Bladder drug infusion system based on microrobot

Abstract

A bladder drug infusion system based on a micro-robot belongs to the field of biomedical technology. The present invention aims at the problem that the existing bladder drug infusion method is difficult to make the drug fully cover the inner wall of the bladder and the patient experience is poor. It includes: a drug-loaded magnetically driven micro-robot, a manned platform, a magnetic field generating device and an adjustment mechanism. The drug-loaded magnetically driven micro-robot is used to release drugs on the inner wall of the bladder; the magnetic field generating device is used to generate a magnetic field; the manned platform is used to adjust the relative position between the bladder and the magnetic field generating device to ensure that the center of the magnetic field always moves in the bladder; the adjustment mechanism is used to adjust the orientation of the magnetic field generating device so that the magnetic field generated by it changes in the circumferential direction; and the adjustment mechanism controls the movement of the magnetic field generating device and the manned platform along the axis of the magnetic field to cooperate with each other, and controls the drug-loaded magnetically driven robot to move along the inner wall of the bladder to release drugs. The present invention is used to achieve uniform drug administration in the bladder.

Description

Technical Field

[0001] The invention relates to a bladder drug infusion system based on a micro robot, belonging to the technical field of biomedicine. Background Art

[0002] At present, bladder drug instillation generally uses a catheter to be inserted into the bladder through the urethra, and then the drug is slowly injected into the bladder. Since the conventional instilled drugs are in liquid form and the solution is fluid, the drugs instilled into the bladder have poor adhesion and are affected by gravity, which can easily cause the drugs to gather at the lowest point of the bladder, making it impossible for the drugs to continue to exert their pharmacological effects on the entire inner wall of the bladder. In this case, in order to ensure that the drugs fully cover the inner wall of the bladder, the patient needs to change his position frequently to cooperate.

[0003] Therefore, the existing bladder drug instillation method has low drug utilization rate and poor patient experience. Summary of the invention

[0004] In view of the problem that the existing bladder drug infusion method is difficult to make the drug fully cover the inner wall of the bladder and the patient experience is poor, the present invention provides a bladder drug infusion system based on a micro robot.

[0005] The present invention discloses a micro-robot-based bladder drug infusion system, comprising a drug-carrying magnetically driven micro-robot, a manned platform, a magnetic field generating device and an adjustment mechanism.

[0006] Drug-loaded magnetically driven microrobots are used to release drugs on the bladder lining;

[0007] The magnetic field generating device is used to generate a magnetic field;

[0008] The adjustment mechanism is used to adjust the orientation of the magnetic field generating device and coordinate with the position of the manned platform to place the bladder at the center of the magnetic field; then, through the change of the magnetic field generated by the magnetic field generating device in the circumferential direction and the movement of the manned platform along the axis of the magnetic field, the drug-loaded magnetically driven microrobot is driven to move along the inner wall of the bladder to release the drug.

[0009] According to the micro-robot-based bladder drug infusion system of the present invention, the manned platform adjusts the displacement along the axial direction of the magnetic field through stepper motor 1 and adjusts the lateral displacement through stepper motor 2, and the lateral direction is perpendicular to the axial direction of the magnetic field in the horizontal plane.

[0010] According to the micro-robot-based bladder drug infusion system of the present invention, the adjustment mechanism includes a clamping half ring, a harmonic motor, a motor bracket and a stepping motor.

[0011] The open side of the clamping half ring corresponds to the manned platform, the midpoint of the arc side of the clamping half ring is connected to the output shaft of the harmonic motor, the harmonic motor is supported by the motor bracket, and the output shaft of stepper motor three is connected to the motor bracket; the harmonic motor is used to drive the clamping half ring to rotate around the manned platform; stepper motor three is used to drive the motor bracket to move in the vertical direction.

[0012] According to the micro-robot-based bladder drug infusion system of the present invention, the magnetic field generating device comprises two conical magnets, the tips of the two conical magnets are opposite to each other along the axis and are arranged at two ends of the opening side of the clamping half ring.

[0013] According to the micro-robot-based bladder drug infusion system of the present invention, after the initial adjustment so that the bladder is at the center of the magnetic field, the position of the manned platform along the axis of the magnetic field is adjusted so that the drug-loaded magnetic-driven micro-robot performs axial movement relative to the bladder along the axis in the bladder; by adjusting the relative orientation of the clamping semi-ring and the manned platform, the drug-loaded magnetic-driven micro-robot is driven to perform rotational movement along the inner wall in the bladder, thereby achieving uniform release of the drug on the inner wall of the bladder.

[0014] According to the micro-robot-based bladder drug infusion system of the present invention, the magnetic torque T generated by the drug-carrying magnetically driven micro-robot at the center of the magnetic field is:

[0015]

[0016] Where m is the magnetic dipole moment of the drug-carrying magnetically driven microrobot, B is the magnetic induction intensity of the magnetic field generated by the magnetic field generating device, and m x is the X-axis component of the magnetic dipole moment m, m y is the Y-axis component of the magnetic dipole moment m, m z is the Z-axis component of the magnetic dipole moment m.

[0017] According to the micro-robot-based bladder drug infusion system of the present invention, the magnetic field force F generated by the drug-carrying magnetically driven micro-robot at the center of the magnetic field is:

[0018]

[0019] Where M is the average magnetization intensity of the magnetic field generated by the magnetic field generating device.

[0020] According to the micro-robot-based bladder drug infusion system of the present invention, the drug-loaded magnetically driven micro-robot is a drug-loaded particle prepared by a magnetic hydrogel solution obtained by mixing sodium alginate, neodymium iron boron nanoparticles and mitomycin.

[0021] According to the micro-robot-based bladder drug infusion system of the present invention, the magnetic hydrogel solution is prepared in a calcium chloride solution by an extrusion method using a syringe to obtain a drug-loaded magnetically driven micro-robot.

[0022] According to the micro-robot-based bladder drug infusion system of the present invention, the drug is adsorbed in the pores of the drug-loaded particles and is released on the inner wall of the bladder through the induction of ion gradient.

[0023] Beneficial effects of the present invention: The system of the present invention realizes drug infusion in the bladder by a micro-robot based on the assistance of a permanent magnet. By controlling the position of the magnetic field relative to the bladder, the drug-carrying magnetically driven micro-robot can be controlled to move along the bladder wall to release the drug, thereby realizing drug infusion in the bladder.

[0024] The present invention is based on micro-nano technology and uses micro-nano robots for highly directional drug delivery, achieving precise positioning and control of drugs, so that the drugs are evenly distributed on the inner wall of the bladder; by controlling the magnetic field to position the drug-carrying magnetically driven micro-robot, the contact time between the drug and the lesion area and the drug utilization rate can be increased.

[0025] The present invention controls the movement of the microrobot to release the drug evenly through a magnetic field, which can overcome the drug loss caused by gravity in the existing method. During use of the system of the present invention, the user does not need to change the body position to match the drug release position, which is useful for improving the experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic structural diagram of the micro-robot-based bladder drug infusion system of the present invention;

[0027] Figure 2 yes Figure 1 A top view of

[0028] Figure 3 is a three-dimensional schematic diagram of the micro-robot-based bladder drug infusion system of the present invention;

[0029] Figure 4 It is a control block diagram of the micro-robot-based bladder drug infusion system of the present invention. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0031] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0032] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0033] Specific implementation method 1. Combination Figures 1 to 4 As shown, the present invention provides a bladder drug infusion system based on a micro-robot, including a drug-carrying magnetically driven micro-robot, a manned platform 100, a magnetic field generating device 200 and an adjustment mechanism 300.

[0034] Drug-loaded magnetically driven microrobots are used to release drugs on the bladder lining;

[0035] The magnetic field generating device 200 is used to generate a magnetic field;

[0036] The adjustment mechanism 300 is used to adjust the orientation of the magnetic field generating device 200 and coordinate with the position of the manned platform 100 to place the bladder at the center of the magnetic field; then, through the change of the magnetic field generated by the magnetic field generating device 200 in the circumferential direction and the movement of the manned platform 100 along the axis of the magnetic field, the drug-carrying magnetically driven microrobot is driven to move along the inner wall of the bladder to release the drug.

[0037] This embodiment utilizes the good biocompatibility and penetration of the magnetic field, selects a drug-loaded magnetically driven microrobot as a drug infusion carrier, and then precisely controls the movement of the drug-loaded magnetically driven microrobot to evenly apply the drug to the inner wall of the bladder.

[0038] Further, combined with Figures 1 to 3 As shown, the manned platform 100 adjusts the displacement along the axial direction of the magnetic field through the stepper motor 110, and adjusts the lateral displacement through the stepper motor 2 120, and the lateral displacement is perpendicular to the axial direction of the magnetic field in the horizontal plane. The displacement of the manned platform 100 along the axial direction of the magnetic field can correspond to the X-axis direction of the three-dimensional coordinate system, and the lateral displacement can correspond to the Y-axis direction.

[0039] In this embodiment, the adjustment mechanism 300 includes a clamping half ring 310, a harmonic motor 320, a motor bracket 330 and a stepping motor 340.

[0040] The open side of the clamping half ring 310 corresponds to the manned platform 100, the midpoint of the arc side of the clamping half ring 310 is connected to the output shaft of the harmonic motor 320, the harmonic motor 320 is supported by the motor bracket 330, and the output shaft of the stepper motor 340 is connected to the motor bracket 330; the harmonic motor 320 is used to drive the clamping half ring 310 to rotate around the manned platform 100; the stepper motor 340 is used to drive the motor bracket 330 to move in the vertical direction. The movement of the motor bracket 330 in the vertical direction can correspond to the movement in the Z-axis direction of the three-dimensional coordinate system.

[0041] In order to achieve accurate positioning of the micro-robot, it is necessary to make the robot have a specific three-dimensional motion component. In this embodiment, the axial displacement of the manned platform 100 is adjusted by the stepper motor 110 to produce a relative displacement in the X-axis direction with the robot in the bladder; the lateral displacement of the manned platform 100 is adjusted by the stepper motor 2 120 to produce a relative displacement in the Y-axis direction with the robot; the motor bracket 330 is driven by the stepper motor 340 to produce a relative displacement in the Z-axis direction with the robot in the bladder. The final adjustment is to locate the bladder at the center of the magnetic field space. After the initial relative position of the manned platform 100 and the magnetic field generating device 200 is determined, the clamping half ring 310 is adjusted to rotate by the harmonic motor 320 to rotate the magnetic field, driving the micro-robot to produce a rotational motion. This meets the needs of accurate positioning of the micro-robot, and then achieves uniform application of the drug on the inner wall of the bladder.

[0042] Combination Figure 4 As shown, the host computer can be used to control the movement of each motor to adjust the relative position between the manned platform 100 and the magnetic field. During drug-assisted perfusion, the manned platform 100 is fed in a coordinated manner along the rotation axis, that is, the micro-robot is driven to move along the bladder wall.

[0043] In this embodiment, the moving axes of the stepper motor 110 and the stepper motor 2 120 are perpendicular to each other. The translation platform formed by the two motors can be connected to the manned platform 100 by screws to drive the manned platform 100 to move in a horizontal plane.

[0044] The magnetic field generating device 200 includes two conical magnets, the tips of which are opposite to each other along the axis and fixedly arranged at the two ends of the opening side of the clamping half ring 310. The harmonic motor 320 drives the two conical magnets to rotate through the clamping half ring 310, and a spatial rotating magnetic field can be formed at the center of the half ring.

[0045] Going a step further, combined Figure 4 As shown, after the initial adjustment to place the bladder at the center of the magnetic field, the position of the manned platform 100 along the axis of the magnetic field is adjusted so that the drug-loaded magnetically driven microrobot moves axially relative to the bladder along the axis in the bladder; by adjusting the relative orientation of the clamping half ring 310 and the manned platform 100, the drug-loaded magnetically driven microrobot is driven to rotate along the inner wall in the bladder, thereby achieving uniform release of the drug on the inner wall of the bladder.

[0046] In this embodiment, the magnetically driven microrobot can release drugs by rotating along the bladder wall due to the effect of the spatial rotating magnetic field. Combined with the movement of the manned platform 100, the microrobot can release drugs by spiral motion along the wall in the bladder, thereby achieving uniform application of drugs.

[0047] The magnetic torque T (N·m) generated by the drug-carrying magnetically driven microrobot at the center of the magnetic field is:

[0048]

[0049] Where m(A·m 2 ) is the magnetic dipole moment of the drug-carrying magnetically driven microrobot, B(T) is the magnetic induction intensity of the magnetic field generated by the magnetic field generating device, m x is the X-axis component of the magnetic dipole moment m, m y is the Y-axis component of the magnetic dipole moment m, m z is the Z-axis component of the magnetic dipole moment m.

[0050] The magnetic field force F generated by the drug-carrying magnetically driven microrobot at the center of the magnetic field is:

[0051]

[0052] Where M (A / m) is the average magnetization intensity of the magnetic field generated by the magnetic field generating device.

[0053] In this embodiment, the drug-loaded magnetically driven microrobot is a drug-loaded particle, and sodium alginate, NdFeB nanoparticles and mitomycin are mixed in a certain proportion and placed in a magnetic stirrer and stirred evenly to prepare a magnetic hydrogel drug-loaded solution; then, a simple extrusion method is used to prepare the drug-loaded magnetically driven microrobot by adding the magnetic hydrogel solution into a calcium chloride solution using a syringe.

[0054] The drug is adsorbed into the pores of the drug-loaded particles and released on the inner wall of the bladder by induction of ion gradient.

[0055] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A micro-robot-based bladder drug infusion system, comprising a drug-carrying magnetically driven micro-robot, characterized in that It also includes a manned platform (100), a magnetic field generating device (200) and an adjustment mechanism (300). Drug-loaded magnetically driven microrobots are used to release drugs on the bladder lining; The magnetic field generating device (200) is used to generate a magnetic field; The adjustment mechanism (300) is used to adjust the orientation of the magnetic field generating device (200) and cooperate with the position of the manned platform (100) to place the bladder at the center of the magnetic field; the magnetic field generated by the magnetic field generating device (200) changes in the circumferential direction and the manned platform (100) moves along the axis of the magnetic field, thereby driving the drug-carrying magnetically driven micro-robot to move along the inner wall of the bladder to release the drug; The manned platform (100) adjusts displacement along the axial direction of the magnetic field through a first stepping motor (110), and adjusts lateral displacement through a second stepping motor (120), wherein the lateral direction is perpendicular to the axial direction of the magnetic field in a horizontal plane; The adjustment mechanism (300) comprises a clamping half ring (310), a harmonic motor (320), a motor bracket (330) and a stepping motor three (340). The open side of the clamping semi-ring (310) corresponds to the manned platform (100), the midpoint of the arc side of the clamping semi-ring (310) is connected to the output shaft of the harmonic motor (320), the harmonic motor (320) is supported by a motor bracket (330), and the output shaft of the stepping motor three (340) is connected to the motor bracket (330); the harmonic motor (320) is used to drive the clamping semi-ring (310) to rotate around the manned platform (100); the stepping motor three (340) is used to drive the motor bracket (330) to move in the vertical direction; The magnetic field generating device (200) comprises two conical magnets, the tips of which are opposite to each other along the axis and are arranged at two ends of the opening side of the clamping half ring (310); After the initial adjustment is performed so that the bladder is at the center of the magnetic field, the position of the manned platform (100) along the axis of the magnetic field is adjusted so that the drug-carrying magnetically driven micro-robot performs axial movement relative to the bladder along the axis in the bladder; and the relative orientation of the clamping half ring (310) and the manned platform (100) is adjusted so that the drug-carrying magnetically driven micro-robot performs rotational movement along the inner wall of the bladder, thereby achieving uniform release of the drug on the inner wall of the bladder.

2. The microrobot-based bladder drug infusion system according to claim 1, characterized in that: The magnetic torque T generated by the drug-carrying magnetically driven microrobot at the center of the magnetic field is: Where m is the magnetic dipole moment of the drug-carrying magnetically driven microrobot, B is the magnetic induction intensity of the magnetic field generated by the magnetic field generating device, and m x is the X-axis component of the magnetic dipole moment m, m y is the Y-axis component of the magnetic dipole moment m, m z is the Z-axis component of the magnetic dipole moment m.

3. The microrobot-based bladder drug infusion system according to claim 2, characterized in that: The magnetic field force F generated by the drug-carrying magnetically driven microrobot at the center of the magnetic field is: Where M is the average magnetization intensity of the magnetic field generated by the magnetic field generating device.

4. The microrobot-based bladder drug infusion system according to claim 1, characterized in that: The drug-loaded magnetically driven microrobot is a drug-loaded particle, which is prepared by using a magnetic hydrogel solution obtained by mixing sodium alginate, neodymium iron boron nanoparticles and mitomycin.

5. The microrobot-based bladder drug infusion system according to claim 4, characterized in that: The magnetic hydrogel solution is prepared in a calcium chloride solution by an extrusion method through a syringe to obtain a drug-loaded magnetically driven micro robot.

6. The microrobot-based bladder drug infusion system according to claim 4, characterized in that: The drug is adsorbed into the pores of the drug-loaded particles and released on the inner wall of the bladder by induction of ion gradient.

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