Micro-needle subcutaneous rotation driving double-arm type ultrasonic motor

Abstract

The invention provides a micro-needle subcutaneous rotation driving double-arm type ultrasonic motor which comprises a micro-needle pressing module, a rotor assembly, a stator assembly and a base, the stator assembly comprises a double-arm type ultrasonic motor stator, double arms of the double-arm type ultrasonic motor stator are fixedly installed on the base, the rotor assembly is inserted in a circular ring of the double-arm type ultrasonic motor stator, and the micro-needle pressing module is arranged on the base. The stator assembly and the rotor assembly are connected through friction drive, and the rotor assembly can rotate around the center axis of the rotor assembly. The micro-needle pressing module comprises a micro-needle pressing table, a micro-needle and a pressing stud, the micro-needle pressing table is matched with the pressing stud to clamp the micro-needle, and the micro-needle pressing module is installed at one end of the rotor assembly in a fastening mode. Positioning and clamping of the microneedle are achieved through the microneedle pressing module, the rotor assembly is driven to rotate through friction of the stator assembly, subcutaneous rotating movement of the microneedle is achieved, redundant design is avoided, the subcutaneous positioning precision of the microneedle is improved, the use safety of the microneedle is improved, and further integration with a rear-end execution system is facilitated.

Description

Technical Field

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

[0002] Drug therapy is considered an effective treatment for a range of diseases such as diabetes and Crohn's disease. The main current methods of administration include oral, intravenous and transdermal administration. Oral administration has the advantages of being non-invasive, highly compliant and easy to use. However, many drugs are difficult to deliver orally due to the first-pass effect and require intravenous administration. Intravenous injection can deliver most types of drug molecules into the body and has the advantages of rapid onset and few side effects, but this method requires the user to have professional skills and be proficient in the correct injection method and needle disposal. In addition, intravenous injection also faces problems such as patients having needle phobia, which seriously limits the widespread use of injection administration.

[0003] Transdermal drug delivery is to allow drugs to pass through the epidermis and use diffusion to allow the capillaries in the dermis to absorb the drugs into the blood circulation. It has the advantages of no first-pass effect and convenient drug delivery. However, due to the barrier effect of the stratum corneum of the skin, transdermal drug delivery usually faces the problem of low drug permeability. Studies have shown that only a few highly lipophilic and low molecular weight drugs can directly penetrate the skin for drug delivery. In order to improve the transdermal permeability of drugs, domestic and foreign researchers have developed technologies such as ion introduction, nanocarriers and microneedle transdermal delivery. Among them, the ion introduction method requires expensive instruments and equipment, and the operation is usually more complicated. Due to the toxic characteristics of some nanomaterials, drug delivery through nanocarriers may cause adverse reactions in patients' skin. In recent years, transdermal microneedle drug delivery technology has gradually become a research hotspot with its advantages of painlessness, 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 is that a micron-scale needle-like structure penetrates the skin to form a microchannel, and the microchannel is used to improve the permeability of the drug. In view of different research needs and application scenarios, it is necessary to use microneedles to achieve drug delivery in specific skin layers. In order to improve the subcutaneous positioning accuracy of microneedles and the risk of microneedle breakage, it is necessary to achieve breakthroughs in key performance indicators such as maximum puncture force, skin deformation during puncture, and skin deformation recovery time. Studies have shown that the rotational motion of microneedles is conducive to reducing penetration force and subcutaneous positioning errors. However, the existing microneedle drug delivery system mainly uses electromagnetic motors to drive microneedles, and usually requires intermediate transmission devices such as gears, racks, and couplings. It is difficult to ensure the motion accuracy of the front-end microneedles and the overall size of the system, which poses a great challenge to the subcutaneous precision drug delivery of microneedles and the further miniaturization and integration of the system. Therefore, the development of an actuator with high motion accuracy, compact structure, and the ability to directly drive the rotation of microneedles is of great significance for the study of the mechanism of microneedle transdermal drug delivery and clinical application.

[0006] In order to overcome the existing technical bottleneck, the inventor hopes to provide a double-arm ultrasonic motor with high motion accuracy, compact structure and the ability to directly drive the microneedle to rotate, so as to realize the precise rotational motion of the microneedle under the skin. Summary of the invention

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

[0008] According to the present invention, a microneedle subcutaneous rotation driven double-arm ultrasonic motor comprises a microneedle pressing module, a rotor assembly, a stator assembly and a base, wherein the stator assembly comprises a double-arm ultrasonic motor stator, the double-arm ultrasonic motor stator comprises double arms of the double-arm ultrasonic motor stator and a double-arm ultrasonic motor stator ring, the double arms of the double-arm ultrasonic motor stator are fixedly mounted on the base, the rotor assembly is inserted in the double-arm ultrasonic motor stator ring, the rotor contact surface of the rotor assembly is fitted with the stator contact surface of the double-arm ultrasonic motor stator ring, the stator assembly is connected to the rotor assembly by friction drive, and the rotor assembly can rotate around its central axis;

[0009] The microneedle pressing module includes a microneedle pressing platform, a microneedle and a pressing stud. The microneedle pressing platform cooperates with the pressing stud to clamp the microneedle. The microneedle pressing module is fixedly installed at one end of the rotor assembly, and the microneedle is coaxially arranged with the central axis of the rotor assembly.

[0010] Preferably, the rotor assembly comprises rotor one and rotor two, the rotor two is sleeved on the middle part of the rotor one, annular and non-contact ultrasonic motor stator contact surface one and ultrasonic motor stator contact surface two are provided on the inner side wall of the double-arm ultrasonic motor stator ring, a rotor two contact surface which is fitted with the ultrasonic motor stator contact surface two is provided on the rotor two, and a rotor one contact surface which is fitted with the ultrasonic motor stator contact surface one is provided on the side of the rotor one away from the microneedle pressing module.

[0011] Preferably, a rotor one slot is circumferentially provided on one side of the rotor one close to the microneedle pressing module, a retaining spring ring is arranged in the rotor one slot, a gasket and a plurality of silicone gaskets are arranged between the retaining spring ring and the rotor two, the retaining spring ring is pressed against the left end face of the rotor one slot of the rotor one slot, and the silicone gasket is pressed against the left end face of the rotor two of the rotor two.

[0012] Preferably, a threaded hole is provided at one end of the rotor assembly close to the microneedle pressing module, and a through hole is correspondingly provided on the microneedle pressing module. The microneedle pressing module and the rotor assembly are fastened together by screws, threaded holes and through holes.

[0013] Preferably, the stator assembly also includes a negatively polarized longitudinal vibration piezoelectric ceramic sheet, a positively polarized longitudinal vibration piezoelectric ceramic sheet, a positively polarized bending vibration piezoelectric ceramic sheet and a negatively polarized bending vibration piezoelectric ceramic sheet. The positively polarized bending vibration piezoelectric ceramic sheet and the negatively polarized bending vibration piezoelectric ceramic sheet are installed on the sides of the two arms of the stator of the double-arm ultrasonic motor that are away from each other, and the negatively polarized longitudinal vibration piezoelectric ceramic sheet and the positively polarized longitudinal vibration piezoelectric ceramic sheet are installed on the opposite sides of any one of the two arms of the stator of the double-arm ultrasonic motor.

[0014] Preferably, the double-arm ultrasonic motor stator includes two-phase A and B working modal vibration modes, and the A-phase vibration mode is the first-order longitudinal vibration of the double arms of the double-arm ultrasonic motor stator and the third-order bending vibration in the plane of the double-arm ultrasonic motor stator ring;

[0015] The B phase vibration mode is the second-order bending vibration of the two arms of the double-arm ultrasonic motor stator and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring, and the in-plane third-order bending vibrations of the A and B phases of the double-arm ultrasonic motor stator ring differ in space by π / 2.

[0016] Preferably, threaded mounting holes are respectively provided on the mutually close sides of the two arms of the double-arm ultrasonic motor stator, and corresponding mounting holes are provided on the base. The double-arm ultrasonic motor stator and the base are fastened and connected by screws, threaded mounting holes and mounting holes.

[0017] Preferably, the microneedle pressing platform includes a V-shaped platform and a stud bracket, the microneedle is arranged in the V-shaped surface of the V-shaped platform, a threaded hole is opened on the stud bracket, the central axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped platform, the pressing stud is installed in the threaded hole and threadedly matched with the threaded hole, and the pressing stud can approach or move away from the V-shaped platform along the central axis direction of the threaded hole.

[0018] Preferably, the microneedle pressing platform is manufactured by 3D printing.

[0019] Preferably, the microneedle comprises a microneedle with a diameter of 500 μm-1 mm and a length of 10 mm-30 mm.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The present invention realizes the positioning and clamping of the microneedle by the V-shaped platform and the clamping stud on the microneedle clamping platform, and drives the rotor assembly to rotate by the friction of the stator assembly, thereby realizing the subcutaneous rotational movement of the microneedle. The motor can directly drive the microneedle, avoiding the redundant design of intermediate transmission mechanisms such as gears, racks and couplings, improving the subcutaneous positioning accuracy of the microneedle, reducing the penetration force on the microneedle, increasing the safety of the microneedle, and being able to reduce the subcutaneous motion error of the microneedle and the overall size of the system, which is conducive to further integration with the back-end execution system.

[0022] 2. The present invention can form an in-plane traveling wave at the stator ring 311 of the double-arm ultrasonic motor through the A and B two-phase working mode vibration modes of the double-arm ultrasonic motor stator, so that the particles on the stator contact surface 1 and the stator contact surface 2 produce elliptical motion. It has the advantage of large torque. During the process of microneedle piercing the skin, it can provide sufficient torque to reduce the motion disturbance caused by the needle-skin coupling friction; it has the advantage of fast response speed. The microneedle can maintain good follow-up characteristics during the piercing process and complete the switching of the motion state accurately and instantly; it has the advantage of power-off self-locking. When there is no input signal, it can use a large holding torque to maintain the current state and stably and reliably perform the next drug delivery operation.

[0023] 3. The present invention processes the microneedle pressing platform through 3D printing, and can drive microneedles of different diameters and lengths by adjusting the geometric parameters of the V-shaped platform, and can achieve flexible expansion according to different research needs and application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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:

[0025] Figure 1This is the overall structure diagram of the double-arm ultrasonic motor that mainly embodies the microneedle subcutaneous rotation drive of the present invention;

[0026] Figure 2 This is a schematic diagram of the decomposition of a double-arm ultrasonic motor for subcutaneous rotational driving of a microneedle according to the present invention;

[0027] Figure 3 This is a diagram of a microneedle pressing module mainly embodied in the present invention;

[0028] Figure 4 It is a cross-sectional view of a rotor assembly mainly embodied in the present invention;

[0029] Figure 5 This is a structural diagram of a stator assembly mainly embodied in the present invention;

[0030] Figure 6 This is a schematic diagram of the polarization of a piezoelectric ceramic sheet mainly embodied in the present invention;

[0031] Figure 7 The present invention mainly embodies the modal vibration type simulation diagram of the double-arm ultrasonic motor stator;

[0032] Figure 8 The figure is a schematic diagram of the movement of the stator of the double-arm ultrasonic motor mainly embodied in the present invention.

[0033] As shown in the figure:

[0034] Microneedle pressing module 1 Microneedle pressing platform 11

[0035] V-shaped platform 111 V-shaped surface 1111

[0036] Stud bracket 112 Micro needle 12

[0037] Screw 13 Press stud 14

[0038] Compression stud bottom 141 rotor assembly 2

[0039] Rotor-21 Rotor-contact surface 211

[0040] Threaded hole 212 Rotor first slot left end surface 213

[0041] Circlip 22 Gasket 23

[0042] Silicone gasket 24 Rotor 25

[0043] Rotor 2 left end surface 251 Rotor 2 contact surface 252

[0044] Key 26 Stator assembly 3

[0045] Double-arm ultrasonic motor stator 31 Double-arm ultrasonic motor ring 311

[0046] Stator contact surface 2 312 Stator contact surface 1 313

[0047] Double arm ultrasonic motor double arm 314 threaded mounting hole 315

[0048] Negatively polarized longitudinal vibration piezoelectric ceramic sheet 32 ​​Positively polarized longitudinal vibration piezoelectric ceramic sheet 33

[0049] Positive polarization bending vibration piezoelectric ceramic sheet 34 Negative polarization bending vibration piezoelectric ceramic sheet 35

[0050] Screw 2 36 Base 4 DETAILED DESCRIPTION

[0051] 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.

[0052] like Figure 1-5 As shown, a microneedle subcutaneous rotation-driven double-arm ultrasonic motor provided by the present invention includes: a microneedle pressing module 1, a rotor assembly 2, a stator assembly 3 and a base 4, the stator assembly 3 includes a double-arm ultrasonic motor stator 31, the double-arm ultrasonic motor stator 31 includes a double-arm ultrasonic motor stator double arm 314 and a double-arm ultrasonic motor stator ring 311, the double-arm ultrasonic motor stator double arm 314 is fastened to the base 4, the rotor assembly 2 is inserted in the double-arm ultrasonic motor stator ring 311 The rotor contact surface of the rotor assembly 2 is fitted with the stator contact surface of the double-arm ultrasonic motor stator ring 311. The stator assembly 3 and the rotor assembly 2 are connected by friction drive, and the rotor assembly 2 can rotate around its central axis; the microneedle pressing module 1 includes a microneedle pressing platform 11, a microneedle 12 and a pressing stud 14. The microneedle pressing platform 11 and the pressing stud 14 cooperate to clamp the microneedle 12. The microneedle pressing module 1 is firmly installed at one end of the rotor assembly 2, and the microneedle 12 is coaxially arranged with the central axis of the rotor assembly 2.

[0053] The present invention can realize precise subcutaneous rotational movement of the microneedle 12, improve the subcutaneous positioning accuracy of the microneedle 12, reduce the penetration force on the microneedle 12, and increase the safety of the use of the microneedle 12, while also having the advantages of small size and easy back-end integration.

[0054] The rotor assembly 2 includes a rotor 1 21 and a rotor 2 25, wherein the rotor 2 25 is sleeved in the middle of the rotor 1 21, and a key 26 is provided between the rotor 2 25 and the rotor 1 21. The inner side wall of the double-arm ultrasonic motor stator ring 311 is provided with an annular and non-contacting ultrasonic motor stator contact surface 1 313 and an ultrasonic motor stator contact surface 2 312, and the rotor 2 25 is provided with a rotor 2 contact surface 252 that is fitted with the ultrasonic motor stator contact surface 2 312, and the rotor 1 21 is provided with a rotor 1 contact surface 211 that is fitted with the ultrasonic motor stator contact surface 1 313 on the side away from the microneedle pressing module 1.

[0055] A rotor one slot is circumferentially provided on one side of the rotor one 21 close to the microneedle pressing module 1, a retaining ring 22 is arranged in the rotor one slot, a gasket 23 and a plurality of silicone gaskets 24 are arranged between the retaining ring 22 and the rotor two 25, the retaining ring 22 is pressed against the left end face 213 of the rotor one slot of the rotor one slot, and the silicone gasket 24 is pressed against the left end face 251 of the rotor two 25, so as to achieve a close fit between the rotor one contact surface 211 and the ultrasonic motor stator contact surface one 313, and between the rotor two contact surface 252 and the ultrasonic motor stator contact surface two 312, and by changing the number of silicone gaskets 24 and controlling the deformation of the silicone gaskets 24, the preload force between the stator assembly 3 and the rotor assembly 2 can be adjusted.

[0056] A threaded hole 212 is provided at one end of the rotor assembly 2 close to the microneedle pressing module 1, and a through hole is correspondingly provided on the microneedle pressing module 1. The microneedle pressing module 1 and the rotor assembly 2 are fastened together by means of a screw 13, the threaded hole 212 and the through hole.

[0057] like Figure 6-8 As shown, the stator assembly 3 also includes a negatively polarized longitudinal vibration piezoelectric ceramic sheet 32, a positively polarized longitudinal vibration piezoelectric ceramic sheet 33, a positively polarized bending vibration piezoelectric ceramic sheet 34 and a negatively polarized bending vibration piezoelectric ceramic sheet 35. The two arms 314 of the double-arm ultrasonic motor stator are installed on the sides away from each other with the positively polarized bending vibration piezoelectric ceramic sheet 34 and the negatively polarized bending vibration piezoelectric ceramic sheet 35. The negatively polarized longitudinal vibration piezoelectric ceramic sheet 32 ​​and the positively polarized longitudinal vibration piezoelectric ceramic sheet 33 are installed on the opposite sides of any arm of the double arms 314 of the double-arm ultrasonic motor stator.

[0058] The double-arm ultrasonic motor stator 31 includes two-phase A and B working modal vibration modes. The A-phase vibration mode is the first-order longitudinal vibration of the two arms 314 of the double-arm ultrasonic motor stator and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311; the B-phase vibration mode is the second-order bending vibration of the two arms 314 of the double-arm ultrasonic motor stator and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311, and the A and B two-phase in-plane third-order bending vibrations of the double-arm ultrasonic motor stator ring 311 differ in space by π / 2.

[0059] The A-phase voltage is applied to the positive polarized longitudinal vibration piezoelectric ceramic piece 33 and the negative polarized longitudinal vibration piezoelectric ceramic piece 32, and the double-arm ultrasonic motor stator 31 is grounded, so that the double arms 314 of the double-arm ultrasonic motor stator produce first-order longitudinal vibration, and the double-arm ultrasonic motor stator ring 311 produces in-plane third-order bending vibration. A voltage with a B-phase phase difference of π / 2 is applied to the positive polarization bending vibration piezoelectric ceramic piece 34 and the negative polarization bending vibration piezoelectric ceramic piece 35, and the double-arm ultrasonic motor stator 31 is grounded, so that the double arms 314 of the double-arm ultrasonic motor stator produce second-order bending vibration, and the double-arm ultrasonic motor stator ring 311 produces in-plane third-order bending vibration, and the A and B phases of the double-arm ultrasonic motor stator ring 311 The in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311 differs in space by π / 2, and then an in-plane traveling wave can be formed at the double-arm ultrasonic motor stator ring 311, so that the particles on the stator contact surface 1 313 and the stator contact surface 2 312 produce elliptical motion, and the rotor assembly 2 is driven to rotate by friction.

[0060] The two arms 314 of the double-arm ultrasonic motor stator are respectively provided with threaded mounting holes 315 on the sides close to each other, and the base 4 is correspondingly provided with mounting holes. The double-arm ultrasonic motor stator 31 and the base 4 are fastened and connected by screws 36, threaded mounting holes 315 and mounting holes, that is, the stator assembly 3 and the base 4 are connected by screws 36 at the threaded mounting holes 315.

[0061] The microneedle pressing platform 11 includes a V-shaped platform 111 and a stud bracket 112. The microneedle 12 is arranged in the V-shaped surface 1111 of the V-shaped platform 111. The stud bracket 112 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 platform 111. The pressing stud 14 is installed in the threaded hole and is threadedly matched with the threaded hole. The pressing stud 14 can approach or move away from the V-shaped platform 111 along the central axis of the threaded hole. The pressing stud 14 is screwed into the stud bracket 112, and the V-shaped surface 1111 of the V-shaped platform 111 and the bottom surface 141 of the pressing stud are used to achieve the positioning and pressing of the microneedle 12.

[0062] The microneedle clamping platform 11 is made by 3D printing. The microneedle 1 includes a microneedle with a diameter of 500 μm-1 mm and a length of 10 mm-30 mm. By adjusting the geometric parameters of the V-shaped platform 111, the microneedle 12 with a diameter of 500 μm-1 mm and a length of 10 mm-30 mm can be clamped.

[0063] The working principle of the present application is as follows: the V-shaped platform 111 and the pressing stud 14 on the microneedle pressing platform 11 are used to realize the positioning and clamping of the microneedle 12, the A-phase voltage is applied to the positive polarization longitudinal vibration piezoelectric ceramic sheet 33 and the negative polarization longitudinal vibration piezoelectric ceramic sheet 32, the double-arm ultrasonic motor stator 31 is grounded, and the A-phase vibration mode of the ultrasonic motor stator 31 is excited, so that the double-arm ultrasonic motor stator ring 311 produces in-plane third-order bending vibration. A voltage with a B-phase phase difference of π / 2 is applied to the positive polarization bending vibration piezoelectric ceramic piece 34 and the negative polarization bending vibration piezoelectric ceramic piece 35, and the double-arm ultrasonic motor stator is grounded 31, so as to excite the B-phase vibration mode of the ultrasonic motor stator 31, so that the double-arm ultrasonic motor stator ring 311 produces an in-plane third-order bending vibration. The A and B phases of the double-arm ultrasonic motor stator ring 311 have a spatial difference of π / 2, and an in-plane traveling wave can be formed at the double-arm ultrasonic motor stator ring 311, so that the particles on the stator contact surface 1 313 and the stator contact surface 2 312 produce elliptical motion, and the rotor assembly 2 is driven to rotate through friction, thereby realizing the subcutaneous rotational motion of the microneedle 12.

[0064] The microneedle subcutaneous rotation-driven dual-arm ultrasonic motor of the present application can directly drive the microneedle 12, avoiding the redundant design of intermediate transmission mechanisms such as gears, racks and couplings, thereby reducing the subcutaneous motion error of the microneedle 12 and the overall size of the system, which is conducive to further integration with the back-end execution system.

[0065] The present application has the advantage of large torque, and can provide sufficient torque during the process of the microneedle 12 piercing the skin to reduce the motion disturbance caused by the needle-skin coupling friction.

[0066] The present application has the advantage of fast response speed. The microneedle 12 can maintain good follow-up characteristics during the insertion process and complete the switching of the motion state accurately and instantly.

[0067] The present application has the advantage of self-locking when power is off. When there is no input signal, it can use a larger holding torque to maintain the current state and stably and reliably perform the next drug delivery operation.

[0068] The microneedle pressing platform 11 is processed by 3D printing. By adjusting the geometric parameters of the V-shaped platform 111, it is possible to drive the microneedles 12 of different diameters and lengths, and can be flexibly expanded according to different research needs and application scenarios.

[0069] 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.

[0070] 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 double-arm ultrasonic motor for subcutaneous rotational drive of microneedles, characterized in that: include: A microneedle pressing module (1), a rotor assembly (2), a stator assembly (3) and a base (4), wherein the stator assembly (3) comprises a double-arm ultrasonic motor stator (31), the double-arm ultrasonic motor stator (31) comprises double-arm ultrasonic motor stator arms (314) and a double-arm ultrasonic motor stator ring (311), the double-arm ultrasonic motor stator arms (314) are fixedly mounted on the base (4), the rotor assembly (2) is inserted into the double-arm ultrasonic motor stator ring (311), the rotor contact surface of the rotor assembly (2) is arranged in contact with the stator contact surface of the double-arm ultrasonic motor stator ring (311), the stator assembly (3) and the rotor assembly (2) are connected by friction drive, and the rotor assembly (2) can rotate around its central axis; The microneedle pressing module (1) comprises a microneedle pressing platform (11), a microneedle (12) and a pressing stud (14); the microneedle pressing platform (11) cooperates with the pressing stud (14) to clamp the microneedle (12); the microneedle pressing module (1) is fixedly mounted on one end of the rotor assembly (2), and the microneedle (12) is coaxially arranged with the central axis of the rotor assembly (2).

2. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The rotor assembly (2) comprises a rotor 1 (21) and a rotor 2 (25), wherein the rotor 2 (25) is sleeved on the middle part of the rotor 1 (21), an annular non-contacting ultrasonic motor stator contact surface 1 (313) and an ultrasonic motor stator contact surface 2 (312) are provided on the inner side wall of the double-arm ultrasonic motor stator ring (311), a rotor 2 contact surface 252 is provided on the rotor 2 (25) and is fitted with the ultrasonic motor stator contact surface 2 (312), and a rotor 1 contact surface (211) is provided on a side of the rotor 1 (21) away from the microneedle pressing module (1) and is fitted with the ultrasonic motor stator contact surface 1 (313).

3. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles as claimed in claim 2, characterized in that: A rotor first slot is provided along the circumferential direction on one side of the rotor one (21) close to the microneedle pressing module (1); a retaining spring ring (22) is arranged in the rotor first slot; a gasket (23) and a plurality of silicone gaskets (24) are arranged between the retaining spring ring (22) and the rotor two (25); the retaining spring ring (22) is pressed against a left end face (213) of the rotor first slot of the rotor one slot; and the silicone gasket (24) is pressed against a left end face (251) of the rotor two (25).

4. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: A threaded hole (212) is provided at one end of the rotor assembly (2) close to the microneedle pressing module (1), and a through hole is correspondingly provided on the microneedle pressing module (1); the microneedle pressing module (1) and the rotor assembly (2) are fastened together by means of a screw (13), a threaded hole (212) and a through hole.

5. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The stator assembly (3) further comprises a negatively polarized longitudinal vibration piezoelectric ceramic sheet (32), a positively polarized longitudinal vibration piezoelectric ceramic sheet (33), a positively polarized bending vibration piezoelectric ceramic sheet (34) and a negatively polarized bending vibration piezoelectric ceramic sheet (35); the positively polarized bending vibration piezoelectric ceramic sheet (34) and the negatively polarized bending vibration piezoelectric ceramic sheet (35) are installed on the sides of the two arms (314) of the stator of the double-arm type ultrasonic motor that are away from each other; the negatively polarized longitudinal vibration piezoelectric ceramic sheet (32) and the positively polarized longitudinal vibration piezoelectric ceramic sheet (33) are installed on the opposite sides of any one arm of the stator of the double-arm type ultrasonic motor.

6. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles as claimed in claim 5, characterized in that: The double-arm ultrasonic motor stator (31) comprises two-phase A and B working modal vibration modes, wherein the A-phase vibration mode is the first-order longitudinal vibration of the double arms (314) of the double-arm ultrasonic motor stator and the third-order bending vibration in the plane of the double-arm ultrasonic motor stator ring (311); The B-phase vibration mode is the second-order bending vibration of the double arms (314) of the double-arm ultrasonic motor stator and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring (311), and the in-plane third-order bending vibrations of the A and B phases of the double-arm ultrasonic motor stator ring (311) differ in space by π / 2.

7. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The two arms (314) of the double-arm ultrasonic motor stator are respectively provided with threaded mounting holes (315) on the sides close to each other, and the base (4) is correspondingly provided with mounting holes, and the double-arm ultrasonic motor stator (31) and the base (4) are fastened and connected by screws (36), the threaded mounting holes (315) and the mounting holes.

8. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The microneedle pressing platform (11) comprises a V-shaped platform (111) and a stud bracket (112); the microneedle (12) is arranged in a V-shaped surface (1111) of the V-shaped platform (111); a threaded hole is provided on the stud bracket (112); the central axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped platform (111); the pressing stud (14) is installed in the threaded hole and threadably matched with the threaded hole; the pressing stud (14) can approach or move away from the V-shaped platform (111) along the central axis direction of the threaded hole.

9. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The microneedle pressing platform (11) is manufactured by 3D printing.

10. The double-arm ultrasonic motor for subcutaneous rotational driving of microneedles according to claim 1, characterized in that: The microneedle (1) comprises a microneedle with a diameter of 500 μm-1 mm and a length of 10 mm-30 mm.

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