A multiple magnetic response capsule robot, driving system and driving method

Abstract

The application belongs to the technical field of medical devices and magnetic control soft robot, and more particularly relates to a multiple magnetic response capsule robot, a driving system and a driving method. The magnetic control capsule robot provided by the application comprises a capsule shell and a load cavity arranged in the capsule shell. A substance exchange channel, a magnetic attraction lock arranged around the substance exchange channel and a magnetic switch valve matched with the magnetic attraction lock are arranged on the wall of the capsule shell. The magnetic attraction lock and the magnetic switch valve are respectively magnetized according to specific magnetization modes. Under the action of an external magnetic field, the relaxation times of the magnetic attraction lock and the magnetic switch valve responding to the external magnetic field are different. By controlling the frequency and amplitude parameters of the external magnetic field, the magnetic control capsule robot can be independently controlled in multiple response forms including movement, targeted drug delivery and fixed-point sampling.

Description

Technical Field

[0001] This invention belongs to the field of medical devices and magnetically controlled soft robots, and more specifically, relates to a multi-magnetically responsive capsule robot, a drive system, and a drive method. Background Technology

[0002] As one of the largest hormone-secreting organs in the human body, the gastrointestinal tract is a major source of inflammation, ulcers, bleeding, infections, and cancers, among other common clinical conditions. According to the 2023 Cancer Report published in the top international medical journal *Clinical Oncology*, colorectal cancer and gastric cancer, as malignant tumors of the gastrointestinal tract, rank among the top three in cancer incidence, seriously threatening human health. Given that the cure rate and survival rate of gastrointestinal diseases decrease significantly with the duration of illness, developing efficient early medical diagnostic and screening technologies and equipment is of great importance for protecting gastrointestinal health.

[0003] Existing wired gastroscopy and capsule endoscopy have significant limitations and urgently require innovative breakthroughs: wired gastroscopy can be used to perform functions such as examination, drug administration and sampling, but patients will experience strong discomfort and there are contraindications; while capsule endoscopy can achieve wire-free, non-invasive and painless examination, its movement often depends on human intestinal peristalsis and is mainly limited to image examination, and cannot achieve medical functions such as targeted drug delivery and sampling.

[0004] The field of microrobotics is developing rapidly, with the primary goal of achieving widespread biomedical applications within the human body. Combining traditional capsule robot technology with modern microrobotics technology can lead to promising diagnostic and therapeutic methods, providing innovative solutions to the aforementioned problems. Representative capsule robot actuation methods include pneumatic or hydraulic, electromechanical, shape memory alloy, and magnetic field actuation. Among these methods, magnetic field actuation has the greatest advantage of being more direct and less susceptible to electronic failures caused by device malfunctions and power depletion. Furthermore, it offers significant advantages such as non-contact operation, high controllability, and good penetration performance. Therefore, it is considered one of the safest and most ideal methods for capsule robots. However, while non-contact operation is a significant advantage of magnetic field actuation, it also presents challenges to the multifunctional realization of capsule robots in the complex digestive tract environment. On the one hand, the design and control of the applied magnetic field for specific movements or functions of capsule robots in a completely unconstrained state impose strict requirements; on the other hand, the limited size of medical capsules restricts the design space of the internal magnetic source in wireless mode. For these reasons, newly developed magnetic capsule robots typically suffer from drawbacks such as large size, stringent magnetic field requirements, and limited functionality. These limitations are also related to the design pattern of the built-in magnetic source, which is mainly based on a rigid structure containing conventional permanent magnets.

[0005] Therefore, in response to the significant needs in the diagnosis and treatment of gastrointestinal diseases, there is an urgent need to innovate the driving methods of capsule robots, develop multifunctional magnetically controlled capsule robot technology, and realize remote non-contact, multi-motion modal active driving of capsule robots, providing functions such as targeted delivery, sampling and drug release, in order to make up for the shortcomings of existing gastrointestinal disease diagnosis and treatment technologies and promote the development of gastrointestinal capsule robot technology and the upgrading of equipment industry.

[0006] Patent document (CN116269518A) discloses a magnetically controlled capsule with controllable drug delivery and movement functions, a human version of the capsule, and a method for manufacturing the capsule. It only mentions that after the magnetically controlled capsule robot containing the drug reaches the lesion, an external magnetic field excitation source applies a magnetic field outside the human body, causing magnetic torque at both ends of the magnetic switch valve. The magnetic switch valve opens, releasing the drug solution to the lesion for drug delivery. When the drug release is complete or the release amount is reached, the magnetic field is reversed to stop drug delivery. It does not elaborate on how the magnetically controlled capsule robot's movement is controlled within the body. However, in actual control, it was found that when using an external magnetic field excitation source to remotely and non-contactly control the capsule robot's movement, targeted drug release, and fixed-point sampling in multiple modes, the magnetic field lines are closed curves. Both the magnetic switch valve and the magnetic lock generate magnetic responses under the influence of the magnetic field, making it difficult to independently control the overall movement of the capsule robot and the opening of local magnetic switch valves for drug release or sampling. This leads to easy drug leakage during the capsule robot's movement, meaning it is difficult to decouple the drug delivery / sampling mode from the movement mode. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a multi-magnetically responsive capsule robot, a driving method, and a system. The aim is to solve the problem of the single function of existing magnetically controlled capsule robots, thereby decoupling the motion modes and functional modes of the magnetically controlled capsule robot and realizing the controllability and diversity of the capsule robot's dynamic response.

[0008] To achieve the above objectives, the present invention provides a magnetically controlled capsule robot, comprising a capsule shell and a cargo cavity disposed inside the capsule shell. The capsule shell wall is provided with a mass exchange channel, a magnetic lock surrounding the mass exchange channel, and a magnetic switch valve cooperating with the magnetic lock. In the magnetically controlled capsule robot, the magnetic lock and the magnetic switch valve are magnetized magnetic lock and magnetic switch valve, respectively, and the magnetization of the magnetic lock and the magnetic switch valve adopts any one of the following two methods:

[0009] (i) The magnetization direction of the magnetic switch valve is outward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is outward perpendicular to the curved surface or plane where the magnetic lock is located;

[0010] (ii) The magnetization direction of the magnetic switch valve is converging inward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is perpendicular to the curved surface or plane where the magnetic lock is located and inward.

[0011] The material exchange channel is used to allow the cargo cavity to exchange materials with the external environment when the magnetic switch valve is open; the magnetic lock and the magnetic switch valve are configured to cooperate through magnetic attraction to keep the magnetic switch valve in the closed state, so as to ensure that the cargo cavity is isolated from the external environment when the magnetically controlled capsule robot is not working.

[0012] According to another aspect of the present invention, a multi-response driving method for the magnetically controlled capsule robot is provided. Under the action of an external magnetic field, the relaxation time of the magnetic lock and the magnetic switch valve in response to the external magnetic field is different. By controlling the frequency and amplitude parameters of the external magnetic field, the magnetically controlled capsule robot can be independently controlled in multiple response modes, including motion, targeted drug delivery, and fixed-point sampling.

[0013] Preferably, by adjusting the frequency and amplitude of the external magnetic field (applying a low-frequency, low-amplitude rotating magnetic field), the magnetization direction of the magnetic lock is kept consistent with the direction of the external magnetic field at all times, driving the magnetically controlled capsule robot to roll towards the target position. Simultaneously, this low-frequency, low-amplitude magnetic field ensures that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, keeping the magnetic switch valve closed and preventing the magnetically controlled capsule robot from exchanging substances with the outside world during rolling; or

[0014] By controlling the amplitude of the external magnetic field to be large enough to ensure that the magnetic torque on the magnetic switch valve is greater than the gradient force between the magnetic switch valve and the magnetic lock, and by adjusting the frequency of the external magnetic field, the magnetically controlled capsule robot as a whole is not able to move in time, but at the same time the magnetic switch valve can deform, thereby enabling the magnetically controlled capsule robot to perform targeted drug delivery or fixed-point sampling at the target location.

[0015] Preferably, the magnetically controlled capsule robot is driven by one or more of the following driving methods:

[0016] Q1: Provide a low-frequency, low-amplitude rotating magnetic field in the space area where the magnetically controlled capsule robot is located, so that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the magnetically controlled capsule robot to roll towards the target position.

[0017] Q2: After the magnetically controlled capsule robot reaches the target position, a high-frequency, high-amplitude magnetic field is provided in the space area where the magnetically controlled capsule robot is located, so that the magnetic torque on the magnetic switch valve is dominant. The magnetized magnetic switch valve deforms under the action of the magnetic torque, and the magnetic switch valve opens, realizing the targeted drug delivery or fixed-point sampling of the capsule robot.

[0018] More preferably, the low-frequency, low-amplitude rotating magnetic field in driving mode Q1 has a frequency of 1-5Hz and an amplitude of 10-30mT; the high-frequency, high-amplitude magnetic field in driving mode Q2 has a frequency of 25-50Hz and an amplitude greater than 30mT.

[0019] Preferably, the outer surface of the capsule shell of the magnetically controlled capsule robot is patterned to increase its friction with the environmental interface; the driving method further includes the following driving mechanism:

[0020] Q3: Provide a mid-frequency, mid-amplitude rotating magnetic field in the spatial region where the magnetically controlled capsule robot is located, so that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the magnetically controlled capsule robot to rotate rapidly as a whole.

[0021] More preferably, the intermediate frequency rotating magnetic field has a frequency of 10-20Hz and an amplitude of 15-30mT.

[0022] Preferably, the end of the magnetically controlled capsule robot is equipped with an LED light integrating an electromagnetic coil; the driving method further includes the following driving mode:

[0023] Q4: Provide a first ultra-high frequency ultra-high amplitude magnetic field in the space area where the magnetically controlled capsule robot is located, and use the first ultra-high frequency ultra-high amplitude magnetic field to control the switching of the LED lights.

[0024] More preferably, the first ultra-high frequency ultra-low amplitude magnetic field has a frequency of 10-500kHz and an amplitude of 1-10Gs.

[0025] Preferably, the end of the capsule shell of the magnetically controlled capsule robot is provided with a magnetically heatable composite, and the magnetically heatable composite is further preferably a magnetite composite; the driving method also includes the following driving mode:

[0026] Q7: Provide a second ultra-high frequency ultra-high amplitude magnetic field in the spatial region where the magnetically controlled capsule robot is located, and use the second ultra-high frequency ultra-high amplitude magnetic field to heat the magnetically heatable composite, thereby heating the drug or lesion area.

[0027] Preferably, the second ultra-high frequency low amplitude magnetic field has a frequency of 10-500kHz and an amplitude of 1-10mT.

[0028] Preferably, the loading cavity includes a first loading cavity and a second loading cavity. The first loading cavity is provided with a first substance exchange channel on the capsule shell wall, a first magnetic lock arranged around the first substance exchange channel, and a first magnetic switch valve arranged in cooperation with the first magnetic lock. The second loading cavity is provided with a second substance exchange channel on the capsule shell wall, a second magnetic lock arranged around the second substance exchange channel, and a second magnetic switch valve arranged in cooperation with the second magnetic lock.

[0029] By adjusting the content of magnetic particles in the first magnetic lock, the first magnetic switch valve, the second magnetic lock, and the second magnetic switch valve, or, given the content of magnetic particles, by adjusting the frequency and amplitude of the external magnetic field, controlling whether the first magnetic lock and the first magnetic switch valve are dominated by magnetic torque or gradient force, and thus achieving separate control of the first magnetic switch valve and the second magnetic switch valve.

[0030] According to another aspect of the present invention, a multi-magnetic-response capsule robot drive system is provided, comprising the magnetically controlled capsule robot and an external magnetic drive system.

[0031] Preferably, the external magnetic drive system includes a Helmholtz coil drive magnetic field control system that outputs arbitrary control waveforms in real time;

[0032] The Helmholtz coil driven magnetic field control system that outputs arbitrary control waveforms in real time is based on a microcontroller. It uses a handle to output control signals in real time. The signals are converted by an A / D converter and then input to a power amplifier. After amplification, the corresponding three-dimensional magnetic field is applied to the capsule robot inside the Helmholtz coil.

[0033] In use, the magnetically controlled capsule robot is located inside the three-dimensional magnetic field of the Helmholtz coil.

[0034] Preferably, the external magnetic drive system includes a multi-target targeted drug delivery control system, the multi-target targeted drug delivery control system comprising:

[0035] A position control handle, a first robotic arm and a permanent magnet fixedly mounted on the first robotic arm; and a second robotic arm and a coil fixedly mounted on the second robotic arm;

[0036] In use, the position and orientation of the permanent magnet on the first robotic arm are controlled by the position control handle, providing the required gradient / rotation magnetic field for the magnetically controlled capsule robot, thereby enabling the capsule robot to complete different modes of movement (including but not limited to rotation, rolling and sliding); after reaching the designated position, a high-frequency oscillating magnetic field is applied to the coil set on the second robotic arm to complete the drug delivery or fixed-point collection action.

[0037] Preferably, the external magnetic drive system includes a fixed-point sampling control system based on a magnetic coil, comprising a third robotic arm and a magnetic coil mounted on the third robotic arm. By controlling the third robotic arm, the position, orientation, and coil current of the magnetic coil are controlled to achieve the movement of the capsule robot and precise sampling within a specified area.

[0038] In summary, compared with the prior art, the above-described technical solutions conceived by this invention have the following advantages:

[0039] Beneficial effects:

[0040] (1) The present invention provides a magnetically controlled capsule robot, comprising a capsule shell and a cargo cavity disposed inside the capsule shell. A material exchange channel is disposed on the wall of the capsule shell, a magnetic lock is disposed around the material exchange channel, and a magnetic switch valve is disposed in cooperation with the magnetic lock. The magnetic lock and the magnetic switch valve are respectively magnetically locked and magnetically switched valves magnetized according to a specific magnetization method. Under the action of an external magnetic field, by utilizing the different relaxation times of the magnetic lock and the magnetic switch valve in response to the external magnetic field, and by controlling the frequency and amplitude parameters of the external magnetic field, the magnetically controlled capsule robot can achieve independent control in multiple response forms, including motion, targeted drug delivery, and fixed-point sampling.

[0041] (2) The driving method and system of the multi-magnetic response magnetically controlled capsule robot provided by the present invention utilizes the difference in magnetic response between the overall body and local areas of the robot to propose a multi-frequency magnetic drive method for decoupling the overall-local magnetodynamic response, develops a magnetic drive system for spatiotemporal dual-dimensional control, and controls the overall and local motion modes of the robot by decoupling gradient magnetic field, low-frequency magnetic field and high-frequency magnetic field, providing key support for realizing the robot's targeted transport, sampling and release functions.

[0042] (3) The driving method and system of the multi-magnetic response magnetically controlled capsule robot provided by the present invention starts from the interaction between the response of magnetic materials and devices and the frequency range. Through cross-scale magnetic field frequency adjustment, it realizes for the first time the modular design and functional integration of multi-energy interaction of kinetic energy, light energy and thermal energy of capsule robot without endogenous source. It also verifies its application in medical functions such as release of multiple drug combinations, clearing of gastrointestinal mucus and wireless photo / thermal assisted therapy, providing an important way to promote the innovation and breakthrough of future gastrointestinal disease diagnosis and treatment technology. Attached Figure Description

[0043] Figure 1A This is a schematic diagram of the overall response mode of the capsule under low-frequency magnetic field driving.

[0044] Figure 1B This is a schematic diagram of the local response mode of the capsule in high-frequency mode.

[0045] Figure 2 A capsule robot drive system that is regulated in both spatiotemporal and spatial dimensions.

[0046] Figure 3 This study aimed to test the flexible control and airtightness of the capsule robot's exchange channel opening and closing.

[0047] Figure 4 Analysis of the multiple magnetic response performance of the capsule robot.

[0048] Figure 5 This study aims to conduct multi-target targeted transport and drug delivery experiments using capsule robots in an in vitro model.

[0049] Figure 6 This is for animal experimental verification of the capsule robot.

[0050] Figure 7 For targeted / fixed-point sampling of capsule robots.

[0051] Figure 8 Different drug release modes for dual-capsule robots.

[0052] Figure 9 For the multi-functional application of the thread capsule robot.

[0053] Figure 10 Functional applications of the capsule robot for wireless phototherapy / thermal therapy. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0055] This invention provides a magnetically controlled capsule robot, comprising a capsule shell and a cargo cavity disposed inside the capsule shell. The capsule shell wall is provided with a mass exchange channel, a magnetic lock surrounding the mass exchange channel, and a magnetic switch valve cooperating with the magnetic lock. In the magnetically controlled capsule robot, the magnetic lock and the magnetic switch valve are magnetized magnetic lock and magnetic switch valve, respectively, and the magnetization of the magnetic lock and the magnetic switch valve adopts any one of the following two methods:

[0056] (i) The magnetization direction of the magnetic switch valve is outward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is outward perpendicular to the curved surface or plane where the magnetic lock is located;

[0057] (ii) The magnetization direction of the magnetic switch valve is converging inward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is perpendicular to the curved surface or plane where the magnetic lock is located and inward.

[0058] The material exchange channel is used to allow the cargo cavity to exchange materials with the external environment when the magnetic switch valve is open; the magnetic lock and the magnetic switch valve are configured to cooperate through magnetic attraction to keep the magnetic switch valve in the closed state, so as to ensure that the cargo cavity is isolated from the external environment when the magnetically controlled capsule robot is not working.

[0059] By employing any of the magnetization methods described above, it is possible to ensure multiple response modes, such as movement, targeted drug delivery, and fixed-point sampling, of the magnetically controlled capsule robot through a specific external magnetic field, and to ensure that the capsule robot does not leak drugs during movement (i.e., the material exchange channel is kept closed by using the magnetic attraction between the magnetic lock and the magnetic switch valve).

[0060] In some embodiments, hollow air chambers are respectively provided at both ends of the capsule shell, and a cargo cavity is provided between the hollow air chambers. The cargo cavity is isolated from the hollow air chambers. The hollow air chambers can reduce the density of the entire magnetically controlled capsule robot. At the same time, the overall density of the magnetically controlled capsule robot can be adjusted by controlling the size of the hollow air chambers. The floating and sinking of the capsule robot can be achieved by adjusting the dosage of the solution in the cargo cavity, ensuring that the capsule robot has a strong ability to carry drugs.

[0061] In some embodiments, the substance exchange channel is one or more openings protruding into or out of the capsule shell wall, and a recessed structure is formed between the periphery of the opening and the side wall of the capsule shell, the recessed structure being used to fix the magnetic lock.

[0062] In some embodiments, the maximum lateral dimension of the capsule shell of the magnetically controlled capsule robot is in the range of 5.8-8.5 mm, and the maximum longitudinal dimension is 13-23 mm. The magnetic switch valve is a rectangular flat sheet, and the magnetic lock is a hollow rectangular frame that cooperates with the magnetic switch valve. The rectangular flat sheet magnetic switch valve covers the surface of the hollow rectangular frame of the magnetic lock, so that the material exchange channel is in a closed state.

[0063] In some embodiments, the capsule robot is primarily available in two sizes: a larger (Type ①) capsule robot is used for dynamic analysis and functional expansion verification, while a smaller (Type ②) capsule robot is used for animal experimental verification. The larger (Type ①) capsule shell has a maximum lateral dimension of 8.4 mm and a maximum longitudinal dimension of 19.5 mm. The magnetic switch valve is a rectangular flat sheet with a length of 12 mm, a width of 4.5 mm, and a thickness of 1.2 mm. The magnetic lock is a hollow rectangular frame that cooperates with the magnetic switch valve; its outer frame has a length of 12.4 mm and a width of 4.5 mm, while the inner frame has a length of 9.6 mm, a width of 3 mm, and a thickness of 1.2 mm. The smaller (Type ②) capsule shell has a maximum lateral dimension of 5.6 mm and a maximum longitudinal dimension of 13 mm. The magnetic switch valve is a rectangular flat sheet with a length of 8 mm, a width of 3 mm, and a thickness of 0.8 mm. The magnetic lock is a hollow rectangular frame that cooperates with the magnetic switch valve. Its outer frame is 8.27 mm long and 3 mm wide, its inner frame is 6.4 mm long and 2 mm wide, and its thickness is 0.8 mm.

[0064] In some embodiments, the capsule shell is made of a transparent resin or a biocompatible material such as MED610.

[0065] The magnetic lock and magnetic switch valve of this invention constitute the switch of the magnetic capsule robot of this invention. Both are made of magnetic materials, wherein the magnetic switch valve is made of permanent magnet materials with a micron-scale or smaller (such as NdFeB, C). r The magnetic lock is made of magnetic particles (such as O2) and soft materials (such as silicone, TPE, hydrogel, etc., with an elastic modulus below GPa), forming a magnetic soft composite material. The magnetic lock is made of permanent magnet materials and non-magnetic materials (such as silicone, TPE, hydrogel, etc.) at the micron level and below. Because it does not require deformation, the range of permanent magnet and non-magnetic materials is wider. The permanent magnet material can be NdFeB magnetic particles or ferromagnetic particles, and the non-magnetic material can be soft or hard. In some embodiments, the pre-mixed solution of the magnetic lock is uniformly added to the magnetic lock mold and placed in a constant temperature oven at 70°C for curing. After complete curing, it is demolded to obtain the finished magnetic lock. The preparation of the magnetic switch valve is similar.

[0066] In the magnetically controlled capsule robot of the present invention, a magnetic lock is fixedly installed in a magnetic lock recess on the periphery of the material exchange channel. The surface of the magnetic lock is flush with the surface of the material exchange channel. A magnetic switch valve is installed on the surface of the magnetic lock and the material exchange channel. The two are sealed together by magnetic attraction, thus achieving the closure of the material exchange channel and isolating the cargo cavity from the external environment.

[0067] The magnetically controlled capsule robot of this invention, as a whole, has its internal magnetic locks and magnetic valves magnetized. When driven by an external magnetic field, both the magnetized magnetic locks and magnetic valves are within the magnetic field's influence area. It is impossible to control only one component (e.g., the magnetic lock) to be affected by the magnetic field while another component (e.g., the magnetic valve) is not, or vice versa. This inevitably leads to situations such as leakage of medication while rolling, or sampling at non-target locations. Therefore, decoupling the capsule robot's rolling, medication administration, or sampling modes is a key technical problem that urgently needs to be solved. This invention utilizes a capsule robot with a specific structure, and magnetizes the magnetic locks and magnetic valves that cooperate within the magnetically controlled capsule robot. By controlling the specific magnetization method, when the capsule robot is driven by an external magnetic field to perform multiple modes of action such as movement, drug administration, or sampling as needed, the relaxation times of the magnetic locks and magnetic valves vary significantly when responding to external magnetic fields of different frequencies and amplitudes. This decouples the multiple modes of action, thereby preventing drug administration or sampling before reaching the target position, or drug leakage during movement, etc.

[0068] During the movement of the magnetically controlled capsule robot to the target position, the magnetic switch valve is desired to remain closed; however, once the target position is reached, the magnetic switch valve needs to be opened, while the robot body can vibrate in place but is not expected to move; the same applies to fixed-point sampling. This invention utilizes the difference in magnetic response between the robot's overall body and local areas to propose a multi-frequency magnetic drive method that decouples the overall-local magnetodynamic response. It develops a magnetic drive system with spatiotemporal dual-dimensional control, and decouples the robot's overall and local motion modes through gradient magnetic fields—low-frequency magnetic fields and high-frequency magnetic fields—providing key support for achieving functions such as targeted transport, sampling, and release. Specifically, in this invention's magnetically controlled capsule robot, the magnetic lock is fixedly installed inside the recessed structure formed by the opening of the material exchange channel and the capsule shell wall, while the magnetic switch valve adheres to the surface of the magnetic lock by magnetic attraction. With a fixed content of magnetic powder (i.e., magnetic particles) in the magnetic switch valve and magnetic lock, experiments have shown that under the action of a low-frequency, low-amplitude rotating magnetic field, the lower external magnetic field frequency allows the capsule robot sufficient response time, ensuring that the magnetization direction of the magnetic lock remains consistent with the direction of the external magnetic field at all times. Figure 4 The content is 1Hz, and thus the rotating magnetic field can drive the magnetically controlled capsule robot to roll towards the target position. At the same time, the low magnetic field amplitude ensures that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, and the magnetic switch valve is in the closed state. However, when the space region where the magnetically controlled capsule robot is located provides a high-frequency, high-amplitude magnetic field, the high external magnetic field frequency makes it impossible for the capsule robot to complete the entire cycle of rotation. Figure 4The content (ai 20Hz) indicates near-stationary motion; simultaneously, the high magnetic field amplitude ensures that the magnetic torque on the magnetic switch valve is dominant. After magnetization, the magnetic switch valve deforms under the influence of the magnetic torque, opening the material exchange channel, i.e., the magnetic switch valve, thus enabling targeted drug delivery or point sampling by the capsule robot. Therefore, two necessary conditions for the magnetic switch valve to open can be identified: ① The amplitude of the external driving magnetic field is sufficiently large to ensure that the magnetic torque on the magnetic switch valve is greater than the gradient force between the magnetic switch valve and the magnetic lock; ② The frequency of the external driving magnetic field is appropriate to ensure that the magnetically controlled capsule robot as a whole cannot move in time, but the magnetic switch valve can deform.

[0069] In some embodiments, the magnetic switch valve contains 50-70 wt% magnetic particles, and the magnetic lock contains 30-50 wt% magnetic particles; the magnetic field strength required for the external magnetic field to open or close the magnetic switch valve is controlled by adjusting the content of magnetic particles in the magnetic switch valve and the magnetic lock.

[0070] The present invention also provides a multi-response driving method for the magnetically controlled capsule robot. Under the action of an external magnetic field, the different relaxation times of the magnetic lock and magnetic switch valve in response to the external magnetic field are utilized to realize the independent control of the magnetically controlled capsule robot in multiple response modes, including motion, targeted drug delivery, and fixed-point sampling.

[0071] In some embodiments, the magnetically controlled capsule robot is driven by one or more of the following driving methods:

[0072] Q1: Provide a low-frequency, low-amplitude rotating magnetic field in the space area where the magnetically controlled capsule robot is located. At this time, the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the magnetically controlled capsule robot to roll towards the target position.

[0073] Q2: A high-frequency, high-amplitude magnetic field is provided in the space region where the magnetically controlled capsule robot is located. At this time, the magnetic torque on the magnetic switch valve is dominant. The magnetized magnetic switch valve deforms under the action of the magnetic torque, and the material exchange channel opens, realizing targeted drug delivery or fixed-point sampling of the capsule robot.

[0074] In some embodiments, the low-frequency, low-amplitude rotating magnetic field in driving mode Q1 has a frequency of 1-5Hz and an amplitude of 10-30mT; the high-frequency, high-amplitude magnetic field in driving mode Q2 has a frequency of 25-50Hz and an amplitude greater than 30mT.

[0075] During the experiment, it was found that providing the aforementioned low-frequency, low-amplitude rotating magnetic field within the spatial region of the magnetic capsule robot can precisely control the multi-directional rolling of the capsule robot. In this state, the magnetic gradient force dominates, the material exchange channel remains closed, and independent control of the capsule robot's movement is achieved. Providing a high-frequency, low-amplitude alternating magnetic field within the spatial region of the magnetic capsule robot can control the local deformation of the magnetic switch valves inside the capsule robot. The high-frequency characteristics of the magnetic field enable the capsule to achieve basic anchoring. In this state, the magnetic torque dominates, the material exchange channel remains open, and thus the capsule can perform targeted drug delivery and point sampling functions.

[0076] In some embodiments, the loading cavity includes a first loading cavity and a second loading cavity. The first loading cavity has a first material exchange channel, a first magnetic lock surrounding the first material exchange channel, and a first magnetic switch valve cooperating with the first magnetic lock, all located on the capsule shell wall. The second loading cavity has a second material exchange channel, a second magnetic lock surrounding the second material exchange channel, and a second magnetic switch valve cooperating with the second magnetic lock, all located on the capsule shell wall. By adjusting the content of magnetic particles in the first magnetic lock, the first magnetic switch valve, and the second magnetic lock and the second magnetic switch valve, or, given a fixed content of magnetic particles, by controlling the frequency and amplitude of an external magnetic field, the magnetic torque or gradient force dominance between the first magnetic lock and the first magnetic switch valve, and between the second magnetic lock and the second magnetic switch valve, can be controlled, thereby achieving separate control of the first magnetic switch valve and the second magnetic switch valve.

[0077] In some embodiments, the content of magnetic particles in the first magnetic lock is 50 wt%, and the content of magnetic particles in the first magnetic switch valve is 50 wt%; the content of magnetic particles in the second magnetic lock is 70 wt%, and the content of magnetic particles in the second magnetic switch valve is 50 wt%; a high-frequency, low-amplitude (30 Hz, about 10 mT) alternating magnetic field is provided in the spatial region where the magnetically controlled capsule robot is located. At this time, the magnetic torque between the first magnetic lock and the first magnetic switch valve is dominant, while the gradient force between the second magnetic lock and the second magnetic switch valve is still dominant. The first magnetic switch valve is in the open state, and the second magnetic switch valve is in the closed state. That is, at this time, the first cargo chamber of the capsule robot releases drugs.

[0078] In other embodiments, the content of magnetic particles in the first magnetic lock is 50 wt%, and the content of magnetic particles in the first magnetic switch valve is 50 wt%; the content of magnetic particles in the second magnetic lock is 70 wt%, and the content of magnetic particles in the second magnetic switch valve is 50 wt%; a high-frequency, high-amplitude (around 30 Hz, 20 mT) alternating magnetic field is provided in the spatial region where the magnetically controlled capsule robot is located. At this time, the magnetic torque between the first magnetic lock and the first magnetic switch valve, as well as between the second magnetic lock and the second magnetic switch valve, is dominant. The first magnetic switch valve and the second magnetic switch valve are both in the open state, that is, at this time, the first and second cargo cavities of the capsule robot release drugs.

[0079] In other embodiments, the outer surface of the capsule shell of the magnetically controlled capsule robot is patterned to increase its friction with the environmental interface; the driving method also includes driving via the following means:

[0080] Q3: Provide a mid-frequency, mid-amplitude rotating magnetic field in the spatial region where the magnetically controlled capsule robot is located. At this time, the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the magnetically controlled capsule robot to rotate rapidly as a whole.

[0081] In some embodiments, the intermediate-frequency, mid-amplitude rotating magnetic field has a frequency of 10-20 Hz and an amplitude of 15-30 mT. Designing patterns on the surface of the capsule robot shell to increase its friction with the environment aims to first use a high-frequency magnetic field to control the release of the drug by the capsule robot, and then use the intermediate-frequency magnetic field to control the rapid rotation of the entire capsule robot, thereby enhancing drug diffusion and absorption.

[0082] In some embodiments, the end of the magnetically controlled capsule robot is equipped with an LED light integrating an electromagnetic coil; the driving method also includes the following driving modes:

[0083] Q4: Provide a first ultra-high frequency ultra-high amplitude magnetic field in the space area where the magnetically controlled capsule robot is located, and use the first ultra-high frequency ultra-high amplitude magnetic field to control the switching of the LED lights.

[0084] In some embodiments, during the assembly of the magnetic capsule robot, an LED light is integrated at its end. A low-frequency magnetic field controls the movement of the capsule robot, while an ultra-high-frequency magnetic field controls the LED light's on / off state, thus decoupling the motion from the magnetoelectric function. In some embodiments, the first ultra-high-frequency ultra-low amplitude magnetic field has a frequency of 10-500 kHz and an amplitude of 1-10 Gs.

[0085] In other embodiments, the end of the capsule shell of the magnetically controlled capsule robot is provided with a magnetically heatable composite, preferably a magnetite composite; the driving method also includes the following driving modes:

[0086] Q5: Provide a second ultra-high frequency ultra-high amplitude magnetic field in the spatial region where the magnetically controlled capsule robot is located, and use the second ultra-high frequency ultra-high amplitude magnetic field to heat the magnetically heatable composite, thereby heating the drug or lesion area.

[0087] In some embodiments, during the assembly of the magnetic capsule robot, a piece of iron oxide composite is attached to its end. A low-frequency magnetic field controls the capsule's movement, a high-frequency field controls drug release, and an ultra-high-frequency field controls heating of the drug or lesion area, thus decoupling movement, drug release, and heating control. The second ultra-high-frequency, low-amplitude magnetic field has a frequency of 10-500 kHz and an amplitude of 1-10 mT.

[0088] The present invention also provides a capsule robot drive system with multiple magnetic responses, including the magnetically controlled capsule robot as described in claim 1 and an external magnetic drive system.

[0089] In some embodiments, the external magnetic drive system includes a Helmholtz coil driven magnetic field control system that outputs arbitrary control waveforms in real time. This system is based on a microcontroller and uses a handle to output control signals in real time. The signals are converted from analog to digital (A / D) signals and then input to a power amplifier. After amplification, a corresponding three-dimensional magnetic field is applied to the capsule robot inside the Helmholtz coil. In use, the magnetically controlled capsule robot is located inside the three-dimensional magnetic field of the Helmholtz coil. The Helmholtz coil driven magnetic field control system is mainly used to generate multi-degree-of-freedom rotating magnetic fields and oscillating magnetic fields in space to control the capsule robot to complete targeted transport and channel opening actions.

[0090] In other embodiments, the external magnetic drive system includes a multi-target targeted drug delivery control system, which includes: a position control handle, a first robotic arm, and a permanent magnet fixedly mounted on the first robotic arm; and a second robotic arm and a coil fixedly mounted on the second robotic arm. In use, the position and orientation of the permanent magnet on the first robotic arm are controlled by the position control handle to provide the required gradient / rotational magnetic field for the magnetically controlled capsule robot, thereby enabling the capsule robot to complete different modes of movement (including but not limited to rotation, rolling, and sliding). After reaching the designated position, a high-frequency oscillating magnetic field is applied to the coil on the second robotic arm to complete the drug delivery or fixed-point collection action.

[0091] In some embodiments, the external magnetic drive system includes a fixed-point sampling control system based on a magnetic coil, comprising a third robotic arm and a magnetic coil disposed on the third robotic arm. By controlling the position, orientation, and coil current of the magnetic coil, the movement of the capsule robot and precise sampling within a specified area are achieved.

[0092] In some embodiments, the first robotic arm, the second robotic arm, and the third robotic arm are all 6-DOF robotic arms.

[0093] Based on the above-mentioned decoupling control principle of multiple magnetic drives, this invention proposes a multi-frequency magnetic drive strategy with decoupling of overall and local magnetodynamic responses. Figure 1A and Figure 1B ), Figure 1A This is a schematic diagram of the overall response mode of the capsule under low-frequency magnetic field driving. Figure 1B This diagram illustrates the local response mode of the capsule in high-frequency mode. A spatiotemporally controlled magnetic drive system was developed to achieve multimodal motion and multifunctional integration of the capsule robot.

[0094] At the time dimension, we have independently built a drive magnetic field control system capable of outputting arbitrary control waveforms in real time. For example... Figure 2 As shown in Content A, this system uses a microcontroller as its core and employs a handle to output control signals in real time. These signals are converted from analog to digital (A / D) signals and then input to a power amplifier. After amplification, a corresponding three-dimensional magnetic field is generated in a Helmholtz coil. This system can output high-precision control waveforms with arbitrary parameters, meeting the capsule's requirements for the driving magnetic field in different modes and achieving precise, real-time control of the capsule in the time dimension.

[0095] At the spatial dimension level, two control systems with different functions were developed to meet different application needs: 1) Multi-target targeted transport and drug delivery control system: A multi-target targeted drug delivery control system was constructed using a 6-DOF robotic arm. For example... Figure 2 As shown in Content B, this system uses a handle to control the position and orientation of a permanent magnet on a robotic arm, providing the capsule with the required gradient / rotational magnetic field. This allows the capsule to perform different modes of movement (rotation, rolling, and sliding) within a human stomach model, overcoming the influence of the complex stomach environment. Once it reaches the designated position, a high-frequency oscillating magnetic field can be applied via a drug delivery coil to complete the drug delivery action. 2) Fixed-point sampling control system based on a magnetic coil: Using a self-designed magnetic coil in conjunction with a robotic arm, a high-resolution sampling control system was built, such as... Figure 2 As shown in content C. The magnetic focusing coil consists of a copper coil, an iron core, and a frame. The magnetic field of the coil decays rapidly along the axial direction of the iron core. By controlling the position, orientation, and current of the magnetic focusing coil, the movement of the capsule and precise sampling within a specified area can be achieved.

[0096] In some embodiments of this invention, the controllability of the opening and closing state of the capsule robot's material exchange channel is experimentally tested: the self-locking capability of the material exchange channel is determined by the magnetization intensity of the magnetic switch valve and the magnetic lock, and the magnitude of the magnetization intensity of both is related to the mass fraction of magnetic particles they contain, such as NdFeB. To obtain magnetic locks with different opening magnetic fields, some embodiments of this invention investigate the effect of magnetic powder content on the magnetization intensity, such as... Figure 3 As shown in content A, the higher the magnetic powder content, the greater the magnetization intensity, i.e., the stronger the self-locking ability. Furthermore, the study investigated the effects of applying different magnetic magnetic fields on the magnetic switch valve assembled with magnetic locks containing different magnetic particle contents. a The effect of opening the channel at that time, such as Figure 3 As shown in Content B, it can be seen that the opening magnetic field of the magnetic switch valve with different magnetic powder contents varies significantly, indicating that the opening magnetic field can be controlled by adjusting the magnetic particle content in the magnetic lock, thereby achieving multi-level control of the soft channel under low and high fields.

[0097] Dynamic simulation analysis of the channel opening and closing states: When the applied driving magnetic field exceeds 30mT, and the magnetic switch valve's opening angle is almost uniform due to the magnetic torque exceeding the gradient force constraint generated by the magnetic lock, such as... Figure 3 As shown in content C. This is because the gradient force is inversely proportional to the square of the distance and decays rapidly in space. When the magnetic switch valve leaves the magnetic lock, the gradient force decreases sharply. Therefore, dynamic behavior simulation analysis can be performed based on the structure of the magnetic switch valve to explore the large deformation characteristics of the magnetic switch valve under different driving magnetic fields. Simulation results and experimental measurement results are as follows. Figure 3 As shown in content D, the bending angles of the two are quite consistent, indicating that the magnetic field amplitude effectively regulates the opening and closing state of the channel.

[0098] The sealing test of the material exchange channel of the magnetically controlled capsule robot mainly includes the following: First, the opening magnetic field under the action of the magnetic lock with different magnetic particle contents was measured, such as... Figure 3 As shown in section E, the higher the content of magnetic particles, the greater the magnetic gradient force between the magnetic lock and the magnetic switch valve, the greater the required opening magnetic field, and the better the heat-sealing performance of the capsule machine. Secondly, to test the capsule sealing performance under extreme conditions, capsules containing Ponceau S solution were placed in a beaker filled with water and fixed on a shaker to simulate the intense peristalsis of the human gastrointestinal tract under extreme conditions. Figure 3 As shown in content F. In the experiment, the leakage rate of Ponceau L. in the magnetic lock with different magnetic particle contents was measured by ultraviolet spectrophotometer after multiple tests. The leakage rate of the capsule robot with a mass fraction of 50% or more was less than 2%, as shown in content F. Figure 3 As shown in section G, the capsule has good sealing performance, which can ensure that no leakage occurs during in vivo transportation and meet the needs of practical applications.

[0099] By utilizing the differences in relaxation time response of the internal magnetic switching valve and magnetic lock of the capsule robot to different magnetic field frequencies / amplitudes, the overall motion function mode and local response function mode of the capsule robot are decoupled and controlled. This enables the generation and control of multiple magnetic response performances under different magnetic field modes, specifically reflected in the following four aspects. The capsule robot used in the following experiments is type ①, the magnetic switching valve is radially magnetized with a central divergence, and the magnetic powder (magnetic particles) content is 50% by mass. The magnetic lock is axially magnetized in a vertically downward magnetization direction, and the magnetic powder (magnetic particles) content is 70% by mass.

[0100] 1) High-efficiency overall motion performance under low-frequency magnetic fields

[0101] To analyze the overall motion performance of the capsule robot under a low-frequency magnetic field, this invention generates rotating magnetic fields of different frequencies through a real-time driven magnetic field control system. The horizontal displacement and motion speed of the capsule robot were measured on a plane, such as... Figure 4 As shown in Content A. Research indicates that when the magnetic field frequency is less than 5Hz, the capsule robot's motion efficiency is high; however, when the frequency is greater than 5Hz, the capsule's motion efficiency drops sharply, and its motion becomes unstable, sometimes exhibiting reverse movement. This demonstrates that low-frequency magnetic fields can efficiently drive the overall motion of the capsule robot, and also indicates... Figure 2 The magnetic field control system in Content A can achieve precise magnetic field control.

[0102] 2) Anchoring test under high frequency magnetic field

[0103] To analyze the anchoring performance of the capsule robot under a high-frequency magnetic field, this invention utilizes a real-time driven magnetic field control system to generate a high-frequency oscillating magnetic field. The anchoring performance of the robot is then tested on a circular plane with a diameter of 20 cm. Figure 4 As shown in Content B, experiments demonstrate that the anchoring performance of the capsule robot increases with increasing magnetic field frequency. When the magnetic field frequency increases from 10Hz to 30Hz, the rolling distance of the capsule within 13 seconds decreases from 15cm to 4cm. This indicates that the capsule robot has good anchoring performance under high-frequency, high-amplitude magnetic fields, which is highly beneficial for the capsule robot to stably complete precise drug dispensing and fixed-point sampling tasks.

[0104] 3) Drug delivery rate analysis under multiple magnetic field frequencies

[0105] It is generally believed that the drug delivery rate of a capsule robot depends on the frequency and angle of the bending of the magnetic switch valve. The higher the frequency or bending angle, the faster the drug delivery rate. To analyze the capsule's drug delivery capability, this invention photographed the bending angles of a water-filled magnetic switch valve under different frequency magnetic fields, such as... Figure 4As shown in Part I of Content C. Experiments show that when the frequency is less than 30Hz, the maximum bending angle of the magnetic switch valve is not significantly different; when the magnetic field frequency increases to 60Hz, the bending angle of the magnetic switch valve shows a significant decreasing trend, with the maximum bending angle decreasing by nearly 34% at 60Hz. Therefore, while ensuring the bending angle of the capsule's magnetic switch valve, a driving magnetic field with a higher frequency should be selected as much as possible to improve the drug delivery efficiency of the capsule robot. To verify the above conclusions, this invention uses Ponceau S dye as a marker drug, calculates the ratio between the sample group and the experimental control group after drug release to determine the actual drug delivery ratio, and measures the actual drug delivery ratio of the capsule at different frequencies within 10 seconds, such as... Figure 4 As shown in Part II of Content C, it can be observed that as the magnetic field frequency increases, the drug release rate of the capsule first increases and then decreases, ultimately achieving the highest release efficiency at 30Hz. This phenomenon is consistent with the frequency difference response of the bending angle of the magnetic switch valve, fully demonstrating that the capsule robot has highly efficient drug release performance under high-frequency magnetic fields.

[0106] 4) Targeted drug release based on magnetic coils

[0107] To analyze the magnetic properties of the focusing magnet coil, a two-dimensional axisymmetric analytical model of the focusing magnet coil was constructed, and the magnetic field distribution near the focusing magnet core was calculated, showing obvious gradient decay characteristics, such as... Figure 4 As shown in Part I of Content D. Further experiments were conducted in the pipeline model at different distances to dispense the capsule, such as... Figure 4 As shown in Part II of Content D, when a 4V, 40Hz sinusoidal voltage is applied to the coil, the distance between the capsule and the magnetic coil decreases from 3.6cm to 1.39cm without any leakage of the drug inside the capsule. The drug is only rapidly released when the capsule is placed at the center of the magnetic coil. This result indicates that the magnetic field generated by the magnetic coil has high spatial resolution and can be used to achieve drug release or sampling within a specified area (such as different regions of the intestine), with control precision down to the sub-centimeter level.

[0108] Traditional drug delivery and administration systems generally suffer from problems such as uneven dosage and poor efficacy due to differences in absorption and metabolism. Targeted drug delivery, however, delivers drugs directly to the lesion, offering high selectivity and specificity. To verify the targeted drug delivery function of the developed capsule robot, some embodiments of this invention first conducted experimental studies on the capsule robot in a human gastric simulation model. For example... Figure 5As shown in Content A, the capsule robot demonstrated multimodal motion and drug release functions in a human stomach model. Simultaneously, to simulate the viscous environment of the human digestive system, further experiments were conducted using an ex vivo pig stomach. A 6-DOF robotic arm equipped with permanent magnets was controlled by a handheld controller, achieving targeted movement and rotation of the capsule robot (driven by gradient magnetic field + low-frequency magnetic field). Figure 5 Contents B and C are shown. Upon reaching target locations A and B, targeted drug release was achieved by applying a high-frequency oscillating magnetic field (30Hz, 30mT), as shown. Figure 5 As shown in content D.

[0109] To further verify the clinical application potential of the developed capsule robot, this invention conducted in vivo experiments on rabbits, including intragastric targeted delivery and active drug administration. A schematic diagram of the experimental system is shown below. Figure 6 As shown in Content A. The rabbits must be anesthetized before the experiment begins, as follows: Figure 6 As shown in Content B. To visually understand the motion morphology of the capsule robot, an endoscope was inserted into the rabbit's stomach along the esophagus for observation. Figure 6 As shown in Content C, the capsule robot can perform directional movement in the rabbit's stomach under the drive of an external permanent magnet (a low-frequency magnetic field of about 1 Hz). Upon reaching the predetermined drug delivery location, a high-frequency oscillating magnetic field is applied. By repeatedly opening and closing the substance exchange channels, the exchange between the internal drug and gastric fluid is accelerated, thereby achieving drug release. Figure 6 Content D) After 22 seconds of application, the Ponceau S (marker drug) inside the capsule was basically released, verifying the effectiveness and feasibility of the magnetically controlled capsule robot in controlling targeted delivery and point-to-point drug administration in live animals.

[0110] Sampling of intestinal lesions is crucial in the examination of common intestinal diseases and gut microbiota, but existing intestinal sampling methods suffer from problems such as cross-contamination, poor controllability, and invasiveness. Therefore, this invention integrates intestinal sampling functionality into a capsule robot. First, the sampling function of the magnetically controlled capsule robot was verified in a U-shaped orbit, such as... Figure 7 As shown in Content A. Considering the convoluted structure of the small intestine, this invention further develops a precise region sampling system based on a magnetic coil, the sampling process of which is as follows: Figure 7 As shown in Content B, the robot can be moved when the current in the magnetic coil is in DC mode, while in AC mode, the channel opening and closing modes can be adjusted to achieve sampling. A comparison of the capsule before and after sampling shows that the capsule changed from its initial white color to blue. These results demonstrate that the developed capsule robot can successfully complete the task of collecting liquid from a designated target area, providing a new technical approach for future tumor screening and microbiome sampling.

[0111] In drug delivery and treatment applications, different regions have varying drug requirements, and multiple drugs may be used in combination in the same region. Single-drug targeted delivery cannot adequately meet clinical needs. This invention addresses these issues by adjusting the magnetic powder content of the magnetic lock to change the magnitude of the gradient magnetic field force, thereby designing a dual-compartment capsule robot with graded magnetic door opening. In some embodiments, the loading chamber includes a first loading chamber and a second loading chamber (dual-compartment capsule). The first loading chamber has a first material exchange channel on the capsule shell wall, a first magnetic lock surrounding the first material exchange channel, and a first magnetic switch valve cooperating with the first magnetic lock. The second loading chamber has a second material exchange channel on the capsule shell wall, a second magnetic lock surrounding the second material exchange channel, and a second magnetic switch valve cooperating with the second magnetic lock. The first magnetic lock contains 50 wt% magnetic particles, and the first magnetic switch valve contains 50 wt% magnetic particles; the second magnetic lock contains 70 wt% magnetic particles, and the second magnetic switch valve contains 50 wt% magnetic particles. A high-frequency, low-amplitude (30 Hz, about 10 mT) alternating magnetic field is provided in the space region where the magnetically controlled capsule robot is located. At this time, the magnetic torque between the first magnetic lock and the first magnetic switch valve is dominant, while the gradient force between the second magnetic lock and the second magnetic switch valve is still dominant. The first magnetic switch valve is in the open state, and the second magnetic switch valve is in the closed state. That is, at this time, the first cargo chamber of the capsule robot releases drugs.

[0112] In other embodiments, the content of magnetic particles in the first magnetic lock is 50 wt%, and the content of magnetic particles in the first magnetic switch valve is 50 wt%; the content of magnetic particles in the second magnetic lock is 70 wt%, and the content of magnetic particles in the second magnetic switch valve is 50 wt%; a high-frequency, high-amplitude (around 30 Hz, 20 mT) alternating magnetic field is provided in the spatial region where the magnetically controlled capsule robot is located. At this time, the magnetic torque is dominant between the first magnetic lock and the first magnetic switch valve, and between the second magnetic lock and the second magnetic switch valve. Both the first and second magnetic switch valves are in the open state, that is, at this time, both the first and second cargo cavities of the capsule robot release drugs. Figure 8 As shown in Content A, the magnetic door of the dual-compartment capsule has two opening modes: I (10mT opening) and II (20mT opening). Figure 8 Contents B and C respectively show experimental diagrams of low-field-high-field sequential drug delivery and high-field simultaneous drug delivery using the dual-compartment capsule. The results demonstrate that the developed magnetically controlled capsule robot also has significant advantages in multiple controllable drug delivery.

[0113] The oral delivery of large molecules, including nucleic acids and proteins, is limited by the digestive tract's degradation environment and poor absorption; for example, the oral bioavailability of peptides like insulin and vancomycin is less than 1%. To overcome this limitation, this invention proposes an improved capsule robot with helical gears. After drug dispensing, applying a mid-frequency magnetic field (5-10 Hz) utilizes the capsule's rotation to accelerate drug diffusion. Figure 9 As shown in Content A; simultaneously, the rotation of the helical gears can clear mucus from the inner wall of the small intestine, thereby increasing the absorption rate of this type of drug in the small intestine, as shown in the following results. Figure 9 As shown in Content B, this extended functionality of the magnetically controlled capsule robot provides a feasible approach to significantly improve the absorption rate of oral medications.

[0114] In vivo thermo / phototherapy is a novel treatment method that induces apoptosis or necrosis of tumor cells, and has significant clinical application value. This invention integrates an LED light into the end of the capsule, such as... Figure 10 As shown in Content A, the movement of the capsule is controlled by the rotation of a permanent magnet (a low-frequency magnetic field of about 1Hz), and the LED light switch is controlled by a radio frequency magnetic field. This achieves decoupling of the motion and magnetoelectric functions, and the four letters H, U, S, and T are lit sequentially along a predetermined path. Figure 10 Contents B and C are shown. On the other hand, this invention has developed a capsule robot with magnetothermal function, such as... Figure 10 As shown in Content D, drug release and heating are achieved by utilizing targeted drug delivery and the high-frequency magnetocaloric effect of magnetic particles. Finally, the movement, drug delivery, and heating of the capsule robot are controlled using low-frequency, high-frequency, and radio-frequency magnetic fields, respectively. Figure 10 As shown in Content E, this extended functionality of the magnetically controlled capsule robot lays the foundation for its application in the thermo / phototherapy-assisted treatment of gastrointestinal diseases.

[0115] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A magnetically controlled capsule robot, comprising a capsule shell and a cargo cavity disposed inside the capsule shell, wherein a mass exchange channel is provided on the wall of the capsule shell, a magnetic lock is disposed around the mass exchange channel, and a magnetic switch valve is disposed in cooperation with the magnetic lock; characterized in that, In the magnetically controlled capsule robot, the magnetic lock and magnetic switch valve are magnetized magnetic lock and magnetic switch valve, respectively, and the magnetization of the magnetic lock and magnetic switch valve adopts any one of the following two methods: (i) The magnetization direction of the magnetic switch valve is outward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is outward perpendicular to the curved surface or plane where the magnetic lock is located; (ii) The magnetization direction of the magnetic switch valve is converging inward from the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is perpendicular to the curved surface or plane where the magnetic lock is located and inward; The multi-response driving method of the magnetically controlled capsule robot is as follows: Under the action of an external magnetic field, by utilizing the different relaxation times of the magnetic lock and magnetic switch valve in response to the external magnetic field, and given a certain magnetic particle content, the frequency and amplitude parameters of the external magnetic field are controlled to achieve independent control of the magnetically controlled capsule robot in multiple response modes, including motion, targeted drug delivery, and fixed-point sampling. The magnetically controlled capsule robot includes the following multiple driving methods: Q1: Provide a low-frequency, low-amplitude rotating magnetic field in the space area where the magnetically controlled capsule robot is located, so that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the magnetically controlled capsule robot to roll towards the target position. Q2: After the magnetically controlled capsule robot reaches the target position, a high-frequency, high-amplitude magnetic field is provided in the space area where the magnetically controlled capsule robot is located, so that the magnetic torque on the magnetic switch valve is dominant. The magnetized magnetic switch valve deforms under the action of the magnetic torque, and the magnetic switch valve opens, realizing the targeted drug delivery or fixed-point sampling of the capsule robot. The outer surface of the capsule shell of the magnetically controlled capsule robot is patterned to increase its friction with the environmental interface; the driving method also includes the following driving mechanism: Q3: Provide a mid-frequency, mid-amplitude rotating magnetic field in the spatial region where the magnetically controlled capsule robot is located, so that the magnetic gradient force between the magnetic lock and the magnetic switch valve is dominant, the magnetic switch valve is in the closed state, and the rotating magnetic field drives the entire magnetically controlled capsule robot to rotate rapidly.

2. The multi-response driving method for a magnetically controlled capsule robot as described in claim 1, characterized in that, By adjusting the frequency and amplitude of the external magnetic field, the magnetization direction of the magnetic lock is aligned with the direction of the external magnetic field, driving the magnetically controlled capsule robot to roll towards the target position. Simultaneously, this magnetic field ensures that the magnetic gradient force between the magnetic lock and the magnetic switch valve dominates, keeping the magnetic switch valve closed and preventing the magnetically controlled capsule robot from exchanging substances with the outside world during rolling; or By controlling the amplitude of the external magnetic field to be large enough to ensure that the magnetic torque on the magnetic switch valve is greater than the gradient force between the magnetic switch valve and the magnetic lock, and by adjusting the frequency of the external magnetic field, the magnetically controlled capsule robot as a whole is not able to move in time, but at the same time the magnetic switch valve can deform, thereby enabling the magnetically controlled capsule robot to perform targeted drug delivery or fixed-point sampling at the target location.

3. The multi-response driving method for a magnetically controlled capsule robot as described in claim 2, characterized in that, The magnetically controlled capsule robot is equipped with an LED light with an integrated electromagnetic coil at its end; the driving method also includes the following driving modes: Q4: Provide a first ultra-high frequency ultra-high amplitude magnetic field in the space area where the magnetically controlled capsule robot is located, and use the first ultra-high frequency ultra-high amplitude magnetic field to control the switching of the LED lights.

4. The multi-response driving method for a magnetically controlled capsule robot as described in claim 2, characterized in that, The end of the capsule shell of the magnetically controlled capsule robot is provided with a magnetically heatable composite. The driving method also includes the following driving modes: Q5: Provide a second ultra-high frequency ultra-high amplitude magnetic field in the spatial region where the magnetically controlled capsule robot is located, and use the second ultra-high frequency ultra-high amplitude magnetic field to heat the magnetically heatable composite, thereby heating the drug or lesion area.

5. The multi-response driving method for a magnetically controlled capsule robot as described in claim 4, characterized in that, The magnetically heatable composite is an iron oxide composite.

6. The multi-response driving method for a magnetically controlled capsule robot as described in claim 2, characterized in that, The loading cavity includes a first loading cavity and a second loading cavity. The first loading cavity is provided with a first substance exchange channel, a first magnetic lock arranged around the first substance exchange channel, and a first magnetic switch valve arranged in cooperation with the first magnetic lock on the capsule shell wall. The second loading cavity is provided with a second substance exchange channel, a second magnetic lock arranged around the second substance exchange channel, and a second magnetic switch valve arranged in cooperation with the second magnetic lock on the capsule shell wall. By adjusting the content of magnetic particles in the first magnetic lock, the first magnetic switch valve, the second magnetic lock, and the second magnetic switch valve, or, given a certain content of magnetic particles, by adjusting the frequency and amplitude of the external magnetic field, controlling whether the first magnetic lock and the first magnetic switch valve are dominated by magnetic torque or gradient force, and thus achieving independent control of the first magnetic switch valve and the second magnetic switch valve.

7. A multi-magnetic-response capsule robot drive system, characterized in that, The system includes the magnetically controlled capsule robot as described in claim 1, and also includes an external magnetic drive system.

8. The capsule robot drive system with multiple magnetic responses as described in claim 7, characterized in that, The external magnetic drive system includes a Helmholtz coil drive magnetic field control system that outputs arbitrary control waveforms in real time. The Helmholtz coil driven magnetic field control system that outputs arbitrary control waveforms in real time is based on a microcontroller. It uses a handle to output control signals in real time. The signals are converted by an A / D converter and then input to a power amplifier. After amplification, the corresponding three-dimensional magnetic field is applied to the capsule robot inside the Helmholtz coil. In use, the magnetically controlled capsule robot is located inside the three-dimensional magnetic field of the Helmholtz coil.

9. The capsule robot drive system with multiple magnetic responses as described in claim 7, characterized in that, The external magnetic drive system includes a multi-target targeted drug delivery control system, which includes: A position control handle, a first robotic arm and a permanent magnet fixedly mounted on the first robotic arm; and a second robotic arm and a coil fixedly mounted on the second robotic arm; In use, the position and orientation of the permanent magnet on the first robotic arm are controlled by the position control handle, providing the required gradient or rotational magnetic field to the magnetically controlled capsule robot, thereby enabling the capsule robot to complete different modes of movement; after reaching the designated position, a high-frequency oscillating magnetic field is applied to the coil set on the second robotic arm to complete drug delivery or fixed-point sampling; or The external magnetic drive system includes a fixed-point sampling control system based on a magnetic coil, which includes a third robotic arm and a magnetic coil mounted on the third robotic arm. By controlling the third robotic arm, the position, orientation, and coil current of the magnetic coil can be controlled to achieve the movement of the capsule robot and precise sampling within a specified area.

Images