Microneedle subcutaneous rotation driving hollow ultrasonic motor

Abstract

The invention provides a microneedle subcutaneous rotation driving hollow ultrasonic motor which comprises a microneedle, an ultrasonic motor rotor assembly, an ultrasonic motor stator assembly and a base, the ultrasonic motor rotor assembly comprises a microneedle driving table, a microneedle pressing stud and a hollow ultrasonic motor rotor, the microneedle penetrates through the ultrasonic motor rotor, and the ultrasonic motor stator assembly is connected with the microneedle driving table. The micro-needle driving table is matched with the micro-needle pressing stud to clamp the micro-needle; the ultrasonic motor stator assembly is fixedly installed on the base, the hollow side wall of the ultrasonic motor rotor assembly is inserted into the base, a bearing is arranged between the ultrasonic motor stator assembly and the ultrasonic motor rotor assembly, the ultrasonic motor stator assembly is in transmission connection with the ultrasonic motor rotor assembly, the ultrasonic motor rotor assembly can rotate around the center axis of the ultrasonic motor rotor assembly, and the microneedle and the ultrasonic motor rotor assembly synchronously rotate. The micro-needle is clamped through the ultrasonic motor rotor assembly, the ultrasonic motor rotor assembly is driven to rotate through the ultrasonic motor stator, the motor can directly drive the micro-needle, an intermediate transmission mechanism does not need to be designed, and further integration with a rear-end actuator is facilitated.

Description

Technical Field

[0001] The present invention relates to the field of microneedle transdermal precision drug delivery, and in particular, to a microneedle subcutaneous rotationally driven hollow ultrasonic motor. Background Art

[0002] Drug therapy is considered to be one of the most effective methods for treating a series of diseases such as diabetes and Crohn's disease. The commonly used drug administration methods in medicine are oral administration, injection administration and transdermal administration. Among them, oral administration has the advantages of convenience, non-invasiveness and high compliance. However, due to poor gastrointestinal absorption and degradation by various digestive enzymes (first-pass effect), drugs such as antibodies and peptides cannot be delivered by this method. They need to be delivered by intravenous injection to achieve the required dose and pharmacokinetic effect. Intravenous injection is a drug administration method with rapid onset and few side effects. It can deliver almost any type of molecule into the body, but this method requires users to have professional skills and master the correct injection method and safe needle disposal method. In addition, intravenous injection also has problems such as some patients fearing needle pain and suffering from needle phobia. These factors seriously limit the promotion of injection administration.

[0003] Transdermal drug delivery refers to the drug passing through the epidermis, being absorbed by the capillaries in the human dermis through diffusion, and then entering the blood circulation to achieve drug delivery. It has the advantages of convenient administration, stable blood drug concentration and no first-pass effect, but the drug penetration rate of this method is usually low. Studies have shown that only a few potent drug molecules with high lipophilicity and small molecular weight can be directly administered through passive diffusion. At present, physical and chemical means such as ion introduction, microneedle transdermal and nanocarriers are mainly used to improve the transdermal permeability of drugs. Among them, the ion introduction method relies on expensive instruments and equipment, and the operation is relatively complicated. Some nanomaterials show toxic characteristics, and drug delivery through nanocarriers may cause adverse irritation reactions and obvious pain in the skin. In recent years, transdermal microneedle drug delivery technology has gradually become a research hotspot with its advantages of painlessness, minimally invasiveness, good compliance and high drug utilization, and is currently one of the most promising drug delivery methods.

[0004] The existing Chinese patent with publication number CN106178245A discloses a microneedle array device for minimally invasive precise subcutaneous drug delivery. The present invention includes an injection pump, a hose and a five-needle microneedle. The injection pump includes a lead screw, a clamp, a syringe, a base, a lead screw, a nut pusher, a screw and a stepper motor. One end of the lead screw and the screw are connected to the stepper motor, the other end of the lead screw passes through the nut pusher and is fixed to the base through a bracket, the other end of the screw is directly fixed to the nut pusher, the syringe is fixed in the V-shaped guide groove of the base through the clamp, and the piston of the syringe is connected to the nut pusher, the stepper motor drives the screw to rotate, the rotation of the screw drives the nut meshed therewith to move linearly, the nut pushes the nut pusher to move along the guide direction of the lead screw, thereby pushing the syringe piston to move right, and the liquid in the syringe enters the five-needle microneedle through the hose.

[0005] The microneedle transdermal drug delivery method uses micron-sized needles made of metal, glass or polymer materials to penetrate the epidermis to form tiny channels, which promote the transdermal penetration of drugs and allow the drugs to be directly absorbed in the systemic circulation. In order to achieve precise drug delivery in specific skin layers and reduce the risk of subcutaneous microneedle fracture, it is necessary to reduce puncture resistance, skin deformation and deformation recovery time by rotating and puncturing. Existing microneedle drug delivery systems usually use electromagnetic motors to achieve two-degree-of-freedom motion of rotation and puncture, which requires a complicated intermediate transmission mechanism, increases the motion error of the front-end microneedle and the overall volume of the system, and makes it difficult to achieve precise subcutaneous positioning of the microneedle and miniaturized integration of the system.

[0006] Therefore, a microneedle rotation drive device with high motion accuracy, large torque and integrated structure is proposed, that is, a hollow ultrasonic motor with high motion accuracy, large torque and compact structure is provided to realize the precise rotational motion of the microneedle under the skin, which is of great significance for the research on the mechanism of microneedle transdermal drug delivery and its clinical application. Summary of the invention

[0007] In view of the defects in the prior art, the purpose of the present invention is to provide a hollow ultrasonic motor for subcutaneous rotation driving of microneedles.

[0008] According to the present invention, a microneedle subcutaneous rotation drive hollow ultrasonic motor comprises a microneedle, an ultrasonic motor rotor assembly, an ultrasonic motor stator assembly and a base, wherein the ultrasonic motor rotor assembly comprises a microneedle drive platform, a microneedle pressing stud and a hollow ultrasonic motor rotor, wherein the microneedle passes through the ultrasonic motor rotor, and the microneedle drive platform cooperates with the microneedle pressing stud to clamp the microneedle;

[0009] The ultrasonic motor stator assembly is fixedly mounted on the base, the hollow side wall of the ultrasonic motor rotor assembly is inserted into the base and a bearing is arranged between the two, the ultrasonic motor stator assembly is transmission-connected with the ultrasonic motor rotor assembly, the ultrasonic motor rotor assembly can rotate around its central axis, and the microneedle rotates synchronously with the ultrasonic motor rotor assembly.

[0010] Preferably, the central axes of the ultrasonic motor rotor assembly, the ultrasonic motor stator assembly, the base and the bearing are coaxially arranged, and the microneedle is coaxially arranged with the central axis of the ultrasonic motor rotor.

[0011] Preferably, the ultrasonic motor stator assembly comprises an ultrasonic motor stator, the ultrasonic motor rotor bottom surface of the ultrasonic motor rotor is adhered with friction material, and the ultrasonic motor rotor bottom surface is pressed against the ultrasonic motor stator tooth end top surface of the ultrasonic motor stator through the friction material.

[0012] Preferably, a piezoelectric ceramic sheet is affixed to the bottom surface of the ultrasonic motor stator tooth end of the ultrasonic motor stator, and the piezoelectric ceramic sheet includes two-phase polarization partitions A and B. The two-phase polarization partitions A and B are respectively connected to two-phase voltages with a phase difference of π / 2 in time. Each particle on the top surface of the ultrasonic motor stator tooth end performs elliptical motion, and the ultrasonic motor rotor assembly is driven to rotate by friction.

[0013] Preferably, the microneedle driving platform is arranged above the ultrasonic motor rotor, the top of the hollow side wall of the ultrasonic motor rotor extends inward to form a mounting portion, the lower surface of the microneedle driving platform extends downward to form a lower protrusion corresponding to the mounting portion, one or more threaded mounting holes are provided on the mounting portion, and a corresponding mounting hole is provided on the lower protrusion. The microneedle driving platform and the ultrasonic motor rotor are fastened together by a bolt assembly passing through the threaded mounting hole and the mounting hole.

[0014] Preferably, the microneedle driving platform includes a V-shaped block and a clamping stud support, the microneedle is arranged in the V-shaped surface of the V-shaped block, and a threaded hole is opened on the clamping stud support. The central axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped block. The microneedle clamping stud is installed in the threaded hole and threadedly matched with the threaded hole. The microneedle clamping stud can approach or move away from the V-shaped block along the central axis direction of the threaded hole.

[0015] Preferably, the microneedle driving platform is manufactured by 3D printing.

[0016] Preferably, the microneedle comprises a microneedle with a diameter of 300 μm-1 mm and a length of 4 mm-50 mm.

[0017] Preferably, the base is stepped, including three layers of upper, middle and lower from the inside to the outside, the ultrasonic motor stator assembly is installed on the outer side of the upper layer of the base, and the outer side of the upper side wall of the base is provided with thread three, the ultrasonic motor stator assembly includes nut four and nut three stacked up and down, and the supporting end of the ultrasonic motor stator assembly is pressed on the base support surface of the middle layer of the base through the thread cooperation of nut four, nut three and thread three.

[0018] Preferably, the ultrasonic motor rotor assembly comprises nut one and nut two stacked up and down, thread two is provided at the bottom of the hollow side wall of the ultrasonic motor rotor, the bearing sleeve is arranged on the outside of the hollow side wall of the ultrasonic motor rotor and is located above the thread two, a base positioning surface is provided on the inner side of the middle step of the base, and the bearing is pressed on the base positioning surface through the threaded cooperation of nut one, nut two and thread two.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention clamps the microneedle by the V-shaped block and the microneedle clamping stud on the microneedle driving platform, and drives the ultrasonic motor rotor assembly to rotate by the friction of the ultrasonic motor stator, thereby accurately and reliably realizing the rotational movement of the microneedle under the skin. The motor can directly drive the microneedle without designing an intermediate transmission mechanism, avoiding the problems of low motion accuracy and large device size caused by the traditional driving device containing an intermediate transmission mechanism, and facilitating further integration with the back-end actuator; it has the characteristics of fast response speed and power-off self-locking. The microneedle can have good follow-up characteristics when moving under the skin, and can always complete the corresponding movement instantly according to the instruction. When there is no input signal, it can maintain the current state by relying on a large holding torque to execute the next stage of drug delivery task.

[0021] 2. The present invention applies a voltage with a phase difference of π / 2 in two-phase time to the A and B polarization regions of the piezoelectric ceramic piece, thereby exciting A and B two-phase vibration modes on the stator of the ultrasonic motor and superimposing traveling waves, so that each particle on the top surface of the stator tooth end of the ultrasonic motor performs elliptical motion, which has the characteristics of low speed and high torque. During the process of microneedle piercing the skin, it can provide sufficient rotational driving torque and reduce motion interference caused by skin tissue friction.

[0022] 3. The present invention prepares V-shaped blocks with different geometric parameters through 3D printing, which can realize the rotational drive of microneedles with different diameters and lengths, and can achieve flexible expansion according to different research needs and application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0024] Figure 1 This is a cross-sectional view of the overall structure of the hollow ultrasonic motor for subcutaneous rotational driving of microneedles in the present invention;

[0025] Figure 2 This is a schematic diagram of the structure of the ultrasonic motor rotor assembly mainly embodied in the present invention;

[0026] Figure 3 This is a schematic diagram of microneedle compression that mainly embodies the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the stator assembly of the ultrasonic motor mainly embodied in the present invention;

[0028] Figure 5 This is a schematic diagram of the decomposition of the hollow ultrasonic motor for driving the subcutaneous rotation of the microneedle in the present invention;

[0029] Figure 6 This is a schematic diagram of the polarization partition of piezoelectric ceramics mainly embodied in the present invention;

[0030] Figure 7 This is a simulation diagram of the two-phase A and B modal vibration types that mainly embodies the present invention.

[0031] As shown in the figure:

[0032] Microneedle 1 Ultrasonic motor rotor assembly 2

[0033] Ultrasonic motor rotor 21 Ultrasonic motor rotor bottom surface 211

[0034] Friction material 22 Microneedle drive station 23

[0035] V-shaped block 231 V-shaped surface 2311

[0036] Compression stud support 232 Micro needle compression stud 24

[0037] Compression stud bottom 241 Threaded mounting hole 25

[0038] Thread 2 26 Nut 1 27

[0039] Nut 1 upper surface 271 Nut 2 28

[0040] Ultrasonic motor stator assembly 3 Ultrasonic motor stator 31

[0041] Ultrasonic motor stator tooth end top surface 311 Ultrasonic motor stator tooth end bottom surface 312

[0042] Ultrasonic motor stator support end bottom surface 313 Ultrasonic motor stator support end top surface 314

[0043] Nut three 32 Nut four 33

[0044] Nut three bottom surfaces 321 Piezoelectric ceramic sheet 34

[0045] Base 4 Thread three 41

[0046] Base support surface 42 Base positioning surface 43

[0047] Bearing 5 Bearing outer ring upper surface 51

[0048] Lower surface of bearing inner ring 52 DETAILED DESCRIPTION

[0049] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0050] like Figure 1-5 As shown, a microneedle subcutaneous rotation-driven hollow ultrasonic motor provided by the present invention includes: a microneedle 1, an ultrasonic motor rotor assembly 2, an ultrasonic motor stator assembly 3 and a base 4, the ultrasonic motor rotor assembly 2 includes a microneedle driving platform 23, a microneedle clamping stud 24 and a hollow ultrasonic motor rotor 21, the microneedle 1 passes through the ultrasonic motor rotor 21, the microneedle driving platform 23 and the microneedle clamping stud 24 cooperate to clamp the microneedle 1; the ultrasonic motor stator assembly 3 is fastened to the base 4, the hollow side wall of the ultrasonic motor rotor assembly 2 is inserted into the base 4 and a bearing 5 is arranged between the two, the ultrasonic motor stator assembly 3 is transmission-connected to the ultrasonic motor rotor assembly 2, the ultrasonic motor rotor assembly 2 can rotate around its central axis, and the microneedle 1 and the ultrasonic motor rotor assembly 2 rotate synchronously.

[0051] The present application can realize precise subcutaneous rotational movement of the microneedle 1, reduce the subcutaneous positioning error and breakage risk of the microneedle 1, and also has the advantages of compact structure and easy integration.

[0052] The central axes of the ultrasonic motor rotor assembly 2 , the ultrasonic motor stator assembly 3 , the base 4 and the bearing 5 are coaxially arranged, and the microneedle 1 is coaxially arranged with the central axis of the ultrasonic motor rotor 21 .

[0053] The ultrasonic motor stator assembly 3 includes an ultrasonic motor stator 31 . The ultrasonic motor rotor bottom surface 211 of the ultrasonic motor rotor 21 is adhered with friction material 22 . The ultrasonic motor rotor bottom surface 211 is pressed against the ultrasonic motor stator tooth end top surface 311 of the ultrasonic motor stator 31 through the friction material 22 .

[0054] like Figure 6 and 7As shown, a piezoelectric ceramic sheet 34 is attached to the bottom surface 312 of the ultrasonic motor stator tooth end of the ultrasonic motor stator 31. The piezoelectric ceramic sheet 34 includes two-phase polarization partitions A and B. The two-phase polarization partitions A and B are respectively passed through two-phase voltages with a phase difference of π / 2 in time, which excite A and B two-phase vibration modes on the ultrasonic motor stator 31 and superimpose traveling waves. Each particle on the top surface 311 of the ultrasonic motor stator tooth end performs elliptical motion, and the ultrasonic motor rotor assembly 2 is driven to rotate through friction, thereby driving the microneedle 1 to rotate.

[0055] The microneedle driving platform 23 is arranged above the ultrasonic motor rotor 21. The top of the hollow side wall of the ultrasonic motor rotor 21 extends inward to form a mounting portion. The lower surface of the microneedle driving platform 23 extends downward to form a lower protrusion corresponding to the mounting portion. The mounting portion is provided with one or more threaded mounting holes 25, and the lower protrusion is provided with corresponding mounting holes. The microneedle driving platform 23 and the ultrasonic motor rotor 21 are fastened together by a bolt assembly passing through the threaded mounting hole 25 and the mounting hole.

[0056] The microneedle drive platform 23 includes a V-shaped block 231 and a clamping stud support 232. The microneedle 1 is arranged in the V-shaped surface 2311 of the V-shaped block 231. The clamping stud support 232 is provided with a threaded hole. The central axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped block 231. The microneedle clamping stud 24 is installed in the threaded hole and is threadedly matched with the threaded hole. The microneedle clamping stud 24 can approach or move away from the V-shaped block 231 along the central axis of the threaded hole. The microneedle clamping stud 24 is screwed into the clamping stud support 232, and the microneedle 1 is clamped and fixed by using the V-shaped surface 2311 of the V-shaped block 231 and the bottom surface 241 of the microneedle clamping stud.

[0057] The microneedle drive platform 23 is made by 3D printing. The microneedle 1 includes a microneedle with a diameter of 300 μm-1 mm and a length of 4 mm-50 mm, that is, by adjusting the geometric parameters of the V-shaped block 231, the microneedle 1 with a diameter of 300 μm-1 mm and a length of 4 mm-50 mm can be clamped.

[0058] The base 4 is stepped, including three layers from the inside to the outside, namely, the upper, middle and lower layers. The ultrasonic motor stator assembly 3 is installed on the outer side of the upper layer of the base 4. The outer side of the upper side wall of the base 4 is provided with a thread three 41. The ultrasonic motor stator assembly 3 includes a nut four 33 and a nut three 32 stacked up and down. The nut three 32 and the nut four 33 are pressed tightly against the top surface 314 of the ultrasonic motor stator support end through the thread three 41, that is, the support end of the ultrasonic motor stator assembly 3 is pressed against the base support surface 42 of the middle layer of the base 4 through the threaded cooperation of the nut four 33, the nut three 32 and the thread three 41, so as to realize the fixation between the ultrasonic motor stator assembly 3 and the base 4.

[0059] The ultrasonic motor rotor assembly 2 includes a nut 1 27 and a nut 28 stacked up and down, a thread 26 is provided at the bottom of the hollow side wall of the ultrasonic motor rotor 21, the bearing 5 is sleeved on the outer side of the hollow side wall of the ultrasonic motor rotor 21 and is located above the thread 26, and a base positioning surface 43 is provided on the inner side of the middle step of the base 4. The nut 1 27 and the nut 28 make the upper surface 271 of the nut 1 pressed against the lower surface 52 of the inner ring of the bearing through the thread 26, and make the upper surface 51 of the outer ring of the bearing pressed against the base positioning surface 43, that is, the bearing 5 is pressed on the base positioning surface 43 through the thread cooperation of the nut 1 27, the nut 28 and the thread 26, so that the friction material 22 is pressed against the top surface 311 of the ultrasonic motor stator tooth end, so as to realize the pre-tightening between the ultrasonic motor rotor assembly 2 and the ultrasonic motor stator assembly 3.

[0060] The working principle of this application is as follows: the microneedle 1 is clamped by the V-shaped block 231 and the microneedle clamping stud 24 on the microneedle driving platform 23, and a voltage with a phase difference of π / 2 in two-phase time is applied to the A and B polarization regions of the piezoelectric ceramic sheet 34, and the A and B two-phase vibration modes are excited on the ultrasonic motor stator 31, and the traveling waves are superimposed, so that each particle on the top surface 311 of the ultrasonic motor stator tooth end performs elliptical motion, and the ultrasonic motor rotor assembly 2 is driven to rotate by friction, thereby accurately and reliably realizing the rotational motion of the microneedle 1 under the skin. The V-shaped blocks 231 with different geometric parameters prepared by 3D printing can realize the rotational drive of microneedles 1 with different diameters and lengths, and can be flexibly expanded according to different research needs and application scenarios.

[0061] The microneedle subcutaneous rotation-driven hollow ultrasonic motor of the present application can directly drive the microneedle 1 without designing an intermediate transmission mechanism, thus avoiding the problems of low motion accuracy and large device size caused by the presence of an intermediate transmission mechanism in traditional driving devices, and facilitating further integration with the back-end actuator.

[0062] The present application has the characteristics of low speed and high torque. During the process of the microneedle 1 penetrating the skin, it can provide sufficient rotational driving torque to reduce the motion interference caused by the friction of the skin tissue.

[0063] The present invention has the characteristics of fast response speed and power-off self-locking. The microneedle 1 can have good follow-up characteristics when moving subcutaneously, and can always complete the corresponding movement immediately according to the instruction. When there is no input signal, it can maintain the current state with a large holding torque and perform the next stage of drug delivery task.

[0064] The microneedle driving platform 23 is processed by 3D printing. By adjusting the geometric parameters of the V-shaped block 231, it is possible to drive the microneedles 1 of different diameters and lengths, and can be flexibly expanded according to different research needs and application scenarios.

[0065] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0066] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A hollow ultrasonic motor for subcutaneous rotational drive of microneedles. It is characterized in that include: A microneedle (1), an ultrasonic motor rotor assembly (2), an ultrasonic motor stator assembly (3) and a base (4); the ultrasonic motor rotor assembly (2) comprises a microneedle drive platform (23), a microneedle pressing stud (24) and a hollow ultrasonic motor rotor (21); the microneedle (1) passes through the ultrasonic motor rotor (21); the microneedle drive platform (23) cooperates with the microneedle pressing stud (24) to clamp the microneedle (1); The ultrasonic motor stator assembly (3) is fixedly mounted on the base (4); the hollow side wall of the ultrasonic motor rotor assembly (2) is inserted into the base (4) and a bearing (5) is arranged between the two; the ultrasonic motor stator assembly (3) is transmission-connected to the ultrasonic motor rotor assembly (2); the ultrasonic motor rotor assembly (2) can rotate around its central axis; and the microneedle (1) rotates synchronously with the ultrasonic motor rotor assembly (2).

2. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles as claimed in claim 1, It is characterized in that The central axes of the ultrasonic motor rotor assembly (2), the ultrasonic motor stator assembly (3), the base (4) and the bearing (5) are coaxially arranged, and the microneedle (1) is coaxially arranged with the central axis of the ultrasonic motor rotor (21).

3. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles according to claim 1, It is characterized in that The ultrasonic motor stator assembly (3) comprises an ultrasonic motor stator (31); a friction material (22) is adhered to the ultrasonic motor rotor bottom surface (211) of the ultrasonic motor rotor (21); the ultrasonic motor rotor bottom surface (211) is pressed against the ultrasonic motor stator tooth end top surface (311) of the ultrasonic motor stator (31) through the friction material (22).

4. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles as claimed in claim 3, It is characterized in that The bottom surface (312) of the ultrasonic motor stator tooth end of the ultrasonic motor stator (31) is affixed with a piezoelectric ceramic sheet (34), wherein the piezoelectric ceramic sheet (34) includes two-phase polarization partitions A and B, wherein two-phase voltages with a phase difference of π / 2 are respectively passed through the two-phase polarization partitions A and B, and each particle on the top surface (311) of the ultrasonic motor stator tooth end performs an elliptical motion, thereby driving the ultrasonic motor rotor assembly (2) to rotate through friction.

5. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles according to claim 1, It is characterized in that The microneedle drive platform (23) is arranged above the ultrasonic motor rotor (21); the top of the hollow side wall of the ultrasonic motor rotor (21) extends inward to form a mounting portion; the lower surface of the microneedle drive platform (23) extends downward to form a lower protrusion corresponding to the mounting portion; the mounting portion is provided with one or more threaded mounting holes (25); the lower protrusion is provided with a corresponding mounting hole; the microneedle drive platform (23) and the ultrasonic motor rotor (21) are fastened and connected by a bolt assembly passing through the threaded mounting hole (25) and the mounting hole.

6. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles according to claim 1, It is characterized in that The microneedle drive platform (23) comprises a V-shaped block (231) and a clamping stud support (232); the microneedle (1) is arranged in a V-shaped surface (2311) of the V-shaped block (231); a threaded hole is provided on the clamping stud support (232); the central axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped block (231); the microneedle clamping stud (24) is installed in the threaded hole and is threadedly matched with the threaded hole; the microneedle clamping stud (24) can approach or move away from the V-shaped block (231) along the central axis direction of the threaded hole.

7. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles according to claim 1, It is characterized in that The microneedle driving platform (23) is manufactured by 3D printing.

8. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles as claimed in claim 1, It is characterized in that The microneedle (1) comprises a microneedle with a diameter of 300 μm-1 mm and a length of 4 mm-50 mm.

9. The hollow ultrasonic motor for subcutaneous rotational driving of microneedles as claimed in claim 1, It is characterized in that The base (4) is in a stepped shape, and comprises three layers, namely, an upper, middle and lower layer, from the inside to the outside. The ultrasonic motor stator assembly (3) is mounted on the outer side of the upper layer of the base (4). A third thread (41) is arranged on the outer side of the side wall of the upper layer of the base (4). The ultrasonic motor stator assembly (3) comprises a nut four (33) and a nut three (32) stacked up and down. The supporting end of the ultrasonic motor stator assembly (3) is pressed against a base supporting surface (42) in the middle layer of the base (4) through threaded cooperation between the nut four (33), the nut three (32) and the thread three (41).

10. The hollow ultrasonic motor for subcutaneous rotation driving of microneedles as claimed in claim 9, It is characterized in that The ultrasonic motor rotor assembly (2) comprises a nut one (27) and a nut two (28) stacked up and down, a second thread (26) is provided at the bottom of the hollow side wall of the ultrasonic motor rotor (21), the bearing (5) is sleeved on the outer side of the hollow side wall of the ultrasonic motor rotor (21) and is located above the second thread (26), a base positioning surface (43) is provided on the inner side of the middle step of the base (4), and the bearing (5) is pressed against the base positioning surface (43) through the threaded cooperation of the nut one (27), the nut two (28) and the second thread (26).

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