Targeted drug delivery micro magnetic control robot

Abstract

The invention relates to the technical field of targeted robots, in particular to a targeted drug delivery micro magnetic control robot. The targeted drug delivery micro magnetic control robot comprises a drug carrying cavity and a spiral propeller, a drug filling opening is formed in the head of the drug carrying cavity, and the spiral propeller is of a double-spiral structure and is arranged on the outer side of the drug carrying cavity. The targeted drug delivery micro magnetic control robot can solve the problems that a micro robot is difficult to carry drugs and release drugs at a proper position, and the carried drugs are transported and released through the structure of the robot. A spiral propelling structure of the robot is arranged on a medicine carrying cavity to reduce the length of the robot, and a double-spiral structure is arranged to enhance the propelling capacity of the robot.

Description

Technical Field

[0001] The invention relates to the technical field of targeted robots, in particular to a micro magnetically controlled robot for targeted drug delivery. Background Art

[0002] Generally speaking, the size of a microrobot can reach a few nanometers to hundreds of microns. It can be controlled by a non-contact magnetic field and has strong operability. This type of microrobot has excellent application prospects in biomedicine, environmental remediation and other fields. It has been reported to be used in minimally invasive surgery, targeted therapy, cell manipulation, heavy metal detection, pollutant degradation, etc. With the development of micro-nano manufacturing, micro-nano robots based on magnetic control have received more and more attention from scholars.

[0003] The magnetic field generator we commonly use is the Helmholtz coil. The low-intensity, low-frequency magnetic field generated by the electromagnetic coil can penetrate biological tissues and is harmless to organisms. At the same time, by changing the current of the electromagnetic coil, different types of magnetic fields can be generated to achieve a variety of motion modes of the magnetic micro-robot, control the position and posture of the micro-robot and the motion trajectory, and then complete the operation task or targeted transportation task. However, there are still some shortcomings in the structure of the currently proposed magnetically controlled soft micro-robot: the existing magnetically controlled micro-spiral robot can achieve magnetically controlled motion, but the structure is difficult to achieve the function of drug loading and drug release at the appropriate position, and the structure that can load and release drugs has a relatively slow movement speed and poor motion stability. Summary of the invention

[0004] The object of the present invention is to provide a micro magnetically controlled robot for targeted drug delivery, which can solve the problems existing in the existing prior art;

[0005] The invention provides a micro magnetically controlled robot for targeted drug delivery, comprising a drug-carrying cavity and a screw propeller, wherein the head of the drug-carrying cavity is provided with a drug filling port, the screw propeller is a double-helix structure, and the screw propeller is arranged outside the drug-carrying cavity.

[0006] Preferably, the targeted drug delivery micro-magnetically controlled robot is made of photoresist.

[0007] Preferably, a nickel-titanium magnetic layer is sputtered on the outer side of the targeted drug delivery micro-magnetic robot.

[0008] Preferably, the drug-carrying cavity includes a middle cylinder and an elliptical hemisphere;

[0009] Elliptical hemispheres are arranged at both ends of the cylinder.

[0010] Preferably, the cavity length of the middle cylinder is 0.2 mm, the major axis of the cross section of the elliptical hemisphere is 0.08 mm, and the minor axis is 0.04 mm.

[0011] Preferably, the total length of the targeted drug delivery micro-magnetically controlled robot is 0.28 mm, and the cavity thickness is 0.05 m.

[0012] Preferably, the cross-section of each helical structure in the double helical structure is semi-elliptical.

[0013] Preferably, the pitch length height of the spiral structure is 0.2 mm, and the pitch is 0.08 mm.

[0014] Preferably, the starting points of the two spiral structures are respectively located on both sides of the head of the drug loading cavity.

[0015] Preferably, the starting points of the two spiral structures are 180 degrees apart.

[0016] Beneficial effects:

[0017] The micro magnetically controlled robot for targeted drug delivery can solve the difficulties of drug loading and drug release in the appropriate position of the micro robot, and realize the transportation and release of the loaded drug through the structure of the robot. The spiral propulsion structure of the robot is set on the drug loading cavity to reduce the length of the robot, and the double helix structure is set to enhance the propulsion ability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a line drawing of Vibrio algae;

[0020] Figure 2 A schematic diagram of the structure of a magnetically controlled robot provided in a specific embodiment of the present invention;

[0021] Figure 3 for Figure 2 “AA” sectional view;

[0022] Figure 4 A schematic diagram of the three-dimensional structure of a magnetically controlled robot provided in a specific embodiment of the present invention;

[0023] Figure 5 A side view of a magnetically controlled robot provided in a specific embodiment of the present invention;

[0024] Figure 6 A diagram showing the resistance experienced by a magnetically controlled robot in a fluid provided by a specific embodiment of the present invention;

[0025] Figure 7 This is a rendering of the robot after the magnetic control robot is printed and sputtered according to a specific embodiment of the present invention;

[0026] Figure 8 A schematic diagram of the structure of an experimental test platform provided for a specific embodiment of the present invention.

[0027] Description of reference numerals:

[0028] 1: medicine loading cavity, 2: screw propeller, 3: medicine filling port. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 limiting the present invention.

[0031] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined. In addition, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] like Figure 1As shown, this embodiment provides a micro magnetically controlled robot for targeted drug delivery, which includes a drug-carrying cavity 1 and a screw propeller 2. The head of the drug-carrying cavity 1 is provided with a drug filling port 3. The screw propeller 2 is a double-helix structure, and the screw propeller 2 is arranged on the outside of the drug-carrying cavity 1.

[0033] This embodiment provides a double-helix robot, wherein the drug-carrying cavity 1 is modeled after Vibrio alginolyticus ( Figure 1 ) design, and a double-screw propeller 2 is designed on its drug-carrying cavity 1 to realize the movement of the robot. The designed robot structure is as follows Figure 2 As shown, the cross-sectional view is Figure 3 shown.

[0034] The robot has a drug filling port 3 on the head to facilitate filling drugs or culturing drugs into the drug-carrying cavity 1. The double helix structure rotates in the liquid to realize the movement of the robot. The robot is driven by the rotating magnetic field generated by the Helmholtz coil. The use of a double helix structure can make the robot move more smoothly and quickly. The entire robot is made of photoresist and printed by a two-photon femtosecond laser direct writer. In order to achieve magnetic field control, a nickel-titanium magnetic layer is sputtered on the outside of the robot and radial magnetization is performed. When the Helmholtz coil applies a rotating magnetic field, the robot body and the spiral structure rotate with the rotating magnetic field to achieve rotational propulsion.

[0035] As for the structure of the robot, the drug-carrying cavity 1 is composed of a cylinder and elliptical hemispheres on both sides. The length of the middle cylindrical cavity is 0.2mm, the major axis of the cross-sectional ellipse of the ellipsoidal hemisphere is 0.08mm, and the minor axis is 0.04mm. The total length of the robot is 0.28mm, and the thickness of the cavity is 0.05mm. Compared with the single helix structure used in the past, the double helix propulsion structure is adopted to increase the propulsion ability. The cross-section of each spiral propulsion is elliptical, which is intended to reduce damage to other biological tissue structures and reduce resistance during movement. The pitch length and height are 0.2mm, and the pitch is 0.08mm. The two propulsion structures are located on both sides of the drug-carrying cavity head at the starting point, 180 degrees apart, such as Figure 4 The robot's structural dimensions are shown in Figure 5 shown.

[0036] Loading and sealing of drugs for transportation:

[0037] The robot is placed in the culture medium of the drug. After the cavity of the drug-carrying robot is filled with drugs, the robot is placed in other liquid environments for movement. When the robot is subjected to the rotating magnetic field, due to its structural characteristics, when it is rotating in the liquid environment, the head of the drug-carrying cavity 1 will receive resistance from the fluid, thereby achieving an effect similar to drug sealing, such as Figure 6 shown.

[0038] Drug Release:

[0039] When the robot stops rotating forward, the fluid resistance disappears and the drug is released. At this time, a reverse rotating magnetic field is applied to the robot, and the robot moves in the opposite direction, accelerating the release of the drug.

[0040] Preparation of the robot:

[0041] The printing was performed using a two-photon femtosecond laser device. The raw material used was photoresist. After printing, the excess photoresist was washed off with isopropyl alcohol, and then a magnetron sputtering device was used to sputter metal nickel. The robot after printing and sputtering was as follows Figure 7 shown.

[0042] In vitro control module of the robot:

[0043] The system includes the main control thread, the combined coil drive system, and the visual feedback thread to realize the wireless drive of the micro-robot interface micro-operation. Finally, experiments are conducted to experimentally study the motion model, detection algorithm performance, and path control method. The experimental test platform is as follows Figure 8 As shown: for the Helmholtz coil, the host computer sends a control signal to the signal generator, the signal generator is connected to and sends an analog model power amplifier, and the power amplifier is connected to the Helmholtz coil; for the Maxwell coil, the host computer sends a control signal to the DC power supply, the DC power supply is connected to the Maxwell coil, and the control generates a multi-degree-of-freedom magnetic field to drive the micro-operation of the micro-robot interface. A camera is set outside the coil, and the camera signal is connected to the receiving end of the host computer to form a control closed loop.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A micro magnetically controlled robot for targeted drug delivery, characterized in that: It comprises a drug-carrying cavity and a spiral propeller, wherein the head of the drug-carrying cavity is provided with a drug filling port, the spiral propeller is a double-helix structure, and the spiral propeller is arranged outside the drug-carrying cavity.

2. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: The micro magnetically controlled robot for targeted drug delivery is made of photoresist.

3. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: A nickel-titanium magnetic layer is sputtered on the outer side of the targeted drug delivery micro-magnetic control robot.

4. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: The drug-carrying cavity includes a middle cylinder and an elliptical hemisphere; Elliptical hemispheres are arranged at both ends of the cylinder.

5. The micro magnetically controlled robot for targeted drug delivery according to claim 4, characterized in that: The cavity length of the middle cylinder is 0.2 mm, the major axis of the cross section of the elliptical hemisphere is 0.08 mm, and the minor axis is 0.04 mm.

6. The micro magnetically controlled robot for targeted drug delivery according to claim 4, characterized in that: The total length of the targeted drug delivery micro-magnetic control robot is 0.28 mm, and the cavity thickness is 0.05 m.

7. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: The cross section of each helical structure in the double helical structure is semi-elliptical.

8. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: The pitch length height of the spiral structure is 0.2 mm, and the pitch is 0.08 mm.

9. The micro magnetically controlled robot for targeted drug delivery according to claim 1, characterized in that: The starting points of the two spiral structures are respectively located on two sides of the head of the drug loading cavity.

10. The micro magnetically controlled robot for targeted drug delivery according to claim 9, characterized in that: The starting points of the two spiral structures are 180 degrees apart.

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