Targeted drug delivery field-controlled micro-robot and its application, preparation device and preparation method

Abstract

This invention discloses a targeted drug delivery field-controlled microrobot, comprising a drug filament assembly and a carrier filament. The invention also provides an application of this targeted drug delivery field-controlled microrobot, in which the carrier filament is delivered into a patient's body. When the carrier filament reaches the target location, a magnetic control device controls the carrier filament to bend and deform until it breaks, allowing the first drug filament to release the drug within the patient's body. This invention further provides a fabrication apparatus for the targeted drug delivery field-controlled microrobot, including microfluidic devices and a printing nozzle, reducing the fabrication difficulty, production costs, and usage costs of the microrobot. Additionally, this invention provides a fabrication method for the targeted drug delivery field-controlled microrobot. Utilizing the aforementioned fabrication apparatus, the structure and relative positional relationship of the drug filament assembly and the carrier filament can be altered, improving the flexibility and adaptability of the targeted drug delivery field-controlled microrobot.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a targeted drug delivery field-controlled microrobot, its application, preparation device, and preparation method. Background Technology

[0002] In recent years, micro- and nanorobots have attracted widespread attention. Soft micro- and nanorobots can achieve controllable movement in narrow and complex conditions by being driven by energy in the form of electricity, magnetic energy, and light energy. Due to their small size, flexible movement, and tetherless nature, soft micro- and nanorobots have extremely broad application prospects in the biomedical field.

[0003] With the development of science and technology, precision medicine, particularly in disease diagnosis and drug delivery, is expected to be achieved through the application of micro- and nanorobots. The concept of precision medicine has been highly favored in the medical field since its introduction. Micro- and nanorobots can be used as drug carriers, automatically delivering drugs to the lesion site within the narrow and complex environment of the human body to treat diseases. Compared with traditional drug delivery methods, targeted drug delivery significantly reduces the amount of medication injected and accelerates the treatment process. This precision medicine is considered one of the most advanced treatment options.

[0004] With the rapid development of 3D printing technology, many 3D-printed targeted drug delivery micro / nanorobotic systems with special structures have emerged, including origami-based microrobots, micro / nanospheres, and micro / nanohelices. However, most of these existing microrobot drug delivery systems are small in size and complex in structure. Their fabrication methods are not only time-consuming and labor-intensive, but also extremely costly, increasing the cost of use and making them unsuitable for widespread application.

[0005] Therefore, how to change the current situation where drug delivery robots have complex structures and high operating costs has become an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a targeted drug delivery field-controlled microrobot, its application, preparation device, and preparation method, so as to solve the problems existing in the prior art, simplify the structure of the drug delivery robot, and reduce the cost of using the drug delivery robot.

[0007] To achieve the above objectives, the present invention provides the following solution: The present invention provides a targeted drug delivery field-controlled microrobot, comprising:

[0008] A drug floss assembly that releases a drug upon contact with gastric fluid in a patient's body, the drug floss assembly comprising a first drug floss, the number of which is at least one;

[0009] The carrier filament has an opening and is fitted onto the outside of the drug filament assembly. The opening of the first drug filament is not connected to the opening of the carrier filament. The carrier filament is magnetic, and a magnetic control device can move and deform the carrier filament within the patient's body. The elastic modulus of the carrier filament is greater than that of the first drug filament. The magnetic control device can control the carrier filament to break at a target location so that the first drug filament comes into contact with the patient's gastric fluid.

[0010] Preferably, the drug filament assembly further includes a second drug filament, which is connected to the opening of the carrier filament, and the number of the second drug filament is at least one.

[0011] Preferably, the second drug filament includes drug segments and non-drug segments, which are alternately arranged;

[0012] When there are multiple second drug filaments, the drug segments of the second drug filaments are arranged alternately.

[0013] Preferably, the carrier filament is made of a mixture of silicone material and neodymium iron boron magnetic particles.

[0014] This invention also provides an application of the above-mentioned targeted drug delivery field-controlled microrobot:

[0015] The carrier filament is inserted into the patient's body. The opening of the first drug filament is not connected to the opening of the carrier filament and does not come into contact with the patient's gastric fluid. The magnetic control device moves the carrier filament outside the patient's body. When the carrier filament reaches the target position, the magnetic control device controls the position of the carrier filament that wraps the first drug filament to bend and deform until it breaks. The first drug filament then comes into contact with the patient's gastric fluid and releases the drug.

[0016] Meanwhile, the present invention also provides a fabrication apparatus for a targeted drug delivery field-controlled microrobot, comprising:

[0017] A microfluidic device is provided, which can be connected to a printing platform; the microfluidic device is provided with a printing channel and at least two input channels, the input channels include an installation channel and a material channel, one end of the material channel is connected to the installation channel, the other end of the material channel is connected to the printing channel, all the material channels are interconnected at the ends connected to the printing channel to form a converging channel, and the converging channel is connected to the printing channel;

[0018] A print head, each corresponding to one of the input channels; the print head includes a print cylinder and a print needle, the print cylinder can contain printing material, the print needle is connected to the print cylinder, the printing material in the print cylinder can be extruded through the print needle for printing the carrier filament and the first drug filament, the print needle is slidably disposed in the mounting channel, and the end of the print needle away from the print cylinder can extend into the material channel and the converging channel.

[0019] Preferably, the printing needle is clearance-fitted with the mounting channel;

[0020] A sealing layer is provided between the printing needle and the mounting channel, and the sealing layer is formed of lubricating oil.

[0021] Preferably, when the number of input channels is greater than two, one of the input channels is coaxially arranged with the printing channel, and the remaining input channels are evenly distributed circumferentially around the axis of the printing channel.

[0022] Preferably, the diameter of the material channel is larger than the diameter of the installation channel.

[0023] In addition, the present invention also provides a method for preparing a targeted drug delivery field-controlled microrobot. Using the above-mentioned preparation device for a targeted drug delivery field-controlled microrobot, the microfluidic device is connected to the printing platform, printing material is added into the printing cylinder, the printing platform drives the microfluidic device and the printing nozzle to move, and the printing material is extruded from the printing needle and printed through the printing channel to obtain the targeted drug delivery field-controlled microrobot.

[0024] By altering one or more of the following factors, the prepared targeted drug delivery field-controlled microrobot can be modified:

[0025] The number of printheads and input channels, the type of printing material in the print cylinder, the flow rate of the printheads, the flow velocity of the printheads, and the relative position of the print needles to the mounting channels.

[0026] This invention achieves the following technical advantages over existing technologies: The targeted drug delivery field-controlled microrobot of this invention includes a drug filament assembly and a carrier filament. This invention also provides an application of the targeted drug delivery field-controlled microrobot, in which the carrier filament is delivered into the patient's body. The opening of the first drug filament is not connected to the opening of the carrier filament and does not contact the patient's gastric fluid. A magnetic control device moves the carrier filament outside the patient's body. When the carrier filament reaches the target position, the magnetic control device controls the carrier filament to bend and deform until it breaks, allowing the first drug filament to contact the patient's gastric fluid and release the drug. The targeted drug delivery field-controlled microrobot of this invention has a simple structure and is easy to use.

[0027] Meanwhile, this invention also provides a fabrication apparatus for a targeted drug delivery field-controlled microrobot, including a microfluidic device and a printing nozzle. During operation, the microfluidic device can be mounted on a printing platform, which drives the movement of the microfluidic device and the printing nozzle, adding printing material into the printing cylinder. The printing material is extruded from the printing needle, enters the converging channel through the material channel, and is simultaneously extruded from the printing channel along with printing material entering through other material channels, completing the printing of the filament assembly and carrier filament. This reduces the fabrication difficulty of the targeted drug delivery field-controlled microrobot and lowers production and usage costs. It is important to emphasize that by changing the type of printing material in the printing cylinder, combined with adjustments to the flow rate and velocity of the printing nozzle, and changes in the relative position of the printing needle and the mounting channel, variations in the fabricated targeted drug delivery field-controlled microrobot can be achieved, improving its flexibility.

[0028] In addition, this invention also provides a method for preparing a targeted drug delivery field-controlled microrobot. Utilizing the aforementioned preparation device for the targeted drug delivery field-controlled microrobot, this invention includes at least two input channels, each corresponding to a printing nozzle. Each input channel is connected to a printing channel, and the printing needle is slidably disposed within the mounting channel. Therefore, the printing material, the flow rate and volume of the printing nozzle, and the relative position of the printing needle and the mounting channel are all variable factors. By changing one or more of these variable factors, the structure and relative positional relationship of the filament assembly and the carrier filament can be altered, thereby improving the flexibility and adaptability of the targeted drug delivery field-controlled microrobot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the targeted drug delivery field-controlled microrobot of the present invention;

[0031] Figure 2 for Figure 1 A schematic diagram of the radial cross-section of the targeted drug delivery field-controlled microrobot in the image;

[0032] Figure 3 This is a schematic diagram of the targeted drug delivery field-controlled microrobot of the present invention releasing drugs in the gastrointestinal tract;

[0033] Figure 4 This is a flowchart illustrating the drug release process of the targeted drug delivery field-controlled microrobot of the present invention.

[0034] Figure 5 This is a schematic diagram of the structure of the targeted drug delivery field-controlled microrobot in other embodiments of the present invention;

[0035] Figure 6 for Figure 2 A schematic diagram of the radial cross-section of a targeted drug delivery field-controlled microrobot;

[0036] Figure 7 This is a schematic diagram of the radial cross-section of the targeted drug delivery field-controlled microrobot in other embodiments of the present invention;

[0037] Figure 8 This is a schematic diagram of the fabrication device for the targeted drug delivery field-controlled microrobot of the present invention;

[0038] Figure 9 This is a schematic diagram of the fabrication device for the targeted drug delivery field-controlled microrobot of the present invention.

[0039] Figure 10 This is a top view schematic diagram of the microfluidic device in the fabrication apparatus of the targeted drug delivery field-controlled microrobot of the present invention.

[0040] Among them, 1 is the carrier filament, 2 is the first drug filament, 3 is the second drug filament, 4 is the microfluidic device, 5 is the printing nozzle, 6 is the printing channel, 7 is the input channel, 8 is the mounting channel, 9 is the material channel, 10 is the converging channel, 11 is the printing cylinder, and 12 is the printing needle. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] The purpose of this invention is to provide a targeted drug delivery field-controlled microrobot, its application, preparation device, and preparation method, so as to solve the problems existing in the prior art, simplify the structure of the drug delivery robot, and reduce the cost of using the drug delivery robot.

[0043] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] This invention provides a targeted drug delivery field-controlled microrobot, comprising a drug delivery filament assembly and a carrier filament 1. Please refer to [reference needed]. Figure 1The invention comprises a drug delivery microrobot that releases medication upon contact with the patient's gastric fluid inside the body. The drug delivery microrobot includes a first drug delivery filament 2, with at least one filament 2. A carrier filament 1 has an opening and is fitted onto the outside of the drug delivery microrobot assembly. The first drug delivery filament 2 is not connected to the opening of the carrier filament 1. The carrier filament 1 is magnetic, and a magnetic control device can move and deform it within the patient's body. The elastic modulus of the carrier filament 1 is greater than that of the first drug delivery filament 2. The magnetic control device can control the carrier filament 1 to break at a target location so that the first drug delivery filament 2 contacts the patient's gastric fluid. When the carrier filament 1 is inserted into the patient's body, the first drug delivery filament 2, being disconnected from its opening, does not contact the patient's gastric fluid. The magnetic control device moves the carrier filament 1 outside the patient's body. When the carrier filament 1 reaches the target location, the magnetic control device controls the carrier filament 1 to bend and deform at the position where it wraps around the first drug delivery filament 2 until it breaks, allowing the first drug delivery filament 2 to contact the patient's gastric fluid and release the medication. This invention's targeted drug delivery field-controlled microrobot has a simple structure and is easy to use.

[0045] It should be explained here that, in order to reduce harm to patients, the carrier filament 1 of the targeted drug delivery field-controlled microrobot of the present invention is a hollow cylinder. The diameter and length of the carrier filament 1 are determined according to the specific target location. In human blood vessels, the size of the carrier filament 1 can be reduced to the micro-nano level. Since the carrier filament 1 is magnetic, its deformation and directional movement can be controlled by a magnetic control device to accurately reach various lesion locations in the human body. In addition, the present invention takes the drug release after the drug filament assembly comes into contact with gastric juice as an example. In practical applications, the drug release conditions of the drug filament assembly can also be determined according to different target locations and the specific material of the drug filament assembly. For example, the drug release can be performed after the drug filament assembly comes into contact with human blood. The drug release conditions of the drug filament assembly are common practices for those skilled in the art and will not be elaborated here.

[0046] To further meet patients' medication needs, the drug delivery assembly also includes a second drug delivery wire 3, which is connected to the opening of the carrier wire 1. There is at least one second drug delivery wire 3. After the robot enters the patient's body, because the second drug delivery wire 3 is connected to the opening of the carrier wire 1, it comes into contact with the patient's gastric fluid, slowly and continuously releasing the drug over time. This non-constant release significantly increases patient compliance. It should be noted that, in practical applications, the radial cross-section of the second drug delivery wire 3 can coincide with the radial cross-section of the carrier wire 1 to achieve this connection. This allows the second drug delivery wire 3 to come into contact with the patient's gastric fluid. The other end of the second drug delivery wire 3 or the other end of the carrier wire 1 is sealed to ensure controlled drug release.

[0047] The second drug delivery wire 3 can achieve continuous and slow drug release. In practical applications, to achieve timed drug release, the structure of the second drug delivery wire 3 can be modified to include drug segments and non-drug segments, which are alternately arranged. After the drug segment completes one drug release, the non-drug segment comes into contact with the patient's gastric juice but does not release the drug. This allows the non-drug segment to release substances that are harmless to the human body, ensuring the normal consumption of the second drug delivery wire 3. After the non-drug segment finishes releasing the drug, the next drug segment continues to release the drug, achieving the goal of releasing the drug at different predetermined times. Multiple drug releases can be completed with a single dose, which helps reduce the burden of medication for patients and improves the user experience.

[0048] It should also be noted that when multiple drugs need to be released at different times, the number of second drug filaments 3 can be set to multiple, and the drug segments of the second drug filaments 3 that need to release drugs at different times are staggered.

[0049] Specifically, the carrier wire 1 is made of silicone material and neodymium iron boron magnetic particles. In this specific embodiment, the carrier wire 1 is made of silicone that is harmless to the human body. First, 10g of Dow Corning 1700 silicone, 1g of Dow Corning 1700 curing agent and 7g of silicone oil are mixed and thoroughly mixed at 2000rpm for 10min. Then, 10g of neodymium iron boron magnetic particles are added and mixed evenly. Finally, it is cured at 80 degrees Celsius for 3 hours. During the curing process, the neodymium iron boron magnetic particles are oriented to form magnetic particles. The magnetic control device outside the patient's body drives the carrier wire 1 to move and deform through the neodymium iron boron magnetic particles. In addition, the drug filament assembly can be made of starch-based drugs, with different drug powders added according to the medication requirements. The proportion of drug powder is about 1%-2%, and it is mixed with about 46% by weight of the disintegrant cross-linked polyvinylpyrrolidone and sodium bicarbonate, about 35% by weight of the filler lactose and starch, and about 18% by weight of the binder starch paste to form a viscosity that can be extruded and printed. It is printed and cured at the same time as the carrier filament 1 mentioned above. The proportion of each component is also slightly different depending on the amount of drug.

[0050] Furthermore, this invention also provides an application of the above-mentioned targeted drug delivery field-controlled microrobot. The carrier filament 1 is delivered into the patient's body. The opening of the first drug filament 2 is not connected to the opening of the carrier filament 1 and does not contact the patient's gastric fluid. A magnetic control device moves the carrier filament 1 outside the patient's body. When the carrier filament 1 reaches the target position, the magnetic control device controls the carrier filament 1 to bend and deform at the position where it wraps around the first drug filament 2 until it breaks. The first drug filament 2 then contacts the patient's gastric fluid and releases the drug, thus achieving targeted drug release by the microrobot. The microrobot's movement and deformation are controlled outside the patient's body using a magnetic control device. The structure is simple, the operation is convenient, and it is easy to promote and apply. It should be explained here that the opening of the first drug filament 2 is not connected to the opening of the carrier filament 1. When the carrier filament 1 contains only the first drug filament 2, the opening of the carrier filament 1 can be sealed to prevent direct contact between the first drug filament 2 and the patient's gastric fluid. When the carrier filament 1 contains both the first drug filament 2 and the second drug filament 3, the second drug filament 3 can be connected to the opening of the carrier filament 1 while simultaneously sealing the opening of the carrier filament 1, preventing the first drug filament 2 from connecting with the opening of the carrier filament 1.

[0051] Meanwhile, the present invention also provides a fabrication apparatus for a targeted drug delivery field-controlled microrobot, including a microfluidic device 4 and a printing nozzle 5, please refer to [reference needed]. Figure 8 The microfluidic device 4 is connected to the printing platform. The microfluidic device 4 is provided with a printing channel 6 and at least two input channels 7. The input channels 7 include a mounting channel 8 and a material channel 9. One end of the material channel 9 is connected to the mounting channel 8, and the other end of the material channel 9 is connected to the printing channel 6. All the material channels 9 are interconnected at the ends connected to the printing channel 6 to form a converging channel 10, which is connected to the printing channel 6. The printing nozzle 5 corresponds one-to-one with the input channels 7. The printing nozzle 5 includes a printing cylinder 11 and a printing needle 12. The printing cylinder 11 can contain printing material, and the printing needle 12 is connected to the printing cylinder 11. The printing material in the printing cylinder 11 can be extruded through the printing needle 12 for printing the carrier filament 1 and the first drug filament 2. The printing needle 12 is slidably disposed in the mounting channel 8, and the end of the printing needle 12 away from the printing cylinder 11 can extend into the material channel 9 and the converging channel 10.

[0052] When the fabrication apparatus for the targeted drug delivery field-controlled microrobot of the present invention is in operation, the microfluidic device 4 can be mounted on the printing platform. The printing platform can drive the microfluidic device 4 and the printing nozzle 5 to move, adding printing material into the printing cylinder 11. The printing material is extruded by the printing needle 12, enters the converging channel 10 through the material channel 9, and is simultaneously extruded together with the printing material entering through other material channels 9 through the printing channel 6, completing the printing of the filament assembly and the carrier filament 1. This reduces the fabrication difficulty of the targeted drug delivery field-controlled microrobot and lowers the production cost and the cost of using the microrobot. It should be emphasized that by changing the type of printing material in the printing cylinder 11, combined with adjusting the flow rate and velocity of the printing nozzle 5, and changing the relative position of the printing needle 12 and the mounting channel 8, variations in the fabricated targeted drug delivery field-controlled microrobot can be achieved, improving the flexibility of the targeted drug delivery field-controlled microrobot.

[0053] The print head 12 is fitted with the mounting channel 8 with a clearance fit, ensuring that the print head 12 can slide back and forth along the mounting channel 8, while reducing the gap between the print head 12 and the mounting channel 8 to prevent leakage of printing material. Simultaneously, a sealing layer formed of lubricating oil is provided between the print head 12 and the mounting channel 8, further improving the reliability of the reciprocating motion of the print head 12 while preventing leakage of printing material.

[0054] When there are more than two input channels 7, one of the input channels 7 is coaxially arranged with the printing channel 6 and is used to print the carrier filament 1. The remaining input channels 7 are evenly distributed around the axis of the printing channel 6 and are used to print the filament assembly. It should be explained here that the remaining input channels 7 are evenly distributed around the axis of the printing channel 6. Specifically, except for the input channel 7 that is coaxial with the printing channel 6, the angle between the axis of the remaining input channels 7 and the axis of the printing channel 6 is the same.

[0055] It should also be noted that the diameter of the material channel 9 is larger than that of the installation channel 8 to ensure the smooth extrusion of the printing material and avoid the interruption of the printing material. In addition, in the converging channel 10 formed by the interconnection of multiple material channels 9, it is convenient for the printing needle 12 to extend into the converging channel 10, thereby changing the positional relationship between the printed filament assembly and the carrier filament 1 and improving the flexibility and adaptability of the microrobot.

[0056] In addition, the present invention also provides a method for preparing a targeted drug delivery field-controlled microrobot. Using the above-mentioned preparation device for a targeted drug delivery field-controlled microrobot, the microfluidic device 4 is connected to the printing platform, printing material is added into the printing cylinder 11, the printing platform drives the microfluidic device 4 and the printing nozzle 5 to move, and the printing material is extruded from the printing needle 12 and printed through the printing channel 6 to obtain the targeted drug delivery field-controlled microrobot.

[0057] Change one or more of the following factors to alter the prepared targeted drug delivery field-controlled microrobot:

[0058] The number of printheads 5 and input channels 7, the type of printing material in the print cylinder 11, the flow rate of printheads 5, the flow rate of printheads 5, and the relative position of print needles 12 and mounting channels 8.

[0059] The present invention also provides a method for preparing a targeted drug delivery field-controlled microrobot, which improves the flexibility and adaptability of the targeted drug delivery field-controlled microrobot by changing one or more of the above-mentioned variable factors, thereby altering the structure and relative positional relationship of the drug filament assembly and the carrier filament 1. For example, various first drug filaments 2 and second drug filaments 3 with different diameters and lengths can be printed.

[0060] The targeted drug delivery field-controlled microrobot of the present invention will be further explained and illustrated below through specific embodiments.

[0061] Example 1

[0062] The targeted drug delivery field-controlled microrobot of this embodiment includes a drug filament assembly comprising one first drug filament 2 and two second drug filaments 3. The first drug filament 2 is externally driven for release. One of the second drug filaments 3 does not distinguish between drug segments and non-drug segments and is released in a slow-controlled manner. The other second drug filament 3 includes drug segments and non-drug segments, which are alternately arranged for timed release. The line connecting the three drug filaments forms an equilateral triangle. A carrier filament 1 is fitted around the outside of the drug filament assembly. The carrier filament 1 encases the drug filament assembly and enters the human body to perform targeted drug delivery, taking the delivery of drugs to the patient's gastrointestinal tract as an example.

[0063] Please refer to Figure 3 and Figure 4 The microrobot enters the patient's gastrointestinal tract orally. A magnetic control device moves the microrobot to the target location within the gastrointestinal tract to release the drug. Different release methods can be designed and selected depending on the location of the lesion. In this embodiment, the second drug fiber 3, which does not distinguish between drug and non-drug segments, slowly and continuously releases the drug under acidic conditions after entering the gastric juice. After a period of controlled drug release, the magnetic control device moves the microrobot into the intestine. Upon reaching the target location, the magnetic control device causes the microrobot to deform and crack, releasing the drug from the first drug fiber 2. The microrobot then moves into the intestine. Upon reaching the target location, the second drug fiber 3, which distinguishes between drug and non-drug segments, adds a specific drug to the drug segment according to the drug release rate. After the non-drug segment is released into the body, the drug segment is released again, achieving timed release. After drug release is complete, the carrier fiber 1 is excreted from the patient's body through the large intestine.

[0064] It should also be emphasized that the preparation device for the targeted drug delivery field-controlled microrobot of the present invention uses microfluidic device 4 and printing needle 12 to complete the printing of carrier filament 1 and drug filament assembly. Furthermore, by adjusting the relative position of printing needle 12 and installation channel 8, as well as variable factors such as printing nozzle 5, the structure of the prepared microrobot can be changed. Under the premise of simplifying the structure of the microrobot and saving production and usage costs, the flexibility and adaptability of the microrobot are greatly improved.

[0065] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A fabrication apparatus for a targeted drug delivery field-controlled microrobot, characterized in that, include: A microfluidic device is provided, which can be connected to a printing platform; the microfluidic device is provided with a printing channel and at least two input channels, the input channels include an installation channel and a material channel, one end of the material channel is connected to the installation channel, the other end of the material channel is connected to the printing channel, all the material channels are interconnected at the ends connected to the printing channel to form a converging channel, and the converging channel is connected to the printing channel; A print head, each corresponding to one of the input channels; the print head includes a print cylinder and a print needle, the print cylinder can contain printing material, the print needle is connected to the print cylinder, the printing material in the print cylinder can be extruded through the print needle for printing carrier filament and first drug filament, the print needle is slidably disposed in the mounting channel, and the end of the print needle away from the print cylinder can extend into the material channel and the converging channel; The targeted drug delivery field-controlled microrobot includes a drug-eluting filament assembly and a carrier filament. The drug-eluting filament assembly releases drug upon contact with the patient's gastric fluid inside the body. The drug-eluting filament assembly includes a first drug filament, and the number of first drug filaments is at least one. The carrier filament has an opening and is fitted onto the outside of the drug-eluting filament assembly. The opening of the first drug filament is not connected to the opening of the carrier filament. The carrier filament is magnetic, and a magnetic control device can drive the carrier filament to move and deform within the patient's body. The elastic modulus of the carrier filament is greater than that of the first drug filament. The magnetic control device can control the carrier filament to break at a targeted location so that the first drug filament comes into contact with the patient's gastric fluid.

2. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 1, characterized in that: The drug filament assembly further includes a second drug filament, which is connected to the opening of the carrier filament, and the number of the second drug filament is at least one.

3. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 2, characterized in that: The second drug filament includes drug segments and non-drug segments, which are alternately arranged; When there are multiple second drug filaments, the drug segments of the second drug filaments are arranged alternately.

4. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 1, characterized in that: The carrier filament is made of a mixture of silicone material and neodymium iron boron magnetic particles.

5. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 1, characterized in that: The printing needle is fitted with the mounting channel with a clearance. A sealing layer is provided between the printing needle and the mounting channel, and the sealing layer is formed of lubricating oil.

6. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 1, characterized in that: When the number of input channels is greater than two, one of the input channels is coaxially arranged with the printing channel, and the remaining input channels are evenly distributed circumferentially around the axis of the printing channel.

7. The fabrication apparatus for the targeted drug delivery field-controlled microrobot according to claim 1, characterized in that: The diameter of the material channel is larger than the diameter of the installation channel.

8. A method for fabricating a targeted drug delivery field-controlled microrobot, using the fabrication apparatus for a targeted drug delivery field-controlled microrobot according to any one of claims 5-7, characterized in that: The microfluidic device is connected to the printing platform, printing material is added into the printing cylinder, the printing platform drives the microfluidic device and the printing nozzle to move, the printing material is extruded from the printing needle and printed through the printing channel to obtain a targeted drug delivery field-controlled microrobot. By altering one or more of the following factors, the prepared targeted drug delivery field-controlled microrobot can be modified: The number of printheads and input channels, the type of printing material in the print cylinder, the flow rate of the printheads, the flow velocity of the printheads, and the relative position of the print needles to the mounting channels.

Images