Microneedle subcutaneous rotary drive double-arm type ultrasonic motor

Abstract

The application provides a microneedle subcutaneous rotation driving double-arm type ultrasonic motor, which comprises a microneedle pressing module, a rotor assembly, a stator assembly and a base, the stator assembly comprises a double-arm type ultrasonic motor stator, the double-arm type ultrasonic motor stator is tightly fixed and installed on the base, the rotor assembly is inserted into a ring of the double-arm type ultrasonic motor stator, the stator assembly is connected with the rotor assembly through friction driving, and the rotor assembly can rotate around a central shaft; the microneedle pressing module comprises a microneedle pressing table, microneedles and a pressing stud, the microneedle pressing table and the pressing stud clamp the microneedles, and the microneedle pressing module is tightly fixed and installed on one end of the rotor assembly. The microneedle positioning and clamping are realized through the microneedle pressing module, the rotor assembly is driven to rotate through the stator assembly, the subcutaneous rotation movement of the microneedle is realized, the redundant design is avoided, the subcutaneous positioning precision of the microneedle is improved, the use safety of the microneedle is improved, and the further integration with a back-end execution system is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of microneedle transdermal precise drug delivery, in particular, to a microneedle subcutaneous rotary drive double-arm type ultrasonic motor. BACKGROUND

[0002] Drug therapy is considered an effective treatment for a series of diseases such as diabetes and Crohn's disease. The existing main drug delivery methods include oral administration, intravenous injection and transdermal drug delivery. Oral administration has the advantages of non-invasive, high compliance and simple use. However, many drugs are difficult to be delivered by oral administration due to the first-pass effect, and need to be delivered by intravenous injection. Intravenous injection can deliver most types of drug molecules into the body, and has the advantages of fast onset and small side effects. However, the user needs to have professional skills and master the correct injection method and needle handling method. In addition, intravenous injection also faces the problem of needle phobia in patients, which seriously limits the universal application of injection drug delivery.

[0003] Transdermal drug delivery allows drugs to penetrate the epidermis and use the diffusion effect to allow capillaries in the dermis to absorb drugs into the blood circulation, which has the advantages of no first-pass effect and convenient drug delivery. However, due to the barrier effect of the stratum corneum, the transdermal drug delivery method usually faces the problem of low drug penetration rate. Studies have shown that only a small number of high-lipophilic and small-molecular-weight drugs can directly penetrate the skin to achieve drug delivery. In order to improve the transdermal penetration rate of drugs, domestic and foreign researchers have developed iontophoresis, nanocarrier and microneedle transdermal technologies. The iontophoresis method requires expensive equipment and is usually complex to operate. Some nanomaterials have toxic characteristics, and 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 due to its painless, good compliance and high drug utilization, and is 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 and precise subcutaneous drug delivery. The invention includes a syringe pump, a hose and a five-needle microneedle. The syringe pump includes a lead screw, a clamp, a syringe, a base, a lead screw, a nut pusher, a screw rod and a stepper motor. One end of the lead screw and the screw rod is connected with the stepper motor, the other end of the lead screw passes through the nut pusher and is fixed on the base through the support, the other end of the screw rod is directly fixed on 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 with the nut pusher. The stepper motor drives the screw rod to rotate, the rotation of the screw rod drives the nut 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 to the right, and the liquid in the syringe enters the five-needle microneedle through the hose.

[0005] Microneedle transdermal drug delivery method is a micrometer scale needle structure penetrating the skin to form a micro-pore, and the micro-pore is used to improve the permeability of the drug. In order to meet the needs of different research and application scenarios, it is necessary to use microneedles to realize drug delivery in a specific skin layer. In order to improve the subcutaneous positioning accuracy of the microneedle and the risk of microneedle fracture, breakthroughs are needed in key performance indicators such as maximum penetration force, skin deformation during penetration, and skin deformation recovery time. Studies have shown that the rotational motion of the microneedle is beneficial to reduce the penetration force and subcutaneous positioning error. However, the existing microneedle drug delivery system mainly uses electromagnetic motor to drive the microneedle, and usually needs to be equipped with intermediate transmission devices such as gear, rack and shaft coupling, which is difficult to ensure the motion accuracy of the front-end microneedle and the overall size of the system, and poses great challenges to the precise subcutaneous drug delivery of the microneedle and the further miniaturization and integration of the system. Therefore, it is of great significance to develop an actuator with high motion accuracy, compact structure and direct driving of microneedle rotation for the research of microneedle transdermal drug delivery mechanism and clinical application.

[0006] In order to overcome the technical bottleneck of the prior art, the inventors hope to provide a double-arm ultrasonic motor with high motion accuracy, compact structure and direct driving of microneedle rotation, which is used to realize the precise rotational motion of the microneedle under the skin. SUMMARY

[0007] In view of the defects in the prior art, the purpose of the present application is to provide a double-arm ultrasonic motor for driving microneedle rotation under the skin.

[0008] According to the double-arm ultrasonic motor for driving microneedle rotation under the skin provided by the present application, the double-arm ultrasonic motor stator includes double-arm ultrasonic motor stator double arms and a double-arm ultrasonic motor stator ring, the double-arm ultrasonic motor stator double arms are fastened and installed on the base, the rotor assembly is inserted into the double-arm ultrasonic motor stator ring, the rotor contact surface of the rotor assembly is in close contact with the stator contact surface of the double-arm ultrasonic motor stator ring, the stator assembly and the rotor assembly are connected by friction drive, and the rotor assembly can rotate around the central shaft.

[0009] The microneedle pressing module includes a microneedle pressing table, a microneedle and a pressing stud, the microneedle pressing table and the pressing stud cooperate to clamp the microneedle, the microneedle pressing module is fastened and installed at one end of the rotor assembly, and the microneedle is coaxially arranged with the central shaft of the rotor assembly.

[0010] Preferably, the rotor assembly comprises a rotor one and a rotor two, the rotor two is sleeved in the middle part of the rotor one, the inner side wall of the double-arm ultrasonic motor stator ring is provided with ultrasonic motor stator contact surface one and ultrasonic motor stator contact surface two in a ring shape and without contact, the rotor two is provided with rotor two contact surface which is arranged in close contact with the ultrasonic motor stator contact surface two, and the side of the rotor one away from the microneedle pressing module is provided with rotor one contact surface which is arranged in close contact with the ultrasonic motor stator contact surface one.

[0011] Preferably, the side of the rotor one close to the microneedle pressing module is provided with rotor one clamping groove in the circumferential direction, the clamping groove is provided with clamping spring stop ring, the clamping spring stop ring and the rotor two are provided with gasket and multiple silica gel gaskets, the clamping spring stop ring is tightly arranged with the left end surface of the rotor one clamping groove, and the silica gel gasket is tightly arranged with the left end surface of the rotor two.

[0012] Preferably, the end of the rotor assembly close to the microneedle pressing module is provided with threaded hole, the microneedle pressing module is provided with through hole correspondingly, and the microneedle pressing module and the rotor assembly are fastened and connected through screw one, threaded hole and through hole.

[0013] Preferably, the stator assembly further comprises negative polarization longitudinal vibration piezoelectric ceramic sheet, positive polarization longitudinal vibration piezoelectric ceramic sheet, positive polarization bending vibration piezoelectric ceramic sheet and negative polarization bending vibration piezoelectric ceramic sheet, the double-arm ultrasonic motor stator double arms are respectively provided with the positive polarization bending vibration piezoelectric ceramic sheet and the negative polarization bending vibration piezoelectric ceramic sheet on the side away from each other, and the opposite sides of any arm of the double-arm ultrasonic motor stator double arms are respectively provided with the negative polarization longitudinal vibration piezoelectric ceramic sheet and the positive polarization longitudinal vibration piezoelectric ceramic sheet.

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

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

[0016] Preferably, the side of the double-arm ultrasonic motor stator double arms close to each other is respectively provided with threaded mounting hole, the base is correspondingly provided with mounting hole, and the double-arm ultrasonic motor stator and the base are fastened and connected through screw two, threaded mounting hole and mounting hole.

[0017] Preferably, the microneedle pressing table comprises a V-shaped table and a stud support, the microneedles are arranged in the V-shaped surface of the V-shaped table, the stud support is provided with a threaded hole, the center axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped table, and the pressing stud is installed in the threaded hole and threadedly matched with the threaded hole, and the pressing stud can be close to or away from the V-shaped table along the center axis direction of the threaded hole.

[0018] Preferably, the microneedle pressing table is made by 3D printing.

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

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

[0021] 1. The present application realizes the positioning and clamping of the microneedle through the V-shaped table and the pressing stud on the microneedle pressing table, realizes the subcutaneous rotational movement of the microneedle through the frictional driving of the stator assembly to the rotor assembly, and the motor can directly drive the microneedle, avoiding the redundant design of intermediate transmission mechanisms such as gears, racks and shaft couplings, improving the subcutaneous positioning accuracy of the microneedle, reducing the penetration force of the microneedle, increasing the safety of the microneedle, reducing the subcutaneous movement error of the microneedle and the overall size of the system, and being conducive to further integration with the rear-end execution system.

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

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

[0024] Other features, objects and advantages of the present application will become more apparent through reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1The whole structure diagram of the micro-needle subcutaneous rotary driving double-arm type ultrasonic motor is mainly embodied in the application;

[0026] Figure 2 The exploded schematic view of the micro-needle subcutaneous rotary driving double-arm type ultrasonic motor is mainly embodied in the application;

[0027] Figure 3 The micro-needle pressing module diagram is mainly embodied in the application;

[0028] Figure 4 The sectional view of the rotor assembly is mainly embodied in the application;

[0029] Figure 5 The structure diagram of the stator assembly is mainly embodied in the application;

[0030] Figure 6 The piezoelectric ceramic sheet polarization schematic diagram is mainly embodied in the application;

[0031] Figure 7 The modal vibration mode simulation diagram of the double-arm type ultrasonic motor stator is mainly embodied in the application;

[0032] Figure 8 The motion schematic diagram of the double-arm type ultrasonic motor stator is mainly embodied in the application.

[0033] The diagram shows:

[0034] The micro-needle pressing module 1 The micro-needle pressing table 11

[0035] The V-shaped table 111 The V-shaped surface 1111

[0036] The stud support 112 The micro-needle 12

[0037] The screw 13 The pressing stud 14

[0038] The pressing stud bottom surface 141 The rotor assembly 2

[0039] The rotor 21 The rotor contact surface 211

[0040] The threaded hole 212 The rotor left end surface 213

[0041] The snap spring retainer 22 The gasket 23

[0042] The silica gel gasket 24 The rotor 25

[0043] The rotor left end surface 251 The rotor contact surface 252

[0044] The key 26 The stator assembly 3

[0045] The double-arm type ultrasonic motor stator 31 The double-arm type ultrasonic motor ring 311

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

[0047] Dual-arm ultrasonic motor, dual arms, 314 threaded mounting holes, 315 thread.

[0048] Negatively polarized longitudinally vibrating piezoelectric ceramic sheet 32; Positively polarized longitudinally vibrating piezoelectric ceramic sheet 33

[0049] Positively polarized bending vibration piezoelectric ceramic sheet 34; Negatively polarized bending vibration piezoelectric ceramic sheet 35

[0050] Screw 2 36 Base 4 Detailed Implementation

[0051] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0052] like Figures 1-5 As shown, a microneedle subcutaneous rotary driven dual-arm ultrasonic motor according to the present invention includes: a microneedle clamping module 1, a rotor assembly 2, a stator assembly 3, and a base 4. The stator assembly 3 includes a dual-arm ultrasonic motor stator 31, which includes dual-arm ultrasonic motor stator arms 314 and a dual-arm ultrasonic motor stator ring 311. The dual-arm ultrasonic motor stator arms 314 are fastened to the base 4, and the rotor assembly 2 is inserted into the dual-arm ultrasonic motor stator ring 311. The rotor contact surface of rotor assembly 2 is fitted with the stator contact surface of stator ring 311 of double-arm ultrasonic motor. Stator assembly 3 and rotor assembly 2 are connected by friction drive. Rotor assembly 2 can rotate around its central axis. Microneedle clamping module 1 includes microneedle clamping platform 11, microneedle 12 and clamping stud 14. Microneedle clamping platform 11 and clamping stud 14 cooperate to clamp microneedle 12. Microneedle clamping module 1 is fixedly installed at one end of rotor assembly 2, and microneedle 12 is coaxial with the central axis of rotor assembly 2.

[0053] This invention enables precise subcutaneous rotation of the microneedle 12, improves the subcutaneous positioning accuracy of the microneedle 12, reduces the insertion force on the microneedle 12, increases the safety of the microneedle 12, and also has the advantages of small size and easy back-end integration.

[0054] The rotor assembly 2 comprises a rotor one 21 and a rotor two 25 sleeved on the middle part of the rotor one 21, and a key 26 is arranged between the rotor two 25 and the rotor one 21. The inner side wall of the double-arm ultrasonic motor stator ring 311 is provided with ultrasonic motor stator contact surface one 313 and ultrasonic motor stator contact surface two 312 in a ring shape and without contact, the rotor two 25 is provided with rotor two contact surface 252 arranged in close contact with the ultrasonic motor stator contact surface two 312, and the rotor one 21 away from the microneedle compression module 1 is provided with rotor one contact surface 211 arranged in close contact with the ultrasonic motor stator contact surface one 313.

[0055] The rotor one 21 is provided with a rotor one clamping groove on the side close to the microneedle compression module 1 in the circumferential direction, the rotor one clamping groove is provided with a clamping spring stop ring 22, a gasket 23 and a plurality of silica gel gaskets 24 are arranged between the clamping spring stop ring 22 and the rotor two 25, the clamping spring stop ring 22 is tightly abutted against the rotor one clamping groove left end surface 213 of the rotor one clamping groove, and the silica gel gaskets 24 are tightly abutted against the rotor two left end surface 251 of the rotor two 25, so that the rotor one contact surface 211 and the ultrasonic motor stator contact surface one 313 and the rotor two contact surface 252 and the ultrasonic motor stator contact surface two 312 are closely contacted, and by changing the number of silica gel gaskets 24 to control the deformation amount of the silica gel gaskets 24, the pre-tightening force between the stator assembly 3 and the rotor assembly 2 can be adjusted.

[0056] The rotor assembly 2 is provided with a threaded hole 212 on the end close to the microneedle compression module 1, the microneedle compression module 1 is provided with a through hole corresponding thereto, and the microneedle compression module 1 and the rotor assembly 2 are fastened and connected through the screw one 13, the threaded hole 212 and the through hole.

[0057] As shown in Figures 6-8 The stator assembly 3 further comprises a negative polarization longitudinal vibration piezoelectric ceramic sheet 32, a positive polarization longitudinal vibration piezoelectric ceramic sheet 33, a positive polarization bending vibration piezoelectric ceramic sheet 34 and a negative polarization bending vibration piezoelectric ceramic sheet 35, the positive polarization bending vibration piezoelectric ceramic sheet 34 and the negative polarization bending vibration piezoelectric ceramic sheet 35 are installed on the sides away from each other of the double-arm ultrasonic motor stator double arms 314, and the negative polarization longitudinal vibration piezoelectric ceramic sheet 32 and the positive polarization longitudinal vibration piezoelectric ceramic sheet 33 are respectively installed on the opposite sides of any arm of the double-arm ultrasonic motor stator double arms 314.

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

[0059] 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, and the double-arm ultrasonic motor stator 31 is grounded, so that the double-arm ultrasonic motor stator double-arm 314 generates a first-order longitudinal vibration, and the double-arm ultrasonic motor stator ring 311 generates an in-plane third-order bending vibration. The B-phase voltage with a phase difference of π / 2 is applied to the positive polarization bending vibration piezoelectric ceramic sheet 34 and the negative polarization bending vibration piezoelectric ceramic sheet 35, and the double-arm ultrasonic motor stator 31 is grounded, so that the double-arm ultrasonic motor stator double-arm 314 generates a second-order bending vibration, and the double-arm ultrasonic motor stator ring 311 generates an in-plane third-order bending vibration, and the in-plane third-order bending vibrations of the double-arm ultrasonic motor stator ring 311 in the A and B phases are spatially different by π / 2, thereby forming an in-plane traveling wave at the double-arm ultrasonic motor stator ring 311, so that the particles on the stator contact surface one 313 and the stator contact surface two 312 generate elliptical motion, and the rotor assembly 2 is driven to rotate by friction.

[0060] The double-arm ultrasonic motor stator double-arm 314 is provided with a threaded mounting hole 315 on the side close to each other, and the base 4 is correspondingly provided with a mounting hole. The double-arm ultrasonic motor stator 31 and the base 4 are fastened and connected through the cooperation of the screw two 36, the threaded mounting hole 315 and the mounting hole, that is, the connection between the stator assembly 3 and the base 4 is realized by the screw two 36 at the threaded mounting hole 315.

[0061] The microneedle pressing table 11 includes a V-shaped table 111 and a stud support 112. The microneedle 12 is arranged in the V-shaped surface 1111 of the V-shaped table 111. The stud support 112 is provided with a threaded hole, the center axis of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped table 111, and the pressing stud 14 is arranged in the threaded hole and threadedly connected with the threaded hole. The pressing stud 14 can move towards or away from the V-shaped table 111 along the center axis of the threaded hole. The pressing stud 14 is screwed into the stud support 112, and the V-shaped surface 1111 of the V-shaped table 111 and the bottom surface 141 of the pressing stud 14 are used to position and press the microneedle 12.

[0062] The microneedle pressing table 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 table 111, microneedles 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 application is as follows: the positioning and clamping of the microneedle 12 are realized by using the V-shaped table 111 and the clamping stud 14 on the microneedle clamping table 11, 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, the A-phase vibration mode of the double-arm ultrasonic motor stator 31 is excited, and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311 is generated. The B-phase voltage with a phase difference of π / 2 is applied to the positive polarization bending vibration piezoelectric ceramic sheet 34 and the negative polarization bending vibration piezoelectric ceramic sheet 35, the double-arm ultrasonic motor stator is grounded 31, the B-phase vibration mode of the double-arm ultrasonic motor stator 31 is excited, and the in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311 is generated. The in-plane third-order bending vibration of the double-arm ultrasonic motor stator ring 311 in A and B phases is π / 2 in space, and the 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 one 313 and the stator contact surface two 312 generate elliptical motion, and the rotation of the rotor assembly 2 is driven by friction, and then the subcutaneous rotation motion of the microneedle 12 is realized.

[0064] The microneedle subcutaneous rotation driving double-arm ultrasonic motor of the application can directly drive the microneedle 12, avoiding the redundant design of intermediate transmission mechanisms such as gears, racks and shaft couplings, thereby reducing the subcutaneous motion error of the microneedle 12 and the overall size of the system, and being beneficial to further integration with the rear-end execution system.

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

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

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

[0068] The microneedle clamping table 11 is processed by 3D printing, and by adjusting the geometric parameters of the V-shaped table 111, microneedles 12 with different diameters and lengths can be driven, and flexible expansion can be realized according to different research needs and application scenarios.

[0069] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0070] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that they do not conflict.

Claims

1. A microneedle subcutaneous rotary drive double-arm type ultrasonic motor, characterized by, The application relates to a micro-needle pressing module (1), a rotor assembly (2), a stator assembly (3) and a base (4), wherein the stator assembly (3) comprises a double-arm type ultrasonic motor stator (31), the double-arm type ultrasonic motor stator (31) comprises double-arm type ultrasonic motor stator double arms (314) and a double-arm type ultrasonic motor stator ring (311), the double-arm type ultrasonic motor stator double arms (314) are fixedly installed on the base (4), the rotor assembly (2) is inserted into the double-arm type ultrasonic motor stator ring (311), a rotor contact surface of the rotor assembly (2) is arranged in abutment with a stator contact surface of the double-arm type ultrasonic motor stator ring (311), the stator assembly (3) is connected with the rotor assembly (2) through friction driving, and the rotor assembly (2) can rotate around a central shaft. The micro-needle pressing module (1) comprises a micro-needle pressing table (11), micro-needles (12) and a pressing stud (14), the micro-needle pressing table (11) and the pressing stud (14) clamp the micro-needles (12) in cooperation, the micro-needle pressing module (1) is fixedly installed on one end of the rotor assembly (2), and the micro-needles (12) are coaxially arranged with the central shaft of the rotor assembly (2). The micro-needle pressing table (11) comprises a V-shaped table (111) and a stud support (112), the micro-needles (12) are arranged in the V-shaped surface (1111) of the V-shaped table (111), a threaded hole is formed in the stud support (112), the central shaft of the threaded hole is coaxially arranged with the V-shaped center of the V-shaped table (111), the pressing stud (14) is installed in the threaded hole and is in threaded cooperation with the threaded hole, and the pressing stud (14) can move close to or away from the V-shaped table (111) along the central shaft direction of the threaded hole. The stator assembly (3) further comprises negative polarization longitudinal vibration piezoelectric ceramic sheets (32), positive polarization longitudinal vibration piezoelectric ceramic sheets (33), positive polarization bending vibration piezoelectric ceramic sheets (34) and negative polarization bending vibration piezoelectric ceramic sheets (35), the positive polarization bending vibration piezoelectric ceramic sheets (34) and the negative polarization bending vibration piezoelectric ceramic sheets (35) are installed on the sides, away from each other, of the double-arm type ultrasonic motor stator double arms (314), and the negative polarization longitudinal vibration piezoelectric ceramic sheets (32) and the positive polarization longitudinal vibration piezoelectric ceramic sheets (33) are respectively installed on the opposite sides of any arm of the double-arm type ultrasonic motor stator double arms (314). The double-arm type ultrasonic motor stator (31) comprises A and B phase working mode vibration modes, the A phase vibration mode is first-order longitudinal vibration of the double-arm type ultrasonic motor stator double arms (314) and in-plane third-order bending vibration of the double-arm type ultrasonic motor stator ring (311); the B phase vibration mode is second-order bending vibration of the double-arm type ultrasonic motor stator double arms (314) and in-plane third-order bending vibration of the double-arm type ultrasonic motor stator ring (311), and the A and B phase in-plane third-order bending vibrations of the double-arm type ultrasonic motor stator ring (311) are different by pi / 2 in space. ​ The positioning and clamping of the microneedle (12) are realized by using a V-shaped table (111) and a clamping screw (14) on the microneedle clamping table, an 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, the A-phase vibration mode of the double-arm ultrasonic motor stator (31) is excited, and the double-arm ultrasonic motor stator ring (311) generates in-plane third-order bending vibration; the B-phase voltage with a phase difference of π / 2 is applied to the positive polarization bending vibration piezoelectric ceramic sheet (34) and the negative polarization bending vibration piezoelectric ceramic sheet (35), the double-arm ultrasonic motor stator is grounded, the B-phase vibration mode of the double-arm ultrasonic motor stator (31) is excited, and the double-arm ultrasonic motor stator ring (311) generates in-plane third-order bending vibration, the A-phase and B-phase in-plane third-order bending vibrations of the double-arm ultrasonic motor stator ring (311) are different by π / 2 in space, and in-plane traveling waves are formed at the double-arm ultrasonic motor stator ring (311), so that the particles on the stator contact surface one (313) and the stator contact surface two (312) generate elliptical motion, the rotor assembly (2) is driven to rotate through friction, and then the subcutaneous rotary motion of the microneedle (12) is realized.

2. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 1, wherein The rotor assembly (2) comprises a rotor one (21) and a rotor two (25), the rotor two (25) is sleeved on the middle part of the rotor one (21), the inner side wall of the double-arm ultrasonic motor stator ring (311) is provided with an ultrasonic motor stator contact surface one (313) and an ultrasonic motor stator contact surface two (312) which are annular and do not contact, the rotor two (25) is provided with a rotor two contact surface which is arranged in close contact with the ultrasonic motor stator contact surface two (312), and the side of the rotor one (21) away from the microneedle clamping module (1) is provided with a rotor one contact surface (211) which is arranged in close contact with the ultrasonic motor stator contact surface one (313).

3. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 2, wherein The side of the rotor one (21) close to the microneedle clamping module (1) is provided with a rotor one clamping groove in the circumferential direction, a clamping spring stop ring (22) is arranged in the rotor one clamping groove, a gasket (23) and a plurality of silica gel gaskets (24) are arranged between the clamping spring stop ring (22) and the rotor two (25), the clamping spring stop ring (22) is tightly arranged with a rotor one clamping groove left end surface (213) of the rotor one clamping groove, and the silica gel gaskets (24) are tightly arranged with a rotor two left end surface (251) of the rotor two (25).

4. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 1, wherein A threaded hole (212) is arranged at one end of the rotor assembly (2) close to the microneedle clamping module (1), a through hole is correspondingly arranged on the microneedle clamping module (1), and the microneedle clamping module (1) and the rotor assembly (2) are fastened and connected through a screw one (13), the threaded hole (212) and the through hole.

5. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 1, wherein The sides close to each other of the double-arm ultrasonic motor stator double arms (314) are respectively provided with threaded mounting holes (315), and mounting holes are correspondingly arranged on the base (4), and the double-arm ultrasonic motor stator (31) and the base (4) are fastened and connected through a screw two (36), the threaded mounting holes (315) and the mounting holes.

6. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 1, wherein The microneedle pressing table (11) is made by 3D printing.

7. The microneedle subdermal rotary drive dual-arm type ultrasonic motor according to claim 1, wherein The microneedle includes a microneedle with a diameter of 500 μm-1 mm and a length of 10 mm-30 mm.

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