Rice grain type magnetic control micro driver and magnetic control driving method

Abstract

The invention discloses a rice grain type magnetic control micro driver and a magnetic control driving method. The rice grain type magnetic control miniature driver is mainly composed of an ellipsoidal driver shell and a magnetic bar, a magnetic bar hole is formed in the ellipsoidal driver shell, the magnetic bar is fixedly installed in the magnetic bar hole, the magnetic bar accurately moves under the action of an external magnetic field, and then accurate control over the motion state and track of the driver is achieved through the external magnetic field. The magnetic control driving method comprises the steps that the medicine and the magnetic control micro driver are wrapped with the capsule, the magnetic control micro driver can be controlled by changing the phase difference of a magnetic field and changing the size of the magnetic field after the capsule enters the body, and the capsule is used for fixed-point medicine delivery in the stomach or the intestinal tract. The rice-grain-shaped magnetic control micro driver shows unique structural advantages, the shape of the rice-grain-shaped magnetic control micro driver is in an ellipsoid shape and is similar to a capsule, and due to the integrated design, an operator can directly use a method for controlling a common robot to accurately control the capsule.

Description

Technical Field

[0001] The invention belongs to the field of micro-robots, and in particular relates to a rice-grain-shaped magnetically controlled micro-actuator and a magnetically controlled driving method. Background Art

[0002] In today's biomedical field, the demand for minimally invasive treatment and precision medicine has shown a sustained and rapid growth trend. This trend is like a strong east wind, which has strongly promoted the vigorous development of magnetically driven micro-robot technology. As a highly innovative medical tool, magnetically driven magnetically controlled micro-actuators have unique advantages. The core is the ability to achieve remote wireless control through an external magnetic field. This feature enables them to move freely in complex and narrow spaces that are difficult for humans to reach with traditional means, such as the criss-crossing vascular system and tortuous cavities in the human body. Micro-environments, thus opening up new ways and methods for the diagnosis and treatment of various diseases. This precise control method enables it to reach some of the smallest bronchi. This breakthrough is very likely to fundamentally change the traditional treatment model of lung cancer and bring unprecedented hope to lung cancer patients.

[0003] It should be noted that the human immune system has a powerful self-protection mechanism. Under normal circumstances, the human body will produce a rejection reaction to any foreign substance. When the magnetically controlled micro-actuator enters the human body, it may inevitably encounter an attack by the immune system, which undoubtedly poses a huge challenge to the long-term stable operation of the magnetically driven micro-robot in the body. Summary of the invention

[0004] In order to solve the problems existing in the background technology, the purpose of the present invention is to provide a rice-grain-shaped magnetically controlled micro-actuator and a magnetically controlled driving method. The rice-grain-shaped magnetically controlled micro-actuator aims to effectively overcome the deficiencies existing in the background technology and provide a better solution for the precise treatment of diseases.

[0005] The technical solution adopted by the present invention is:

[0006] 1. A rice-grain-shaped magnetically controlled microactuator:

[0007] It is mainly composed of an ellipsoidal driver shell and a magnetic rod. The ellipsoidal driver shell is in the shape of a rice grain. A plurality of magnetic rod holes are opened in the ellipsoidal driver shell. Each magnetic rod is fixedly installed in each magnetic rod hole. The magnetic rod moves precisely under the action of an external magnetic field, and then the motion state and trajectory of the driver are precisely controlled through the external magnetic field. The driver is wrapped in a medical capsule, and targeted drug delivery to patients is achieved through precise position control of the driver.

[0008] The section of the ellipsoidal driver housing that is perpendicular to the long axis of the ellipsoidal driver housing is taken as the cross section of the ellipsoidal driver housing, and the section of the ellipsoidal driver housing that is perpendicular to the short axis of the ellipsoidal driver housing is taken as the longitudinal section of the ellipsoidal driver housing. The ellipsoidal driver housing is a rice grain-shaped structure with a circular cross section and an elliptical longitudinal section. The long axis of the ellipsoidal driver housing is 8 to 10 mm, and the short axis of the ellipsoidal driver housing is 4 to 6 mm.

[0009] The magnetic rod hole is arranged along the short axis of the ellipsoidal drive housing. When two magnetic rod holes are provided, the two magnetic rod holes are spaced apart so that the two magnetic rods arranged in the magnetic rod holes are spaced apart, one magnetic rod hole is arranged at the midpoint of the long axis of the ellipsoidal drive housing, and the other magnetic rod hole is arranged at a quarter to an eighth of the long axis of the ellipsoidal drive housing; when only one magnetic rod hole is provided, the magnetic rod hole is arranged at the midpoint of the long axis of the ellipsoidal drive housing.

[0010] The magnetic bar is a magnetized iron bar with a diameter of 0.4mm-0.5mm, a hole diameter of 0.5mm-0.6mm, and a length of the magnetic bar equal to the diameter of the cross section of the ellipsoidal driver housing at the location of the magnetic bar hole.

[0011] The ellipsoidal driver housing is made of resin material.

[0012] When two magnetic rod holes are provided, the angle between the two magnetic rod holes ranges from 0° to 180°, and the angle can be specifically selected according to different actual situations.

[0013] 2. A magnetically controlled driving method for a rice-grain-shaped magnetically controlled micro-actuator, comprising the following steps:

[0014] First, the magnetically controlled micro-actuator and the drugs required for treatment are wrapped in a medical capsule, and then the patient takes the medical capsule. When the medical capsule enters the stomach or intestine of the human body, the movement of the magnetic rod in the medical capsule is controlled by an external magnetic field, thereby controlling the movement state and movement trajectory of the magnetically controlled micro-actuator. Driven by the magnetically controlled micro-actuator, the medical capsule begins to move toward the patient's diseased area. When the medical capsule reaches the patient's diseased area and begins to dissolve, the drugs required for treatment are released from the medical capsule, thereby achieving targeted drug delivery.

[0015] The specific method of controlling the movement of the magnetic bar by using the external magnetic field is as follows:

[0016] The movement of the magnetic bar can be controlled by changing the waveform, phase difference and magnetic flux size of the external magnetic field.

[0017] The specific method of controlling the movement of the magnetic bar by using the external magnetic field is as follows:

[0018] According to the relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement, the speed of the magnetic bar movement is precisely controlled by changing the phase difference of the external magnetic field. The relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement is obtained as follows:

[0019] Step S1: First, place the magnetron micro-actuator in a container storing silicone oil so that the silicone oil immerses the magnetron micro-actuator. A square grid line is drawn on the bottom of the container, such as Figure 5 As shown, the long axis of the magnetically controlled microactuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled microactuator;

[0020] Step S2, placing the container with the magnetically controlled micro-actuator in the middle of a Helmholtz experimental table, where the Helmholtz experimental table is used to generate an external magnetic field;

[0021] Step S3, using the Helmholtz test bench to control the waveform, phase, frequency and magnetic flux size of the external magnetic field in the x-direction and the z-direction, and the magnetically controlled micro-actuator starts to move under the action of the external magnetic field;

[0022] Step S4, taking the phase difference between the external magnetic field in the x direction and the z direction as the phase difference of the external magnetic field, changing the phase of the external magnetic field in the x direction and the z direction, and simultaneously monitoring the movement time and displacement of the magnetically controlled micro-actuator in real time, and then obtaining the movement state (movement speed) of the magnetically controlled micro-actuator under different phase differences.

[0023] The viscosity of the silicone oil in the container is greater than 1.005 mPa·s and is used to simulate the liquid environment in the human body.

[0024] The rice-grain-shaped magnetically controlled micro-actuator structure of the present invention is ellipsoidal, and its raw material is carefully selected resin. This resin material not only has good biocompatibility, but also can meet the working requirements of the robot in the complex environment of the body in terms of physical properties. During the manufacturing process, by punching holes on the resin structure and accurately embedding the magnetic poles therein, the magnetically controlled micro-actuator can produce precise movements under the action of an external magnetic field. By changing key parameters such as the waveform, phase difference, and magnetic flux size of the magnetic field, the motion state and trajectory of magnetically controlled micro-actuators of different structures can be controlled with high precision. The magnetically controlled micro-actuator structure of the present invention includes various forms such as one-hole and two-hole types. Among them, the number of magnetic poles and the angle between them are key factors affecting the motion trajectory of the magnetically controlled micro-actuator.

[0025] In actual use, the medical capsule is first properly wrapped around the magnetically controlled micro-driver and the drugs needed for treatment to form a complete drug delivery system. When this drug delivery system enters the stomach or intestine, the capsule begins to move precisely toward the lesion site under the drive of the magnetically controlled micro-driver. In this process, the magnetically controlled micro-driver uses its unique magnetic drive characteristics to ensure that the entire drug delivery system can reach the target location accurately. When the capsule reaches the lesion site and begins to dissolve, the drug and the magnetically controlled micro-driver will be released, thereby achieving targeted drug delivery. This drug delivery method has significant advantages. On the one hand, it can greatly improve the treatment effect and enable the drug to play a concentrated role in the lesion site; on the other hand, it effectively reduces the side effects of the drug on normal tissues and minimizes damage to healthy human tissues. After completing the drug delivery task, the robot can be further controlled by the magnetic field to move to the specified position and wait for the human body to naturally excrete it from the body. The whole process is safe and efficient.

[0026] Compared with the traditional micro-robot structure, the rice-grain-shaped magnetically controlled micro-actuator presents unique structural advantages. Its shape is ellipsoidal, similar to a capsule, and this special structural design gives it unique functions. After filling the gap with drugs, the entire capsule can be regarded as a complete micro-robot. This integrated design allows operators to directly use the method of controlling ordinary robots to precisely control the capsule. In this way, the magnetically controlled micro-actuator structure can not only increase the accuracy of directional drug transport, but also cleverly avoid rejection reactions in the body because its capsule material has the property of being absorbable by the human body, providing a broader prospect for the application of magnetically driven micro-robots in the biomedical field.

[0027] The present invention can be used to deliver drugs to specific locations in the stomach or intestines. In experiments, a rice-grain-shaped magnetically controlled micro-actuator can be made to move in silicone oil of a certain viscosity similar to the liquid environment in the human body. The number of magnetic poles and the angle between each magnetic pole will affect the movement of the robot, so the robot can be subdivided into multiple categories and used in different scenarios.

[0028] The beneficial effects of the present invention are:

[0029] 1. The rice-grain-shaped magnetically controlled microactuator of the present invention also exhibits excellent performance in drug delivery. It can carry drugs and accurately deliver them to the lesion site under the guidance of the magnetic field. This targeted drug delivery method greatly improves the therapeutic effect. At the same time, since the drug can accurately act on the lesion tissue, the drug is avoided from being widely distributed in normal tissues, thereby significantly reducing the side effects that the drug may have on normal tissues, further improving the safety and effectiveness of the treatment.

[0030] 2. The rice-grain-shaped magnetically controlled micro-actuator of the present invention has a unique structural advantage. Its shape is ellipsoidal, similar to a capsule. After the drug is filled in the gap, the entire capsule can be regarded as a complete micro-robot. This integrated design allows the operator to directly use the method of controlling ordinary robots to accurately control the capsule.

[0031] 3. The magnetically controlled micro-actuator structure can not only increase the accuracy of directional drug transport, but also cleverly avoid the occurrence of rejection reactions in the body because its capsule material can be absorbed by the human body, providing a broader prospect for the application of magnetically driven micro-robots in the biomedical field. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural diagram of the magnetically controlled micro-actuator and the magnetic rod;

[0033] Figure 2 It is a schematic diagram of the position of a magnetic bar;

[0034] Figure 3 It is a schematic diagram of the positions of the two magnetic bars;

[0035] Figure 4 This is a schematic diagram of the Helmholtz bench;

[0036] Figure 5 is a schematic diagram of a circular container in which a magnetically controlled microactuator is placed;

[0037] Figure 6 is a velocity-phase difference diagram of the first specific embodiment;

[0038] Figure 7 It is a speed-phase difference diagram of the second specific embodiment.

[0039] In the figure: 1. Ellipsoidal driver housing; 2. Magnetic bar; 3. Magnetic bar hole. DETAILED DESCRIPTION

[0040] The present invention is described in detail below in conjunction with specific implementation cases. The following implementation cases will help those skilled in the art to further understand the present invention, but will not limit the present invention in any form.

[0041] like Figure 1-Figure 3 As shown, it is mainly composed of an ellipsoidal driver housing 1 and a magnetic rod 2. The ellipsoidal driver housing 1 is in the shape of a rice grain. A plurality of magnetic rod holes 3 are opened in the ellipsoidal driver housing 1. Each magnetic rod 2 is fixedly installed in each magnetic rod hole 3. The magnetic rod 2 moves precisely under the action of an external magnetic field, and then the motion state and trajectory of the driver are precisely controlled through the external magnetic field. The driver is wrapped in a medical capsule, and targeted drug delivery to patients is achieved through precise position control of the driver.

[0042] The section of the ellipsoidal driver housing 1 perpendicular to the long axis of the ellipsoidal driver housing 1 is taken as the cross section of the ellipsoidal driver housing 1, and the section of the ellipsoidal driver housing 1 perpendicular to the short axis of the ellipsoidal driver housing 1 is taken as the longitudinal section of the ellipsoidal driver housing 1. The ellipsoidal driver housing 1 is a rice grain-shaped structure with a circular cross section and an elliptical longitudinal section. The long axis of the ellipsoidal driver housing 1 is 8 to 10 mm, and the short axis of the ellipsoidal driver housing 1 is 4 to 6 mm.

[0043] The magnetic rod hole 3 is arranged along the short axis of the ellipsoidal driver housing 1. When two magnetic rod holes 3 are provided and the angle between the two magnetic rod holes 3 is selected to be 0°, the two magnetic rod holes 3 are spaced in parallel, so that the two magnetic rods 2 arranged in the magnetic rod holes 3 are spaced in parallel, one magnetic rod hole 3 is arranged at the midpoint of the long axis of the ellipsoidal driver housing 1, and the other magnetic rod hole 3 is arranged at a quarter to one eighth of the long axis of the ellipsoidal driver housing 1; when only one magnetic rod hole 3 is provided, the magnetic rod hole 3 is arranged at the midpoint of the long axis of the ellipsoidal driver housing 1.

[0044] The magnetic bar 2 is a magnetized iron bar with a diameter of 0.4 mm to 0.5 mm, the diameter of the magnetic bar hole 3 is 0.5 mm to 0.6 mm, and the length of the magnetic bar 2 is equal to the diameter of the cross section of the ellipsoidal driver housing 1 at the location of the magnetic bar hole 3.

[0045] The ellipsoidal actuator housing 1 is made of resin material.

[0046] When two magnetic rod holes 3 are provided, the angle between the two magnetic rod holes 3 ranges from 0° to 180°, and the angle can be specifically selected according to different actual situations.

[0047] Embodiment 1

[0048] The magnetically controlled driving method of the magnetically controlled micro-actuator of the present invention comprises the following steps:

[0049] First, the magnetically controlled micro-actuator and the drugs needed for treatment are wrapped in a medical capsule, and then the patient takes the medical capsule. When the medical capsule enters the stomach or intestine of the human body, the external magnetic field is used to control the movement of the magnetic rod in the medical capsule, thereby controlling the movement state and movement trajectory of the magnetically controlled micro-actuator. Driven by the magnetically controlled micro-actuator, the medical capsule begins to move toward the patient's diseased site. When the medical capsule reaches the patient's diseased site and begins to dissolve, the drugs needed for treatment are released from the medical capsule, thereby achieving targeted drug delivery.

[0050] The specific method of controlling the movement of the magnetic bar using an external magnetic field is as follows:

[0051] According to the relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement, the speed of the magnetic bar movement is precisely controlled by changing the phase difference of the external magnetic field. The relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement is obtained as follows:

[0052] Step S1: First, place the magnetron micro-actuator in a container storing silicone oil so that the silicone oil immerses the magnetron micro-actuator. A square grid line is drawn on the bottom of the container, such as Figure 5 As shown, the long axis of the magnetically controlled microactuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled microactuator;

[0053] This implementation uses a magnetically controlled microactuator with only one magnetic bar;

[0054] Step S2, placing the container with the magnetically controlled micro-actuator in the middle of a Helmholtz test bench, the Helmholtz test bench is used to generate an external magnetic field, and a schematic diagram of the Helmholtz test bench is shown in FIG4 ;

[0055] Step S3, using the Helmholtz test bench to control the waveform, phase, frequency and magnetic flux size of the external magnetic field in the x-direction and the z-direction, and the magnetically controlled micro-actuator starts to move under the action of the external magnetic field;

[0056] Among them, the direction perpendicular to the ground is taken as the z direction of the external magnetic field. According to the right-hand rule, the direction of the right thumb is taken as the x direction of the external magnetic field, and the direction of the index finger is taken as the y direction of the external magnetic field.

[0057] In this example, sinusoidal waves are selected in both the x and z directions, with a frequency of 3 Hz, a magnetic flux of 100 Gs, and an initial phase difference of 0° between x and z.

[0058] Step S4, taking the phase difference between the external magnetic field in the x direction and the z direction as the phase difference of the external magnetic field, changing the phase of the external magnetic field in the x direction and the z direction, and simultaneously monitoring the movement time and displacement of the magnetically controlled micro-actuator in real time, and then obtaining the movement state (movement speed) of the magnetically controlled micro-actuator under different phase differences.

[0059] In a specific implementation, the magnetic field in the x-direction and the z-direction is turned on, and the timing is started at the moment the magnetic field is turned on, and the time taken for the magnetically controlled micro-actuator to move from the initial position to the specified grid line position is recorded. In this embodiment, the movement speed of the magnetically controlled micro-actuator in the x-direction and z-direction is a sinusoidal wave with a frequency of 3 Hz and a magnetic flux of 100 Gs, obtained by the formula v=s / t. Wherein, v represents the movement speed, s represents the movement distance, and t represents the time. In this embodiment, the phase difference in the x-direction and the z-direction is changed and the experiment is repeated to obtain the relationship between the movement speed of the magnetically controlled micro-actuator and the phase difference of the magnetic field in the x-direction and the z-direction, and obtain the speed-phase difference, such as Figure 6 shown.

[0060] Embodiment 2

[0061] The magnetically controlled driving method of the magnetically controlled micro-actuator of the present invention comprises the following steps:

[0062] First, the magnetically controlled micro-actuator and the drugs needed for treatment are wrapped in a medical capsule, and then the patient takes the medical capsule. When the medical capsule enters the stomach or intestine of the human body, the external magnetic field is used to control the movement of the magnetic rod in the medical capsule, thereby controlling the movement state and movement trajectory of the magnetically controlled micro-actuator. Driven by the magnetically controlled micro-actuator, the medical capsule begins to move toward the patient's diseased site. When the medical capsule reaches the patient's diseased site and begins to dissolve, the drugs needed for treatment are released from the medical capsule, thereby achieving targeted drug delivery.

[0063] The specific method of controlling the movement of the magnetic bar using an external magnetic field is as follows:

[0064] According to the relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement, the speed of the magnetic bar movement is precisely controlled by changing the phase difference of the external magnetic field. The relationship between the phase difference of the external magnetic field and the speed of the magnetic bar movement is obtained as follows:

[0065] Step S1: First, place the magnetron micro-actuator in a container storing silicone oil so that the silicone oil immerses the magnetron micro-actuator. A square grid line is drawn on the bottom of the container, such as Figure 5 As shown, the long axis of the magnetically controlled microactuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled microactuator;

[0066] This implementation uses a magnetically controlled microactuator comprising two magnetic bars;

[0067] Step S2, placing the container with the magnetically controlled micro-actuator in the middle of a Helmholtz experimental table, where the Helmholtz experimental table is used to generate an external magnetic field;

[0068] Step S3, using the Helmholtz test bench to control the waveform, phase, frequency and magnetic flux size of the external magnetic field in the x-direction and the z-direction, and the magnetically controlled micro-actuator starts to move under the action of the external magnetic field;

[0069] In this example, both the x and z directions are sinusoidal waves, the frequency is 2 Hz, the magnetic flux is 80 Gs, and the initial phase difference between x and z is 0°;

[0070] Step S4, taking the phase difference between the external magnetic field in the x direction and the z direction as the phase difference of the external magnetic field, changing the phase of the external magnetic field in the x direction and the z direction, and simultaneously monitoring the movement time and displacement of the magnetically controlled micro-actuator in real time, and then obtaining the movement state (movement speed) of the magnetically controlled micro-actuator under different phase differences.

[0071] The viscosity of the silicone oil in the container is greater than 1.005 mPa·s and is used to simulate the liquid environment in the human body.

[0072] In a specific implementation, the magnetic field in the x-direction and the z-direction is turned on, and the timing is started at the moment the magnetic field is turned on, and the time for the magnetically controlled micro-actuator to move from the initial position to the specified grid line position is recorded. In this embodiment, the movement speed of the magnetically controlled micro-actuator in the x-direction and z-direction is a sinusoidal wave with a frequency of 2 Hz and a magnetic flux of 80 Gs, obtained by the formula v=s / t. Wherein, v represents the movement speed, s represents the movement distance, and t represents the time. In this embodiment, the phase difference in the x-direction and the z-direction is changed and the experiment is repeated to obtain the relationship between the movement speed of the magnetically controlled micro-actuator and the phase difference of the magnetic field in the x-direction and the z-direction, and obtain the speed-phase difference, such as Figure 7 shown.

[0073] 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 by equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rice-grain-shaped magnetically controlled microactuator, characterized in that: The invention mainly comprises an ellipsoidal driver housing (1) and a magnetic rod (2); the ellipsoidal driver housing (1) is in the shape of a rice grain; a plurality of magnetic rod holes (3) are provided in the ellipsoidal driver housing (1); each magnetic rod (2) is fixedly installed in each magnetic rod hole (3); the magnetic rod (2) moves precisely under the action of an external magnetic field, thereby realizing precise control of the movement state and trajectory of the driver through the external magnetic field; the driver is wrapped in a medical capsule, and targeted drug delivery to the patient is realized through precise position control of the driver.

2. A rice-grain-type magnetically controlled microactuator according to claim 1, characterized in that: The cross section of the ellipsoidal driver housing (1) perpendicular to the long axis of the ellipsoidal driver housing (1) is taken as the cross section of the ellipsoidal driver housing (1), and the cross section of the ellipsoidal driver housing (1) perpendicular to the short axis of the ellipsoidal driver housing (1) is taken as the longitudinal section of the ellipsoidal driver housing (1). The ellipsoidal driver housing (1) is a rice grain-shaped structure with a circular cross section and an elliptical longitudinal section. The long axis of the ellipsoidal driver housing (1) is 8 to 10 mm, and the short axis of the ellipsoidal driver housing (1) is 4 to 6 mm.

3. A rice-grain-type magnetically controlled micro-actuator according to claim 2, characterized in that: The magnetic rod hole (3) is arranged along the short axis of the ellipsoidal drive housing (1); when two magnetic rod holes (3) are provided, the two magnetic rod holes (3) are spaced apart so that the two magnetic rods (2) arranged in the magnetic rod holes (3) are spaced apart, one magnetic rod hole (3) is arranged at the midpoint of the long axis of the ellipsoidal drive housing (1), and the other magnetic rod hole (3) is arranged at a position between one quarter and one eighth of the long axis of the ellipsoidal drive housing (1); when only one magnetic rod hole (3) is provided, the magnetic rod hole (3) is arranged at the midpoint of the long axis of the ellipsoidal drive housing (1).

4. A rice-grain-type magnetically controlled micro-actuator according to claim 2, characterized in that: The magnetic bar (2) is a magnetized iron bar, the diameter of the magnetic bar (2) is 0.4 mm to 0.5 mm, the diameter of the magnetic bar hole (3) is 0.5 mm to 0.6 mm, and the length of the magnetic bar (2) is equal to the diameter of the cross section of the ellipsoidal driver housing (1) at the position where the magnetic bar hole (3) is located.

5. A rice-grain-shaped magnetically controlled micro-actuator according to claim 1, characterized in that: The ellipsoidal driver housing (1) is made of resin material.

6. A rice-grain-type magnetically controlled micro-actuator according to claim 3, characterized in that: When two magnetic rod holes (3) are provided, the angle between the two magnetic rod holes (3) ranges from 0° to 180°.

7. A magnetically controlled driving method applied to the rice-grain-shaped magnetically controlled micro-actuator according to any one of claims 1 to 5, characterized in that: The steps include: First, the magnetically controlled micro-actuator and the drugs required for treatment are wrapped in a medical capsule, and then the patient takes the medical capsule. When the medical capsule enters the stomach or intestine of the human body, the movement of the magnetic rod (2) in the medical capsule is controlled by an external magnetic field, thereby controlling the movement state and movement trajectory of the magnetically controlled micro-actuator. Driven by the magnetically controlled micro-actuator, the medical capsule begins to move toward the lesion site of the patient. When the medical capsule reaches the lesion site of the patient and begins to dissolve, the drugs required for treatment are released from the medical capsule, thereby achieving targeted drug delivery.

8. The magnetically controlled driving method of a rice-grain-shaped magnetically controlled micro-actuator according to claim 7, characterized in that: The specific method of controlling the movement of the magnetic bar (2) by using the external magnetic field is as follows: The movement mode of the magnetic bar (2) is controlled by changing the waveform, phase difference and magnetic flux size of the external magnetic field.

9. The magnetically controlled driving method of a rice-grain-shaped magnetically controlled micro-actuator according to claim 7, characterized in that: The specific method of controlling the movement of the magnetic bar (2) by using the external magnetic field is as follows: According to the relationship between the phase difference of the external magnetic field and the movement speed of the magnetic bar (2), the movement speed of the magnetic bar (2) is precisely controlled by changing the phase difference of the external magnetic field, wherein the relationship between the phase difference of the external magnetic field and the movement speed of the magnetic bar (2) is obtained as follows: Step S1, firstly placing the magnetron micro-actuator in a container storing silicone oil, so that the silicone oil immerses the magnetron micro-actuator; Step S2, placing the container with the magnetically controlled micro-actuator in the middle of a Helmholtz experimental table, where the Helmholtz experimental table is used to generate an external magnetic field; Step S3, using the Helmholtz test bench to control the waveform, phase, frequency and magnetic flux size of the external magnetic field in the x-direction and the z-direction, and the magnetically controlled micro-actuator starts to move under the action of the external magnetic field; Step S4, taking the phase difference between the external magnetic field in the x direction and the z direction as the phase difference of the external magnetic field, changing the phase of the external magnetic field in the x direction and the z direction, and simultaneously monitoring the movement time and displacement of the magnetically controlled micro-actuator in real time, thereby obtaining the movement state of the magnetically controlled micro-actuator under different phase differences.

10. The magnetically controlled driving method of a rice-grain-shaped magnetically controlled micro-actuator according to claim 9, characterized in that: The viscosity of the silicone oil in the container is greater than 1.005 mPa·s and is used to simulate the liquid environment in the human body.

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