e.g., segmented micro / nanostructures with multiple soft joints).

[0004] Due to their limited size, micro- and nanorobots face significant challenges in achieving efficient drug delivery, precise manipulation within the complex human environment, and complete timed release of drugs. Traditional micro- and nanorobot control methods rely primarily on manual or semi-automatic control, limiting their movement to a specific target point along a predetermined path within two or three-dimensional space. These methods suffer from low control accuracy, slow response speed, and limited intelligence. New intelligent micro- and nanorobots, on the other hand, can autonomously plan paths, navigate complex environments, and avoid fixed and moving obstacles. They can also identify target objects, such as cancer cells and normal red blood cells, in a timely manner. However, these technologies are technically immature and their high operating costs hinder their widespread adoption.

[0005] In the prior art, many inventors have proposed nanorobots with different structures. For example, the Chinese patent application with publication number CN212631236 U proposes a magnetically controlled micro-helical robot, which includes a spiral matrix, a magnetic material layer, a biocompatible material layer and a nanowire layer. The magnetic material layer covers the spiral matrix, the biocompatible material layer covers the magnetic material layer, and the nanowire layer covers the biocompatible material layer. The magnetically controlled micro-helical robot has a bionic bacterial flagella structure, a high specific surface area and good biocompatibility. The patent claims that it can move efficiently and load and release a large amount of drugs in a high viscosity, low Reynolds number environment to achieve precise treatment, but the patent cannot achieve the simultaneous delivery of different drugs to different parts and different directions in the body.

[0006] Chinese patent application publication number CN104888340B proposes a wireless passive targeted drug delivery device, comprising a housing, a top cover disposed on top of the housing, a drug storage chamber disposed within the housing, a magnetostrictive rod, a guide rod, and a catheter disposed within the drug storage chamber, the top cover connected to one end of the guide rod, the other end of the guide rod disposed within the catheter, and the catheter connected to the floor of the drug storage chamber. Under the housing, a crawling foot made of magnetostrictive material is disposed, which delivers drugs by generating a magnetic field through the supply of alternating current. This patent implements drug delivery using a magnetic field, but it cannot deliver multiple loads of drugs to different locations at once, nor can it deliver different drugs to different locations and positions by controlling the robot's rotation or other actions.

[0007] Another example is a Chinese patent application with publication number CN 107485779 B, which discloses a nanorobot and its preparation method. The nanorobot includes a liquid metal droplet, within which is disposed a loading component; the loading component is used to load therapeutic drugs; the loading component is connected to a channel, one end of the channel being connected to the loading component, and the other end of the channel being provided with a sealing component, which is exposed outside the liquid metal droplet. The nanorobot is provided with at least one loading component and a corresponding channel, allowing the nanorobot to release drugs from the loading component based on the properties of the target tissue, thereby achieving the purpose of treatment. However, the patent does not disclose how to control the robot specifically to enable the robot to deliver drugs from different channels to different parts and locations within the body.

[0008] Another example is a Chinese patent application with publication number CN 111921072 B, which discloses a micro-magnetically controlled robot for targeted drug delivery, modeled after T4 bacteriophage, and its control method. The robot includes a robot delivery capsule, a positioning and induction magnetic field supply device, an oscillating magnetic field supply device, and multiple micro-robots placed within the robot delivery capsule. The micro-robots include a head shell, a drug capsule, a tail wire trigger switch, a tail tip, a tail wire, and a control switch. The method of the present invention involves bringing the robot delivery capsule to a designated location, then moving the micro-robot from the capsule outlet to the outside of the robot delivery capsule. The tail wire released by the micro-robot then abuts against a designated surface, and finally, pushing open the control switch to deliver the drug. This patent utilizes multiple delivery robots housed within the delivery capsule, first releasing the drug capsule after it reaches a predetermined location, allowing different robots to deliver the drug to different locations. This concept increases the size of the delivery capsule, undoubtedly increasing the physical barrier to drug delivery within the organism. Furthermore, it significantly impacts the compatibility of the organism, potentially causing rejection.

[0009] Based on this, a micro-nano robot with simple operation, high control precision, fast response speed, and the ability to achieve time-sharing and complete drug release is provided. After analysis, the above literature does not affect the inventiveness of this patent. Summary of the Invention

[0010] The purpose of the present invention is to address the shortcomings of the existing technology and propose a micro-nano drug multi-load transportation and time-sharing release robot. The device can achieve precise control of spatial position and direction, and can accommodate multiple drugs at a time in the robot body for transportation, and accurately release different drugs at different positions, with high application value.

[0011] The technical objective of the present invention is achieved through the following technical solutions: a micro-nano drug multi-load transport and time-sharing release robot, including a robot body, the robot body is spherical or ellipsoidal, the outer surface of the robot body is plated with a strong magnetic layer, the outer surface of the strong magnetic layer is plated with a bioaffinity layer, a plurality of partition walls are constructed inside the robot body, the plurality of partition walls divide the inner cavity of the robot body into a plurality of cavities for loading drugs, each of the cavities is opened with a plurality of holes on the wall corresponding to the robot body, and the holes are sealed by an infrared response layer after the drug loading is completed.

[0012] Preferably, the robot body is configured to have two, three or four cavities.

[0013] Preferably, three cavities are constructed in the robot body, and the three cavities are arranged in layers in the robot body.

[0014] Preferably, three cavities of the same shape and volume are constructed inside the robot body.

[0015] Preferably, the infrared response layer is made of infrared response material, and the hole corresponding to each cavity is sealed with infrared response material of different infrared response wavelength.

[0016] Preferably, the infrared response materials of the infrared response layers corresponding to the three cavities are respectively a mixture of polycaprolactone diol and IR-780 iodide, a mixture of polycaprolactone diol and ferroferric oxide nanoparticles modified tungsten disulfide, and a mixture of polycaprolactone diol and polypyrrole nanoparticles, and the corresponding infrared wavelength ranges are 780~820nm, 840~880nm and 900~940nm, respectively.

[0017] The present invention also provides a method for preparing a micro-nano drug multi-load delivery and time-sharing release robot, comprising the following steps:

[0018] S1 uses a two-photon micro-nano 3D printer to print the robot body from bottom to top, forming multiple cavities for loading drugs and multiple holes opened on the wall of the robot body and corresponding to each cavity;

[0019] S2 uses a magnetron sputtering coating machine to coat a layer of magnetic material on the outer surface of the robot body to form a strong magnetic layer, and then coats a bio-affinity layer on the outside of the strong magnetic layer;

[0020] S3 uses centrifugal drug microloading technology to load a drug into one of the cavities;

[0021] S4: using an infrared responsive material to seal the hole corresponding to the cavity loaded with the drug to form an infrared responsive layer;

[0022] S5 flushes the robot body with deionized water to wash out the drugs in the unsealed cavity;

[0023] S6 repeats steps S3-S5, sequentially loading the remaining cavities with drugs and sealing them;

[0024] S7 uses ultrapure water to clean the robot body.

[0025] Preferably, in step S1, three cavities are formed in the robot body, and the three cavities are arranged in layers in the robot body.

[0026] Preferably, in step S3, the medicine is first loaded into the cavity located in the middle of the three cavities, and then steps S3-S5 are repeated to load the other two layers; when only two medicines need to be loaded, one of the cavities is loaded with saline to keep the robot body balanced.

[0027] The present invention also provides a control method for a robot capable of transporting multiple micro-nano drugs and releasing the drug in a time-sharing manner, including the following control methods:

[0028] Method 1: applying a rotating magnetic field at both ends of the vertical axis of the micro-nano robot to cause the micro-nano robot to translate rapidly in a direction perpendicular to the vertical axis;

[0029] Method 2: applying a gradient magnetic field from one end of the horizontal axis of the micro-nano robot to the other end, so that the micro-nano robot slowly translates along the direction of the horizontal axis;

[0030] Method 3: Apply a rotating magnetic field at one end of the vertical axis of the nanorobot, so that the micro-nanorobot flips under the action of a single rotating magnetic field;

[0031] When the micro-nano robot moves to a predetermined position, pulses of different infrared wavelengths are used to irradiate the corresponding infrared responsive material to cause a phase change, thereby completing the release of the drug in the specific cavity.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] 1. The micro-nano drug multi-load delivery and time-sharing release robot provided by the present invention can deliver multiple drugs simultaneously and release different drugs at different parts of the body at one time. It has accurate drug delivery, sufficient drug release, simple operation, and is easy to promote.

[0034] 2. The micro-nano drug multi-load transport and time-sharing release robot provided by the present invention can produce different movement modes under the cooperation of gradient magnetic field, side double rotating magnetic field, and side single rotating magnetic field, thereby achieving precise drug delivery to the site and the precise direction.

[0035] 3. The control method provided by the present invention utilizes sealing of infrared-affecting materials that respond to different wavelength ranges, thereby realizing the release of specific drugs at specific locations using infrared light wave pulses in a specific wavelength range, and realizing the time-sharing release of drugs at different locations. Combined with the control method of drug delivery, the release process has a fast response speed and sufficient release.

[0036] 4. The energy of the micro-nano drug multi-load transport and time-sharing release robot during operation comes from external magnetic fields, light fields and sound wave fields rather than the robot itself, so the energy supply is very stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural diagram of the robot body in the present invention.

[0038] Figure 2 This is a schematic diagram of the state in which the infrared response layer of the robot body of the present invention undergoes phase change under the action of infrared pulses.

[0039] Figure 3 This is a schematic diagram of the state of the robot body in the present invention moving rapidly under the action of a dual rotating magnetic field.

[0040] Figure 4 It is a schematic diagram of the state in which the robot body of the present invention moves slowly under the action of the gradient magnetic field.

[0041] Figure 5 It is a schematic diagram of the structure of the robot body in the present invention undergoing inversion in a plane under the action of a single helical magnetic field.

[0042] Figure 6 It is a schematic diagram of the state in which the robot body of the present invention vibrates under the action of sound waves.

[0043] Figure 7 It is a schematic diagram of the process of the robot transporting three different drugs in a triangular path in the present invention.

[0044] In the above drawings: 1. Robot body; 2. Strong magnetic layer; 3. Bioaffinity layer; 4. Partition wall; 5. Cavity; 6. Hole; 7. Infrared response layer; 71. Infrared response layer one; 72. Infrared response layer two; 73. Infrared response layer three; 8. Infrared pulse one; 9. Infrared pulse two; 10. Infrared pulse three; 11. Sound wave; 12. Set point; 13. Target point one; 14. Target point two; 15. Target point three. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] In the description of the present invention, the solid arrow represents the direction of the magnetic field, and the hollow arrow represents the moving direction of the robot body.

[0047] refer to Figure 1As a preferred embodiment of the present invention, this embodiment provides a micro-nano drug multi-load delivery and time-sharing release robot, including a robot body 1, which is spherical or ellipsoidal. The material of the robot body 1 is a durable, hard, and waterproof functional material. It will resonate under the action of a specific frequency sound wave, so that the drug can be completely released. The outer surface of the robot body 1 is plated with a strong magnetic layer 2, and the material of the strong magnetic layer 2 is the transition metal nickel. As a ferromagnetic material, it can be magnetized to saturation under the action of a very small magnetic field. At the same time, it has extremely strong corrosion resistance and oxidation resistance; the outer surface of the strong magnetic layer 2 is plated with a bioaffinity layer 3, and the material of the bioaffinity layer 3 is the rare metal titanium. Compared with other metals, titanium is a metal that is completely non-toxic to the human body and does not It will not cause environmental pollution, has antibacterial function, and is light in weight; a plurality of partition walls 4 are constructed in the robot body 1, and the plurality of partition walls 4 divide the inner cavity of the robot body 1 into three cavities 5 for loading drugs. According to the proportion of the carried drugs, cavities with specific volume ratios can be printed out, and each of the cavities 5 is opened on the corresponding wall of the robot body 1. The holes 6 are sealed by an infrared response layer 7 after the drug loading is completed. The material of the infrared response layer 7 is an infrared response material. Under the irradiation of an infrared pulse of a specific wavelength, the infrared response layer 7 produces a phase change, and the holes 6 corresponding to each cavity are sealed with infrared response materials of different infrared response wavelengths, so that the holes 6 corresponding to the three cavities 5 form an infrared response layer 1 71, an infrared response layer 2 72 and an infrared response layer 3 73.

[0048] In the above embodiment, the material of the robot body 1 is a mixture of 3D printing photosensitive resin and hydrogel, which has high strength, high temperature resistance, and waterproofness. It can be well printed using a two-photon micro-nano 3D printer, and its flexibility can be controlled by changing the mixing ratio.

[0049] In the preferred embodiment, see the attached Figure 1 The material of the infrared response layer 71 is a mixture of polycaprolactone diol and IR-780 iodide, which produces a phase change under an infrared pulse 8 with a wavelength of 780~820nm; the material of the infrared response layer 72 is a mixture of polycaprolactone diol and ferroferric oxide nanoparticles modified tungsten disulfide, which produces a phase change under an infrared pulse 9 with a wavelength of 840~880nm; the material of the infrared response layer 73 is a mixture of polycaprolactone diol and polypyrrole nanoparticles, which produces a phase change under an infrared pulse 10 with a wavelength of 900~940nm.

[0050] In some embodiments, according to the actual use needs of the organism and to adapt to the use restrictions in different organisms, two or four cavities 5 are constructed in the robot body to change and adjust the size of the robot and the drug delivery method.

[0051] In some embodiments, see the attached Figure 1 The three cavities 5 are arranged in layers within the robot body 1. With this arrangement, it is easier to maintain the center of gravity balance of the robot during drug loading and drug administration, thereby simplifying control.

[0052] In other embodiments, three cavities 5 of the same shape and volume are constructed in the robot body 1, that is, the spherical or ellipsoidal robot body 1 is spatially divided into three equal parts.

[0053] The method for preparing the micro-nano drug multi-payload delivery and time-sharing release robot in the above embodiment comprises the following steps:

[0054] S1 uses a two-photon micro-nano 3D printer to print the robot body 1 from bottom to top, forming a plurality of cavities 5 for loading drugs and a plurality of holes 6 opened on the wall of the robot body and corresponding to each of the cavities;

[0055] S2 uses a magnetron sputtering coating machine to coat a layer of magnetic material on the outer surface of the robot body 1 to form a strong magnetic layer 2, and then coats a bio-affinity layer 3 on the outer surface of the strong magnetic layer;

[0056] S3 uses centrifugal drug microloading technology to load a drug into one of the cavities;

[0057] S4: using an infrared responsive material to seal the hole corresponding to the cavity loaded with the drug to form an infrared responsive layer;

[0058] S5 flushes the robot body with deionized water to wash out the drugs in the unsealed cavity;

[0059] S6 repeats steps S3-S5, sequentially loading the remaining cavities with drugs and sealing them;

[0060] S7 uses ultrapure water to clean the robot body, that is, the robot body 1 is placed in an ultrasonic cleaning apparatus filled with ultrapure water for cleaning.

[0061] In the above embodiment, the robot body 1 in step S1 is printed with a photosensitive resin. The 3D printing photosensitive resin used in the present invention is prepared as follows: 13.5 g of 70% acrylated epoxy resin, 15.6 g of a mixture of 20% styrene and methyl methacrylate, 2 g of 20% trimethylolpropane triacrylate, 10 g of 20% neopentyl glycol diacrylate, 0.5 g of trimethylbenzoyl-diphenylphosphine oxide, 1 g of 10% benzophenone, 15 g of hydrogel and 10 ml of deionized water are added to a 100 ml beaker. After sufficient stirring, the mixture is placed in a constant temperature water bath and maintained at a constant temperature of 50 degrees Celsius for 1 hour. The liquid in the 20 ml beaker is poured into a centrifuge tube and centrifuged at 10,000 rpm for 5 minutes. After centrifugation, the upper transparent liquid is poured into the waste liquid tank, and the lower layer reagent is the 3D printing photosensitive resin. Then, a 3D model of the micro-nano robot body of the present invention is built using 3D modeling software. Finally, a two-photon micro-nano 3D printer is used to print the robot body 14 .

[0062] In step S2, the soluble inorganic sodium chloride (NaCl) sheet substrate is cleaned with ultrapure water. The robot body 1 is then placed on the sample tray of the magnetron sputtering coating machine. The transition metal nickel is placed in the target sputtering position. The magnetron sputtering chamber is evacuated to 10~6 Pa using a mechanical pump and a molecular pump. The vacuum pump is turned off, and argon gas is introduced with carefully controlled flow. Under the argon atmosphere, the sputtering power supply is turned on and the voltage is adjusted to a sputtering rate of 1~10 nm / s for the soft magnetic target. A layer of rare metal titanium is then coated on the robot body using the same method.

[0063] When loading drugs, due to the surface tension of the liquid, it is difficult for drugs to enter the micro-nano robot through the pores on its surface using traditional loading methods. The present invention uses centrifugal drug micro-loading technology. In step S3, the robot body 1 is first placed in a centrifuge tube containing the drug and the centrifuge is rotated at 20,000 rpm for 1 minute. At this point, the drug has entered each cavity 5 of the robot body 1. At the same time, an infrared-responsive material is used to seal one of the cavities. The robot body is then resonantly cleaned with deionized water to allow the drug in the unsealed cavity to flow out. This process is repeated to complete the loading and sealing of different drugs in each cavity.

[0064] Preferably, in step S1 , three cavities are formed in the robot body, and the three cavities are arranged in layers in the robot body 1 .

[0065] In step S3, the drug is first loaded into the cavity located in the middle of the three cavities, and then steps S3-S5 are repeated to load the other two layers. This will make the robot body more operable. When only two drugs need to be loaded, one of the cavities is loaded with saline to keep the robot body balanced.

[0066] Traditional micro-nano drug delivery robots release the drug after delivering it to the predetermined site. However, biological tissues in the body are spatially distributed, and the site to be administered is mostly located in only one direction. Therefore, not only must the drug be delivered near the site to be administered, but the delivery direction must also be aligned with the direction to be administered. Only in this way can the drug be accurately delivered to the lesion site, improving the medicinal effect while reducing the impact on surrounding biological tissues.

[0067] The control method of the robot for multi-load delivery and time-sharing release of micro-nano drugs includes the following control methods:

[0068] Method 1: See attached Figure 3 , applying a rotating magnetic field at both ends of the vertical axis of the micro-nano robot, and the double rotating magnetic field 11 causes the micro-nano robot to translate rapidly along a direction perpendicular to the vertical axis;

[0069] Method 2: See attached Figure 4 , applying a gradient magnetic field 12 from one end of the horizontal axis of the micro-nano robot to the other end, so that the micro-nano robot slowly translates along the direction of the horizontal axis;

[0070] Method 3: See attached Figure 5 , a rotating magnetic field is applied at one end of the vertical axis of the nanorobot, and the single rotating magnetic field 13 causes the micro-nanorobot to flip in the plane;

[0071] When the micro-nano robot moves to a predetermined position, infrared pulses of different infrared wavelengths (i.e., one of infrared pulse one 8, infrared pulse two 9, or infrared pulse three 10) are used to irradiate the corresponding infrared responsive material to produce a phase change, thereby completing the release of the drug in the specific cavity.

[0072] In the above description, fast and slow are only a set of relative concepts in the present invention, that is, there are relative fast and slow speeds when comparing two states. They do not represent the absolute concept of a specific speed value and cannot be understood in a narrow sense.

[0073] Preferably, see the attached Figure 6 After the infrared response layer undergoes a phase change, a sound wave 11 of a specific frequency is applied to the robot body 14 to cause the robot body 1 to resonate. The vibration will cause the drug to be completely released from the infrared response layer that has undergone a phase change.

[0074] The working principle of the present invention is explained by taking the micro-nano multi-load drug delivery and time-sharing release robot as an example to illustrate the drug release in a certain triangular path: Figure 7 As shown, the goal is to release drug A, drug B and drug C at target point 13, target point 2 14 and target point 3 15 respectively. First, place the robot loaded with drug A, drug B and drug C in a triangular path, which is a non-magnetic confined environment. The robot starts from the set point 12. Figure 3 -Attached Figure 6 Under the action of the upward lateral double-rotating magnetic field, the robot moves rapidly toward point 13. When it is about to move to point 16, it switches to the gradient magnetic field to make it move slowly to the target point 13. When the robot reaches the target point 13, the robot body 1 is irradiated with an infrared pulse of a wavelength range corresponding to the infrared response layer where the drug A is located, so that the corresponding infrared response layer produces a phase change, and then a sound wave 11 of a specific frequency is used to make the robot body 1 resonate, so that the drug inside the robot body 1 is completely released. At this time, since the infrared response layers corresponding to the two cavities do not produce a phase change, the drugs in the other two cavities cannot be released; after the drug A is fully released, the side single-rotating magnetic field is used to turn the robot, and the previous operation steps are repeated to make the robot release drugs B and C at target point 2 14 and target point 3 15. Finally, the robot is controlled to move to the outside of the organism and the robot body is ultrasonically cleaned.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the purpose and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A micro-nano drug multi-payload delivery and time-sharing release robot, comprising a robot body, the robot body being spherical or ellipsoidal, the outer surface of the robot body being coated with a strong magnetic layer, the outer surface of the strong magnetic layer being coated with a bioaffinity layer, characterized in that: Multiple partition walls are constructed inside the robot body, which divide the inner cavity of the robot body into multiple cavities for loading drugs. Each cavity has several holes on the corresponding wall of the robot body. After the drug loading is completed, the holes are sealed by an infrared response layer; the infrared response layer is composed of infrared response material, and the holes corresponding to each cavity are sealed with infrared response material with different infrared response wavelengths.

2. The micro-nano drug multi-payload delivery and time-sharing release robot according to claim 1, characterized in that: Two, three or four cavities are configured in the robot body.

3. The micro-nano drug multi-payload delivery and time-sharing release robot according to claim 2, characterized in that: Three cavities are configured in the robot body, and the three cavities are arranged in layers in the robot body.

4. The micro-nano drug multi-payload delivery and time-sharing release robot according to claim 2, characterized in that: Three cavities with the same shape and volume are constructed in the robot body.

5. The micro-nano drug multi-payload delivery and time-sharing release robot according to claim 4, characterized in that: The infrared response materials of the infrared response layers corresponding to the three cavities are respectively a mixture of polycaprolactone diol and IR-780 iodide, a mixture of polycaprolactone diol and ferroferric oxide nanoparticles modified tungsten disulfide, and a mixture of polycaprolactone diol and polypyrrole nanoparticles, and the corresponding infrared wavelength ranges are 780~820nm, 840~880nm and 900~940nm, respectively.

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