Medicine delivery robot and medicine delivery device

Abstract

The present invention provides a medicine delivery robot and a medicine delivery device. The medicine delivery robot includes a box body, a magnetic component, and a walking component. The box body is used to hold medicine to be transported. The magnetic component is arranged on the walking component and drives the walking component to move by interacting with an external driving field. The walking component is movably arranged and extends through the box body and includes a pair of support parts extending in opposite directions. When the support parts move to a height direction perpendicular to the box body, the support parts no longer protrude from the box body and can be driven by the external driving field to move the box body. When the support parts move to the height direction of the box body, the support parts will support the box body so that the height of the box body is higher than the height of the obstacle. By continuing to control the movement of the external driving field, the box body can pass over the obstacle, so that the medicine delivery robot can effectively reach the target medicine delivery position when facing an environment with gastrointestinal folds and digestive residues.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a medicine delivery robot and a medicine delivery device. Background Art

[0002] Currently, traditional gastrointestinal drug delivery methods mostly use capsules. This non-targeted method often disperses the drug throughout the digestive tract, with only a very small percentage of the drug actually reaching the lesion, resulting in suboptimal drug delivery efficiency. To improve drug delivery efficiency, some existing technologies have researched and developed in-vivo drug delivery robots based on various drive methods. These in-vivo drug delivery robots are typically millimeter-scale robots, and use them as drug carriers.

[0003] However, when faced with the complex physiological environment of the human gastrointestinal tract, the movement of the drug delivery robot in the body will be affected. For example, the current external field driven (such as magnetic field) gastrointestinal drug delivery robot is driven by the force of the external magnetic field to drive the drug delivery robot in the body to walk; however, this simple drug delivery robot combined with the external magnetic field drive method often lacks the ability to overcome obstacles, especially when faced with gastrointestinal folds and digestive residues. It is easily restricted and cannot effectively reach the target drug delivery location, thereby affecting the drug delivery effect.

[0004] In view of this, the present invention is proposed. Summary of the Invention

[0005] The present application provides a medicine delivery robot and a medicine delivery device to solve the technical problem that existing medicine delivery robots lack obstacle crossing capability and thus affect the medicine delivery effect.

[0006] A first aspect of the present invention provides a medicine delivery robot, comprising a box body, a magnetic component and a walking component; the box body is used to contain the medicine to be transported; the magnetic component is arranged on the walking component, and drives the walking component to move through interaction with an external driving field; the walking component is movably arranged and passes through the box body and comprises a pair of support parts extending in opposite directions, and when the support parts move to the height direction of the box body, the ends of the support parts protrude from the box body.

[0007] In this solution, the walking component can interact with the external driving field through the magnetic component installed thereon, thereby realizing the movement of the walking component. Since the walking component is movably arranged and passes through the box body, and the supporting part of the walking component protrudes from the box body when it moves to the height direction of the box body, the walking component will drive the box body to move when it walks, thereby driving the box body and the medicine to be transported contained in the box body to be transported to the designated location.

[0008] When the support part moves to the height direction of the box body, since the end of the support part protrudes from the box body, the support part will prop up the box body, so that there is space between the box body and the walking contact surface. By continuing to control the external driving field, the box body can cross the obstacle, so that the drug delivery robot can effectively reach the target drug delivery position when facing the environment of gastrointestinal folds and digestive residues, thereby improving the drug delivery effect.

[0009] In a further embodiment of the present invention, the walking part also includes a connecting part and a pair of mounting parts; the connecting part is movably arranged and passes through the box body, and the pair of mounting parts are respectively arranged at both ends of the connecting part and are respectively connected to corresponding supporting parts; an installation groove is opened on the mounting part, and the magnetic part is arranged in the installation groove.

[0010] In this solution, the connecting part is movably arranged and passes through the box body, so that the walking part is movably connected to the box body. The two ends of the connecting part are connected to the mounting parts. The magnetic part can be installed by arranging the mounting groove on the mounting part, so that the magnetic part can drive the walking part to move under the action of the external driving field, and a pair of supporting parts are connected to the corresponding mounting parts and extend in the opposite direction. When moving to the height direction of the box body, they play the effect of supporting the box body so that the box body can pass over obstacles.

[0011] In a further embodiment of the present invention, the extension direction of the mounting slot is parallel or perpendicular to the extension direction of the support portion, and the two magnetic poles of the magnet component are located at both ends of the extension direction of the mounting slot, driving the support portion to rotate through interaction with an external driving field.

[0012] In this solution, the mounting slot extends perpendicular or parallel to the support portion, and the two magnetic poles of the magnetic component are located at opposite ends of the mounting slot. Therefore, the rotation of the external drive field can be controlled to control the rotation of the magnetic component and the moving component, thereby driving the movement of the box. Furthermore, because the medicine delivery robot is located inside the human body and is invisible, the current state of the medicine delivery robot can be determined by changes in the external drive field, facilitating its control.

[0013] In a further embodiment of the present invention, a connecting hole is provided through the box body along the width direction, and the connecting hole is centrally arranged along the length direction of the box body. The connecting part passes through the connecting hole and leaves a gap with the connecting hole to drive the box body to rise and fall when the supporting part is displaced.

[0014] In this solution, the connecting hole is arranged through the box body in the width direction and is centered in the length direction of the box body, and a gap is left between the connecting part and the connecting hole when the connecting part passes through the connecting hole. Therefore, when the walking part rotates following the external driving field, it will rotate with the connecting part as the axis, and will not drive the box body to rotate and cause the box body to flip over.

[0015] In a further embodiment of the present invention, the medicine delivery robot also includes a cover; a medicine slot is provided on the box body, and the medicine slot is used to place the medicine to be transported; the cover is arranged on the medicine slot and is used to close the medicine slot when delivering the medicine; the cover is made of a soluble material.

[0016] In this solution, a drug slot is opened on the box body to hold the drug to be transported. When the cover body is delivering the drug, the drug to be transported is located in the drug slot. The cover body is made of dissolving material and closes the drug slot. When the drug delivery robot moves to the target drug delivery position, the body fluid at the target drug delivery position will dissolve the cover body to open the drug slot. At this time, the drug delivery robot can be controlled to change its posture to pour out the drug to be transported in the drug slot, or the drug can be allowed to dissolve and be absorbed by itself.

[0017] In a further embodiment of the present invention, the box body includes a main body and a partition, and a pair of medicine grooves are provided, and the pair of medicine grooves are opened on the main body; the partition is arranged in the medicine groove and extends along the width direction of the box body to divide the medicine groove into a pair of sub-grooves, and the cover body is correspondingly provided with a pair to cooperate with the pair of sub-grooves.

[0018] In this solution, the drug groove is opened on the main body, and the dividing part is arranged in the drug groove and extends along the width direction of the box body, thereby dividing the drug groove into a pair of sub-grooves, so that different drugs to be transported can be placed in the drug groove. Since there is also a pair of cover bodies, a pair of sub-grooves can be closed separately when delivering the drugs. When the cover bodies are made of different materials, the drugs to be transported in the pair of sub-grooves can be delivered to different positions in the human body.

[0019] A second aspect of the present invention provides a medicine delivery device comprising a plurality of interconnected medicine delivery robots provided by the first aspect of the present invention.

[0020] In this solution, by interconnecting the medicine delivery robots provided in the first aspect of the present invention to form a medicine delivery device, the movement form of the medicine delivery device is more stable than that of a single medicine delivery robot, and the medicine delivery efficiency can be effectively improved.

[0021] In a further embodiment of the present invention, a plurality of medicine delivery robots are connected end to end in sequence; the mounting portion includes a first mounting portion and a second mounting portion, the mounting slot includes a first mounting slot and a second mounting slot, the first mounting slot is arranged on the first mounting portion, and the second mounting slot is arranged on the second mounting portion; the first mounting portion and the second mounting portion are arranged vertically, and the magnetic component is arranged in the first mounting slot or the second mounting slot, and when the external driving field is uniform, the corresponding first mounting slot and second mounting slot on each two adjacent medicine delivery robots are both vertical.

[0022] In this solution, the mounting portion includes a first mounting portion and a second mounting portion, and the first mounting portion and the second mounting portion respectively have a first mounting groove and a second mounting groove. Since the magnetic components on adjacent robots are respectively installed on their respective first mounting portions and second mounting portions, and the first mounting portion and the support portion have the same extension direction, and the second mounting portion and the support portion have a perpendicular extension direction, when the external driving field is uniform, the angles of the support portions on adjacent drug delivery robots will be perpendicular to each other. By controlling the changes in the external driving field, the drug delivery device can be driven in different motion postures, thereby prompting the drug delivery device to move in the human body.

[0023] In a further embodiment of the present invention, the box body includes a pair of earring parts, which are arranged perpendicular to each other; adjacent medicine delivery robots are movably connected end to end in sequence through the earring parts.

[0024] In this solution, a pair of earring parts are provided on the main body, and adjacent medicine delivery robots can be movably connected end to end through the earring parts. The earring parts can provide certain mobility performance and can effectively improve the obstacle crossing ability of the medicine delivery device.

[0025] In a further embodiment of the present invention, a pair of first mounting grooves are formed on both sides of the first mounting portion, and a pair of second mounting grooves are formed on both sides of the second mounting portion; the magnetic components are arranged in pairs in the first mounting grooves or the second mounting grooves.

[0026] In summary, the medicine delivery robot and medicine delivery device provided by this application have at least the following beneficial effects:

[0027] The walking component can interact with the external driving field through the magnetic component installed thereon, thereby realizing the movement of the walking component. Since the walking component is movably arranged and passes through the box body, and the supporting part of the walking component protrudes from the box body when it moves to the height direction of the box body, the walking component will drive the box body to move when it moves, thereby driving the box body and the medicine to be transported contained in the box body to be transported to the designated location.

[0028] When the support part moves to a height direction perpendicular to the box body, the support part no longer protrudes from the box body, and the box body can be driven to move by the external driving field. When the support part moves to the height direction of the box body, the support part will prop up the box body so that the height of the box body is higher than the height of the obstacle. By continuing to control the movement of the external driving field, the box body can pass over the obstacle, so that the drug delivery robot can effectively reach the target drug delivery position when facing an environment with gastrointestinal folds and digestive residues, thereby improving the drug delivery effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] To more clearly illustrate the specific embodiments of this application or the technical solutions in the prior art, the following briefly introduces the drawings required for the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be derived from these drawings without inventive effort.

[0030] Figure 1 A schematic diagram of the structure of a medicine delivery robot provided in an embodiment of the present application (the cover of one of the slots has been removed for ease of illustration);

[0031] Figure 2 This is a schematic diagram of the structure of the medicine delivery robot provided in an embodiment of the present application after all covers are removed;

[0032] Figure 3 A front view of the medicine delivery robot provided in an embodiment of the present application;

[0033] Figure 4 A side view of the medicine delivery robot provided in an embodiment of the present application;

[0034] Figure 5 A top view of the medicine delivery robot provided in an embodiment of the present application;

[0035] Figure 6 A schematic diagram of the structure of the box body provided in an embodiment of the present application;

[0036] Figure 7 A schematic diagram of the structure of the walking component provided in an embodiment of the present application;

[0037] Figure 8 A schematic diagram of the structure of a medicine delivery device provided in an embodiment of the present application;

[0038] Figure 9 A posture diagram of the medicine delivery device provided in an embodiment of the present application under an external driving field;

[0039] Figure 10 for Figure 9 The posture diagram of the drug delivery device after the external driving field rotates 90 degrees clockwise; and

[0040] Figure 11 for Figure 10 The posture diagram of the drug delivery device after the external driving field rotates 90 degrees clockwise.

[0041] The reference numerals are as follows:

[0042] 1. Drug delivery device; 2. External driving field; 3. Obstacles;

[0043] 10. Medicine delivery robot; 10A, the first medicine delivery robot; 10B, the second medicine delivery robot; 10C, the third medicine delivery robot; 10D, the fourth medicine delivery robot; 10E, the fifth medicine delivery robot;

[0044] 100, walking member; 110, connecting portion; 120, mounting portion; 120A, mounting slot; 121, first mounting portion; 121A, first mounting slot; 122, second mounting portion; 122A, second mounting slot; 130, supporting portion;

[0045] 200, magnetic component;

[0046] 300, box body; 310, main body; 310A, drug slot; 310B, connection hole; 320, partition; 330, earring;

[0047] 400. Cover; 500. Drugs to be transported. DETAILED DESCRIPTION

[0048] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like appear to indicate the orientation or position relationship, unless otherwise specified, they are understood to be based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting this application.

[0049] Furthermore, the use of "first" or "second" in describing features is for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features identified. Features identified as "first" or "second" may explicitly or implicitly include at least one of the identified features. The use of the word "plurality" generally implies at least two, such as two or three, unless otherwise specifically defined.

[0050] In this application, unless otherwise specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integration; mechanical connections, electrical connections, direct connections, or indirect connections through an intermediary; and internal connections between two components or interactions between two components. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0051] In the description of this specification, if the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" appear, it means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0052] Please refer to Figure 1-Figure 5 In a first aspect, the present invention provides a medicine delivery robot 10, comprising a box body 300, a magnetic component 200 and a walking component 100; the box body 300 is used to contain the medicine 500 to be transported; the magnetic component 200 is arranged on the walking component 100, and drives the walking component 100 to move through the interaction with the external driving field 2; the walking component 100 is movably arranged and passes through the box body 300 and includes a pair of support parts 130 extending in opposite directions, and when the support part 130 moves to the height direction of the box body 300, the end of the support part 130 protrudes from the box body 300.

[0053] It should be noted that the external driving field 2 mentioned herein is generally a magnetic field or an electric field, but may also be other driving fields that can interact with the magnetic component 200. For ease of illustration, a magnetic field is used in this embodiment and the figures. Since the medicine delivery robot 10 is used for medical treatment, it should be manufactured using materials that are harmless to the human body.

[0054] In this solution, the walking component 100 can interact with the external driving field 2 through the magnetic component 200 installed thereon, thereby realizing the movement of the walking component 100. Since the walking component 100 is movably arranged and passes through the box body 300, and the support part 130 of the walking component 100 protrudes from the box body 300 when it moves to the height direction of the box body 300, the walking component 100 will drive the box body 300 to move when it moves, thereby driving the box body 300 and the medicine to be transported 500 contained in the box body 300 to be transported to the designated location.

[0055] When the support part 130 moves to a height direction perpendicular to the box body 300, the support part 130 no longer protrudes from the box body 300, and the box body 300 can be moved by the external driving field. When the support part 130 moves to the height direction of the box body 300, the support part 130 will prop up the box body 300, so that the height of the box body 300 is higher than the height of the obstacle 3. By continuing to control the external driving field 2, the box body 300 can pass over the obstacle 3, so that the medicine delivery robot 10 can effectively reach the target medicine delivery position when facing an environment with gastrointestinal folds and digestive residues, thereby improving the medicine delivery effect.

[0056] Please refer to Figure 6-7 In a further embodiment, the walking component 100 further includes a connecting portion 110 and a pair of mounting portions 120; the connecting portion 110 is movably arranged and passes through the box body 300, and the pair of mounting portions 120 are respectively arranged at both ends of the connecting portion 110 and are respectively connected to corresponding supporting portions 130; a mounting portion 120A is opened on the mounting portion 120, and the magnetic component 200 is arranged in the mounting portion 120A.

[0057] In this solution, the connecting portion 110 is movably arranged and passes through the box body 300, so that the walking component 100 is movably connected to the box body 300, and the two ends of the connecting portion 110 are connected to the mounting portion 120. By arranging the mounting portion 120A on the mounting portion 120, the magnetic component 200 can be installed, so that the magnetic component 200 can drive the walking component 100 to move under the action of the external driving field 2, and a pair of supporting portions 130 are connected to the corresponding mounting portions 120 and extend in the opposite direction. When moving to the height direction of the box body 300, they support the box body 300 so that the box body 300 can pass over the obstacle 3.

[0058] In a further embodiment, the extension direction of the mounting portion 120A is parallel or perpendicular to the extension direction of the support portion 130 , and the two magnetic poles of the magnetic component 200 are located at both ends of the extension direction of the mounting portion 120A, driving the support portion 130 to rotate through interaction with the external driving field 2 .

[0059] In this solution, the extension direction of the mounting portion 120A is perpendicular or parallel to the extension direction of the support portion 130, and the two magnetic poles of the magnetic component 200 are located at both ends of the extension direction of the mounting portion 120A. Therefore, by controlling the rotation of the external drive field 2, the magnetic component 200 and the moving component 100 can be controlled to rotate, thereby driving the movement of the box body 300. At the same time, because the medicine delivery robot 10 is located in the human body and is not visible, the current state of the medicine delivery robot 10 can be determined by the changes in the external drive field 2, facilitating the control of the medicine delivery robot 10.

[0060] Furthermore, the magnetic component 200 is a bar magnet, and its two poles are located at two ends of the magnetic component 200 respectively.

[0061] In a further embodiment, a connection hole 310B is provided through the box body 300 along the width direction, and the connection hole 310B is centrally arranged along the length direction of the box body 300. The connecting portion 110 passes through the connection hole 310B and leaves a gap with the connection hole 310B, so as to drive the box body 300 to rise and fall when the support portion 130 is displaced.

[0062] In this solution, the connecting hole 310B is provided through the box body 300 along the width direction and is centered along the length direction of the box body 300, and a gap is left between the connecting portion 110 and the connecting hole 310B when the connecting portion 110 passes through the connecting hole 310B. Therefore, when the walking component 100 rotates following the external driving field 2, it rotates around the connecting portion 110 as the axis, and will not drive the box body 300 to rotate and cause the box body 300 to flip over.

[0063] In a further embodiment, the medicine delivery robot 10 also includes a cover body 400; a medicine slot 310A is opened on the box body 300, and the medicine slot 310A is used to place the medicine 500 to be transported; the cover body 400 is arranged on the medicine slot 310A, and is used to close the medicine slot 310A when delivering the medicine; the cover body 400 is made of a soluble material.

[0064] In this solution, a drug slot 310A is opened on the box body 300 to hold the drug 500 to be transported. When the cover body 400 delivers the drug, the drug 500 to be transported is located in the drug slot 310A. The cover body 400 is made of dissolving material and closes the drug slot 310A. When the drug delivery robot 10 moves to the target drug delivery position, the body fluid at the target drug delivery position will dissolve the cover body 400 to open the drug slot 310A. At this time, the drug delivery robot 10 can be controlled to change its posture to pour out the drug 500 to be transported in the drug slot 310A.

[0065] Specifically, the selection of the cover 400 is determined by the patient's lesion. For example, when the lesion is located in the stomach, the cover 400 is made of a material that is soluble in gastric juice; when the lesion is located in the intestine, the cover 400 is made of a material that is soluble in intestinal juice. Generally speaking, the cover 400 can be made of materials such as gelatin, starch and sodium alginate.

[0066] In a further embodiment, the box body 300 includes a main body 310 and a partition 320, and a pair of drug slots 310A are provided, and the pair of drug slots 310A are symmetrically opened on the main body 310; the partition 320 is provided in the drug slot 310A and extends along the width direction of the box body 300 to separate the drug slot 310A into a pair of sub-slots (not marked in the figure), and a pair of cover bodies 400 are provided, and the pair of cover bodies 400 are used to close a pair of sub-slots when delivering medicine.

[0067] In this solution, the drug slot 310A is opened on the main body 310, and the dividing portion is arranged in the drug slot 310A and extends along the width direction of the box body 300, thereby dividing the drug slot 310A into a pair of sub-slots, so that different drugs 500 to be transported can be placed in the drug slot 310A. Since the cover body 400 also has a pair, a pair of sub-slots can be closed separately when delivering the drugs. When the cover body 400 is made of different materials, the drugs 500 to be transported in the pair of sub-slots can be delivered to different positions in the human body.

[0068] In a specific embodiment, a pair of drug grooves 310A are respectively opened on two opposite surfaces of the main body 310. Generally speaking, the drug grooves 310A are opened in the height direction of the main body 310. A partition 320 is provided in each drug groove 310A. The partition 320 divides each drug groove 310A into two sub-grooves. Correspondingly, each drug groove 310A has a corresponding pair of cover bodies 400 to close it.

[0069] In a further embodiment, a pair of cover bodies 400 should be made of different soluble materials. For example, when it is necessary to deliver medicine to the stomach and the intestine at the same time, one cover body 400 is made of a gastric juice-soluble material, and the medicine to be transported to the stomach 500 is contained in its corresponding sub-groove. The other cover body 400 is made of an intestinal juice-soluble material, and the medicine to be transported to the intestine 500 is contained in its corresponding sub-groove. When the medicine delivery robot 10 moves to the stomach, the cover body 400 made of a gastric juice-soluble material is dissolved by the gastric juice, and the medicine to be transported to the stomach 500 is accurately transported to the stomach; when the medicine delivery robot 10 moves to the intestine, the other cover body 400 is dissolved, and the medicine to be transported to the intestine 500 is accurately transported to the intestine.

[0070] Please refer to Figure 8 The second aspect of the present invention provides a medicine delivery device 1, comprising a plurality of interconnected medicine delivery robots 10 provided by the first aspect of the present invention.

[0071] In this solution, the medicine delivery robots 10 provided in the first aspect of the present invention are interconnected to form a medicine delivery device 1. The movement form of the medicine delivery device 1 is more stable than that of a single medicine delivery robot 10, and the medicine delivery efficiency can be effectively improved.

[0072] In a further embodiment, multiple medicine delivery robots 10 are connected end to end in sequence; the mounting portion 120 includes a first mounting portion 121 and a second mounting portion 122, the mounting portion 120A includes a first mounting slot 121A and a second mounting slot 122A, the first mounting slot 121A is arranged on the first mounting portion 121, and the second mounting slot 122A is arranged on the second mounting portion 122; the first mounting portion 121 and the second mounting portion 122 are arranged vertically, and the magnet component 200 is arranged in the first mounting slot 121A or the second mounting slot 122A. When the external driving field 2 is in a uniform strength state, the corresponding first mounting slot 121A and the second mounting slot 122A on each two adjacent medicine delivery robots 10 are both vertical.

[0073] In this solution, the mounting portion 120 includes a first mounting portion 121 and a second mounting portion 122. The first mounting portion 121 and the second mounting portion 122 respectively have a first mounting groove 121A and a second mounting groove 122A. Since the magnetic components 200 on adjacent medicine delivery robots 10 are respectively installed on their respective first mounting portions 121 and second mounting portions 122, and the first mounting portion 121 and the support portion 130 have the same extension direction, and the second mounting portion 122 and the support portion 130 have a perpendicular extension direction, when the external driving field 2 is uniform, the angles of the support portions 130 on adjacent medicine delivery robots 10 will be perpendicular to each other. By controlling the changes in the external driving field 2, the medicine delivery device 1 can be driven to be in different motion postures, thereby prompting the medicine delivery device 1 to move in the human body.

[0074] Specifically, the versatility of the walking part 100 is achieved by the first mounting part 121 and the second mounting part 122 that are arranged perpendicular to each other, that is, a plurality of medicine delivery robots 10 connected end to end can be installed with the walking part 100 of the same structure, and it is only necessary to install the magnetic part 200 in different mounting slots 120A. Furthermore, the entire medicine delivery robot 10 has strong versatility, that is, except for the magnetic part 200, the other structures of the medicine delivery robot 10 are the same. After the medicine delivery robot 10 without the magnetic part 200 is assembled, the magnetic part 200 can be assembled to obtain the medicine delivery device 1.

[0075] It should be noted that, when the drug delivery device 1 provided above is subjected to a uniform external driving field 2, the extension direction of the support portion 130 on adjacent drug delivery robots 10 will be deflected 90 degrees in sequence, with every four drug delivery robots 10 constituting a cycle. For example, the extension direction of the support portion 130 of the first drug delivery robot 10A is vertically upward, the extension direction of the support portion 130 of the second drug delivery robot 10B is toward the left, the extension direction of the support portion 130 of the third drug delivery robot 10C is vertically downward, the extension direction of the support portion 130 of the fourth drug delivery robot 10D is toward the right, and the extension direction of the support portion 130 of the fifth drug delivery robot 10E is the same as that of the first drug delivery robot 10A. Based on the above structure, when the external driving field 2 rotates, the walking component 100 on each drug delivery robot 10 will rotate individually, thereby presenting a bionic centipede-like foot rhythmic pattern to drive the entire drug delivery robot 10 to move, and can overcome obstacles while moving.

[0076] Due to the high versatility of the entire medicine delivery robot 10, the medicine delivery robot 10 can be manufactured by 3D printing except for the cover body 400 and the magnetic component 200, so as to avoid assembly while retaining the rotational freedom between the box body 300 and the walking component 100. When selecting 3D printing materials, it is necessary to pay attention to the need to select materials that are harmless to the human body to avoid affecting human health and even aggravating the patient's condition.

[0077] In a further embodiment, the box body 300 includes a pair of earring parts 330, and the pair of earring parts 330 are symmetrically arranged; adjacent medicine delivery robots 10 are movably connected end to end in sequence through the earring parts 330.

[0078] In this solution, a pair of earring parts 330 are provided on the main body 310, and adjacent medicine delivery robots 10 can be movably connected end to end through the earring parts 330. The earring parts 330 can provide certain mobility performance, which can effectively improve the obstacle crossing ability of the medicine delivery device 1.

[0079] In a further solution, in order to avoid affecting human health during the medicine delivery process, most of the edge structures of the medicine delivery robot 10 should be as smooth as possible. Specifically, the outer edge surface of the earring part 330 is arc-shaped, the end of the support part 130 is hemispherical, and the connection between the support part 130 and the mounting part 120 is arc-shaped. The above settings can reduce friction and thus reduce irritation to the human body.

[0080] In a further embodiment, a pair of first mounting grooves 121A are opened on both sides of the first mounting portion 121, and a pair of second mounting grooves 122A are opened on both sides of the second mounting portion 122; a pair of magnetic components 200 are provided, and a pair of magnetic components 200 are respectively arranged in a pair of first mounting grooves 121A or a pair of second mounting grooves 122A.

[0081] In specific applications, the location of the patient's lesion should be confirmed by medical means first, and the position where the medicine needs to be delivered should be confirmed based on the lesion. Then the robot is sent into the mouth or anus, and the external driving field 2 is controlled to rotate, thereby driving the medicine delivery device 1 to move in the gastrointestinal tract. During the movement of the medicine delivery device 1, the current position of the medicine delivery device 1 should also be detected by a detection device (generally an ultrasonic detector), so as to facilitate the use of the external driving field 2 to control the medicine delivery device 1. The external driving field 2 and the detection device should be used intermittently to avoid mutual influence between the detection device and the external driving field 2. When the robot reaches the lesion, it waits for the body fluid to dissolve the cover 400, and the medicine to be transported 500 can directly act on the patient's lesion to complete the medicine delivery.

[0082] For more information about the obstacle crossing method of the medicine delivery device 1, please refer to Figures 9-11 ,exist Figure 9 In the figure, the obstacle 3 is located on the right side of the medicine delivery robot 10, and the external driving field 2 (magnetic field) is symmetrically arranged on the left and right, and the magnetic flux lines are evenly parallel from left to right. At this time, the support part 130 on the front of the first medicine delivery robot 10A faces the left, and the support part 130 on the back faces the right. The support part 130 on the front of the second medicine delivery robot 10B is vertically downward, and the support part 130 on the back is vertically upward. The support parts 130 of the subsequent medicine delivery robots 10 are rotated by a certain angle in turn. The two support parts 130 of the fifth medicine delivery robot 10E are both in the length direction of the box body 300. In this posture, the right side of the medicine delivery robot 10 is lying on the moving surface, and it is unable to cross the obstacle 3 at this time; by controlling Figure 9 The external driving field 2 in the circuit rotates clockwise until the external driving field 2 (magnetic field) is vertically set, that is, it changes to Figure 11 The state of the external driving field 2, Figure 10 for Figures 9 to 11 The intermediate state during exercise Figure 11 In the figure, affected by the external driving field 2, the support part 130 on the front of the fifth medicine delivery robot 10 is vertically downward, thereby supporting the box body 300 of the fifth medicine delivery robot 10, so that the box body 300 of the medicine delivery robot 10 is higher than the obstacle 3. By continuing to rotate the external driving field 2, the fifth medicine delivery robot 10E can be pressed on the obstacle 3 until the medicine delivery device 1 passes over the obstacle 3. Under the change of the external magnetic field, all the walking parts 100 of the medicine delivery device 1 produce periodic motion of the bionic centipede legs and feet, thereby driving the medicine delivery device 1 to pass over the obstacle.

[0083] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A medicine delivery robot (10), characterized in that: It comprises a box body (300), a magnetic component (200) and a moving component (100); The box body (300) is used to contain the medicine (500) to be transported; The magnetic component (200) is arranged on the walking component (100) and drives the walking component (100) to move through interaction with an external driving field (2); The walking component (100) is movably arranged and penetrates the box body (300) and includes a pair of support portions (130) extending in opposite directions, and when the support portions (130) move to the height direction of the box body (300), the ends of the support portions (130) protrude from the box body (300); The walking component (100) further includes a connecting portion (110) and a pair of mounting portions (120); The connecting portion (110) is movably arranged and penetrates the box body (300); a pair of mounting portions (120) are respectively arranged at both ends of the connecting portion (110) and are respectively connected to corresponding supporting portions (130); The mounting portion (120) is provided with a mounting groove (120A), and the magnetic component (200) is arranged in the mounting groove (120A).

2. The medicine delivery robot (10) according to claim 1, characterized in that: The extension direction of the mounting groove (120A) is parallel to or perpendicular to the extension direction of the support portion (130); the two magnetic poles of the magnetic component (200) are located at both ends of the extension direction of the mounting groove (120A), and the support portion (130) is driven to rotate through interaction with an external driving field (2).

3. The medicine delivery robot (10) according to claim 1, characterized in that: The box body (300) is provided with a connecting hole (310B) penetrating along the width direction, and the connecting hole (310B) is centrally arranged along the length direction of the box body (300). The connecting portion (110) passes through the connecting hole (310B) and leaves a gap with the connecting hole (310B), so as to drive the box body (300) to rise and fall when the supporting portion (130) is displaced.

4. The medicine delivery robot (10) according to claim 3, characterized in that: The medicine delivery robot (10) further includes a cover (400); The box body (300) is provided with a medicine slot (310A), and the medicine slot (310A) is used to place the medicine (500) to be transported; The cover (400) is cooperatively arranged on the medicine slot (310A) and is used to close the medicine slot (310A) when delivering medicine; The cover (400) is made of dissolvable material.

5. The medicine delivery robot (10) according to claim 4, characterized in that: The box body (300) includes a main body (310) and a partition (320), and a pair of drug slots (310A) are provided. The pair of drug slots (310A) are symmetrically opened on the main body (310); The partition (320) is arranged in the medicine groove (310A) and extends along the width direction of the box body (300) to divide the medicine groove (310A) into a pair of sub-grooves; and the cover body (400) is correspondingly provided with a pair to cooperate with the pair of sub-grooves.

6. A medicine delivery device (1), characterized in that: It comprises a plurality of medicine delivery robots (10) according to any one of claims 1 to 5 that are interconnected.

7. The medicine delivery device (1) according to claim 6, characterized in that: A plurality of the medicine delivery robots (10) are sequentially connected end to end; The mounting portion (120) includes a first mounting portion (121) and a second mounting portion (122); the mounting groove (120A) includes a first mounting groove (121A) and a second mounting groove (122A); the first mounting groove (121A) is provided on the first mounting portion (121), and the second mounting groove (122A) is provided on the second mounting portion (122); The first mounting portion (121) and the second mounting portion (122) are arranged vertically, the extension direction of the first mounting portion (121) is the same as the extension direction of the support portion (130), and the magnetic component (200) is arranged in the first mounting groove (121A) or the second mounting groove (122A). When the external driving field (2) is uniform, the first mounting groove (121A) and the second mounting groove (122A) corresponding to each two adjacent medicine delivery robots (10) are both vertical.

8. The medicine delivery device (1) according to claim 6, characterized in that: The box body (300) includes a pair of earring parts (330), and the earring parts (330) are arranged perpendicular to each other; The adjacent medicine delivery robots (10) are movably connected end to end in sequence through the earring parts (330).

9. The medicine delivery device (1) according to claim 7, characterized in that: A pair of the first mounting grooves (121A) are formed on both sides of the first mounting portion (121), and a pair of the second mounting grooves (122A) are formed on both sides of the second mounting portion (122); The magnetic components (200) are arranged in pairs in the first installation groove (121A) or the second installation groove (122A).

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