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

Abstract

The application discloses a rice grain type magnetic control micro driver and a magnetic control driving method. The rice grain type magnetic control micro driver mainly comprises an ellipsoidal driver shell and a magnetic rod, a magnetic rod hole is formed in the ellipsoidal driver shell, and the magnetic rod is fixedly installed in the magnetic rod hole. The magnetic rod performs accurate movement under the action of an external magnetic field, and then the movement state and trajectory of the driver are accurately controlled through the external magnetic field. The magnetic control driving method comprises the steps of wrapping a medicine and the magnetic control micro driver with a capsule, and after entering the body, the magnetic control micro driver can be controlled by changing the phase difference of the magnetic field and changing the size of the magnetic field, so that the medicine can be delivered at a fixed point in the stomach or the intestinal tract. The rice grain type magnetic control micro driver has unique structural advantages, and the shape is ellipsoidal, which is similar to the capsule. The integrated design enables an operator to directly use the method of controlling an ordinary robot to accurately control the capsule.

Description

Technical Field

[0001] This invention belongs to the field of micro-robots, and in particular relates to a grain-sized magnetically controlled micro-actuator and a magnetically controlled driving method. Background Technology

[0002] In today's biomedical field, the demand for minimally invasive treatments and precision medicine is experiencing a sustained and rapid growth. This trend, like a strong tailwind, has powerfully propelled the vigorous development of magnetically driven microrobot technology. Magnetically driven, magnetically controlled micro-actuators, as a highly innovative medical tool, possess unique advantages. Their core lies in their ability to be remotely and wirelessly controlled via an external magnetic field. This characteristic allows them to move freely in complex and confined spaces that are difficult for humans to access using traditional methods, such as the intricate vascular system and winding cavities within the human body. This opens up entirely new pathways and methods for the diagnosis and treatment of various diseases. This precise control method allows them to reach some of the smallest bronchi, a breakthrough that has the potential to fundamentally change the traditional treatment model for lung cancer, bringing unprecedented hope to lung cancer patients.

[0003] It is important to note that the human body's immune system possesses a powerful self-protective mechanism. Under normal circumstances, the body will react negatively to any foreign substance. When a magnetically controlled micro-actuator enters the human body, it may inevitably encounter an attack from the immune system, which undoubtedly poses a significant challenge to the long-term stable operation of the magnetically driven microrobot within the body. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention aims to provide a grain-sized magnetically controlled micro-actuator and a magnetically controlled driving method. The grain-sized magnetically controlled micro-actuator is designed to effectively overcome the shortcomings of the prior art and provide a better solution for the precision treatment of diseases.

[0005] The technical solution adopted in this invention is as follows:

[0006] I. A rice-grain-shaped magnetically controlled micro actuator:

[0007] It mainly consists of an ellipsoidal actuator shell and magnetic rods. The ellipsoidal actuator shell is rice-grain shaped and has several magnetic rod holes. Each magnetic rod is fixedly installed in its respective magnetic rod hole. The magnetic rods move precisely under the action of an external magnetic field, thereby achieving precise control of the actuator's motion state and trajectory through the external magnetic field. The actuator is enclosed in a medical capsule. Through precise position control of the actuator, targeted drug delivery to patients can be achieved.

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

[0009] The magnetic rod holes are arranged along the short axis of the ellipsoidal actuator housing. When two magnetic rod holes are provided, they are spaced apart, so that the two magnetic rods arranged in the magnetic rod holes are spaced apart. One magnetic rod hole is located at the midpoint of the long axis of the ellipsoidal actuator housing, and the other magnetic rod hole is located at one-quarter to one-eighth of the long axis of the ellipsoidal actuator housing. When only one magnetic rod hole is provided, the magnetic rod hole is located at the midpoint of the long axis of the ellipsoidal actuator housing.

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

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

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

[0013] II. A magnetic drive method for a grain-sized magnetically controlled micro actuator, comprising the following steps:

[0014] First, the magnetically controlled micro-actuator and the medication required for treatment are encapsulated in a medical capsule. Then, the patient takes the medical capsule. After the medical capsule enters the stomach or intestines, an external magnetic field is used to control the movement of the magnetic rod inside the medical capsule, thereby controlling the movement state and trajectory of the magnetically controlled micro-actuator. Driven by the magnetically controlled micro-actuator, the medical capsule begins to move towards the patient's lesion site. When the medical capsule reaches the patient's lesion site and begins to dissolve, the medication required for treatment is released from the medical capsule, thus achieving targeted drug delivery.

[0015] The specific method for controlling the movement of the magnetic rod using an external magnetic field is as follows:

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

[0017] The specific method for controlling the movement of the magnetic rod using an external magnetic field is as follows:

[0018] Based on the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod, the speed of the magnetic rod can be precisely controlled by changing the phase difference of the external magnetic field. The method for obtaining the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod is as follows:

[0019] Step S1: First, place the magnetically controlled micro-actuator in a container filled with silicone oil, ensuring the silicone oil completely submerges the micro-actuator. The bottom of the container has square grid lines drawn on it, such as... Figure 5 As shown, the long axis of the magnetically controlled micro-actuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled micro-actuator;

[0020] Step S2: Place the container containing the magnetically controlled micro actuator in the middle of the Helmholtz experimental stage, which is used to generate an external magnetic field.

[0021] Step S3: Using the Helmholtz experimental platform, control the waveform, phase, frequency, and magnetic flux magnitude of the external magnetic field in the x and z directions. The magnetically controlled micro actuator begins to move under the influence of the external magnetic field.

[0022] Step S4: Take the phase difference between the external magnetic field in the x and z directions as the phase difference of the external magnetic field, change the phase of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the magnetically controlled micro actuator in real time to obtain the motion state (motion speed) of the magnetically controlled micro actuator under different phase differences.

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

[0024] The present invention relates to a grain-shaped magnetically controlled micro-actuator structure with an ellipsoidal shape, made from carefully selected resin. This resin material not only possesses excellent biocompatibility but also meets the physical performance requirements of robots operating in complex in vivo environments. During manufacturing, holes are drilled into the resin structure, and magnetic poles are precisely embedded within them, enabling the magnetically controlled micro-actuator to generate precise motion under the influence of an external magnetic field. By changing key parameters such as the waveform, phase difference, and magnetic flux of the magnetic field, high-precision control of the motion state and trajectory of magnetically controlled micro-actuators with different structures can be achieved. The magnetically controlled micro-actuator structure of the present invention includes various forms, such as single-hole and double-hole types. Among them, the number of magnetic poles and the included angle between them are key factors affecting the motion trajectory of the magnetically controlled micro-actuator.

[0025] In practical use, a medical capsule is first carefully encapsulated to contain a magnetically controlled micro-actuator and the necessary medication, forming a complete drug delivery system. Once this system enters the stomach or intestines, the capsule, driven by the magnetically controlled micro-actuator, begins to move precisely towards the lesion site. During this process, the magnetically controlled micro-actuator utilizes its unique magnetic drive properties to ensure the entire drug delivery system accurately reaches the target location. When the capsule reaches the lesion site and begins to dissolve, the medication and the magnetically controlled micro-actuator are released, achieving targeted drug delivery. This method of drug delivery has significant advantages: on the one hand, it greatly improves therapeutic efficacy, allowing the medication to concentrate its effect at the lesion site; on the other hand, it effectively reduces the side effects of the medication on normal tissues, minimizing damage to healthy tissues. After completing the drug delivery task, a robot can be further moved to a designated location via magnetic field control, awaiting natural excretion by the body. The entire process is both safe and efficient.

[0026] Compared to traditional microrobot structures, the grain-shaped magnetically controlled micro-actuator exhibits unique structural advantages. Its ellipsoidal shape, resembling a capsule, endows it with distinctive functionality. When filled with medication, the entire capsule can be considered a complete microrobot. This integrated design allows operators to precisely manipulate the capsule using methods similar to those used for ordinary robots. In this way, the magnetically controlled micro-actuator structure not only increases the accuracy of targeted drug delivery but also cleverly avoids rejection reactions in the body due to the absorbable nature of its capsule material, thus providing a broader prospect for the application of magnetically driven microrobots in the biomedical field.

[0027] This invention can be used for targeted drug delivery into the stomach or intestines. In experiments, it enables rice-grain-sized magnetically controlled micro-actuators to move in silicone oil of a certain viscosity, similar to the liquid environment inside the human body. The number of magnetic poles and the angle between each pole affect the robot's movement, thus allowing the robot to be subdivided into multiple categories for different applications.

[0028] The beneficial effects of this invention are:

[0029] 1. The rice-grain-sized magnetically controlled micro-actuator of this invention also exhibits superior performance in drug delivery. It can carry drugs and, guided by a magnetic field, precisely deliver them to the lesion site. This targeted drug delivery method greatly improves treatment efficacy. Simultaneously, because the drug can accurately act on the diseased tissue, it avoids widespread distribution in normal tissue, thereby significantly reducing potential side effects on normal tissue and further enhancing the safety and effectiveness of treatment.

[0030] 2. The rice-grain-shaped magnetically controlled micro-actuator of this invention exhibits unique structural advantages. Its ellipsoidal shape resembles a capsule, and when filled with medication, the entire capsule can be considered a complete micro-robot. This integrated design allows operators to precisely control the capsule using methods similar to those used for operating ordinary robots.

[0031] 3. The magnetically controlled micro-actuator structure not only increases the precision of targeted drug delivery, but also cleverly avoids rejection reactions in the body due to the absorbable nature of its capsule material, thus providing a broader prospect for the application of magnetically driven microrobots in the biomedical field. Attached Figure Description

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

[0033] Figure 2 This is a diagram showing the position of a magnetic rod;

[0034] Figure 3 This is a diagram showing the positions of the two magnetic rods;

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

[0036] Figure 5 This is a schematic diagram of a circular container holding a magnetically controlled micro actuator;

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

[0038] Figure 7 This is the velocity-phase difference diagram of the second specific embodiment.

[0039] In the diagram: 1. Ellipsoidal actuator housing; 2. Magnetic rod; 3. Magnetic rod hole. Detailed Implementation

[0040] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0041] like Figures 1-3 As shown, it mainly consists of an ellipsoidal actuator shell 1 and magnetic rods 2. The ellipsoidal actuator shell 1 is rice grain shaped and has several magnetic rod holes 3. Each magnetic rod 2 is fixedly installed in each magnetic rod hole 3. The magnetic rods 2 move precisely under the action of an external magnetic field, thereby achieving precise control of the actuator's motion state and trajectory through the external magnetic field. The actuator is encased in a medical capsule. Through precise position control of the actuator, targeted drug delivery to patients can be achieved.

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

[0043] The magnetic rod hole 3 is arranged along the short axis of the ellipsoidal actuator housing 1. When there are two magnetic rod holes 3 and the included angle between the two magnetic rod holes 3 is selected as 0°, the two magnetic rod holes 3 are parallel and spaced apart, so that the two magnetic rods 2 arranged in the magnetic rod holes 3 are parallel and spaced apart. One magnetic rod hole 3 is located at the midpoint of the long axis of the ellipsoidal actuator housing 1, and the other magnetic rod hole 3 is located at the one-quarter to one-eighth position of the long axis of the ellipsoidal actuator housing 1. When there is only one magnetic rod hole 3, the magnetic rod hole 3 is located at the midpoint of the long axis of the ellipsoidal actuator housing 1.

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

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

[0046] When there are two magnetic rod holes 3, the included angle between the two magnetic rod holes 3 is in the range of 0° to 180°, and the included angle can be selected according to different actual situations.

[0047] Example 1

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

[0049] First, a medical capsule is used to encapsulate a magnetically controlled micro-actuator and the medication required for treatment. The patient then ingests the medical capsule. Once the capsule enters the stomach or intestines, an external magnetic field controls the movement of a magnetic rod within the capsule, thereby controlling the movement and trajectory of the magnetically controlled micro-actuator. Driven by the micro-actuator, the medical capsule begins to move towards the patient's lesion. When the capsule reaches the lesion and begins to dissolve, the medication is released from the capsule, thus achieving targeted drug delivery.

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

[0051] Based on the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod, the speed of the magnetic rod can be precisely controlled by changing the phase difference of the external magnetic field. The method for obtaining the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod is as follows:

[0052] Step S1: First, place the magnetically controlled micro-actuator in a container filled with silicone oil, ensuring the silicone oil completely submerges the micro-actuator. The bottom of the container has square grid lines drawn on it, such as... Figure 5 As shown, the long axis of the magnetically controlled micro-actuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled micro-actuator;

[0053] This implementation uses a magnetically controlled micro actuator with only one magnetic rod;

[0054] Step S2: Place the container containing the magnetically controlled micro actuator in the middle of the Helmholtz experimental stage, which is used to generate an external magnetic field. A schematic diagram of the Helmholtz experimental stage is shown in Figure 4.

[0055] Step S3: Using the Helmholtz experimental platform, control the waveform, phase, frequency, and magnetic flux magnitude of the external magnetic field in the x and z directions. The magnetically controlled micro actuator begins to move under the influence of the external magnetic field.

[0056] In this context, the direction perpendicular to the ground is taken as the z-direction of the external magnetic field, and 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, both the x and z directions are chosen as sinusoidal waves with a frequency of 3Hz, a magnetic flux of 100Gs, and an initial phase difference of 0° between x and z.

[0058] Step S4: Take the phase difference between the external magnetic field in the x and z directions as the phase difference of the external magnetic field, change the phase of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the magnetically controlled micro actuator in real time to obtain the motion state (motion speed) of the magnetically controlled micro actuator under different phase differences.

[0059] In specific implementation, magnetic fields in the x and z directions are activated, and timing begins the instant the magnetic fields are activated. The time taken for the magnetically controlled micro-actuator to move from its initial position to the specified grid line position is recorded. In this embodiment, the motion velocity of the magnetically controlled micro-actuator under sinusoidal x and z directions, with a frequency of 3Hz and a magnetic flux of 100Gs, is obtained using the formula v = s / t. Here, v represents the motion velocity, s represents the motion distance, and t represents the time. In this embodiment, by changing the phase difference between the x and z directions and repeating the experiment, the relationship between the motion velocity of the magnetically controlled micro-actuator and the phase difference of the magnetic fields in the x and z directions can be obtained, yielding the velocity-phase difference, as shown below. Figure 6 As shown.

[0060] Example 2

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

[0062] First, a medical capsule is used to encapsulate a magnetically controlled micro-actuator and the medication required for treatment. The patient then ingests the medical capsule. Once the capsule enters the stomach or intestines, an external magnetic field controls the movement of a magnetic rod within the capsule, thereby controlling the movement and trajectory of the magnetically controlled micro-actuator. Driven by the micro-actuator, the medical capsule begins to move towards the patient's lesion. When the capsule reaches the lesion and begins to dissolve, the medication is released from the capsule, thus achieving targeted drug delivery.

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

[0064] Based on the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod, the speed of the magnetic rod can be precisely controlled by changing the phase difference of the external magnetic field. The method for obtaining the relationship between the phase difference of the external magnetic field and the speed of the magnetic rod is as follows:

[0065] Step S1: First, place the magnetically controlled micro-actuator in a container filled with silicone oil, ensuring the silicone oil completely submerges the micro-actuator. The bottom of the container has square grid lines drawn on it, such as... Figure 5 As shown, the long axis of the magnetically controlled micro-actuator is aligned with the square grid lines to accurately obtain the displacement of the magnetically controlled micro-actuator;

[0066] This implementation uses a magnetically controlled micro actuator containing two magnetic rods;

[0067] Step S2: Place the container containing the magnetically controlled micro actuator in the middle of the Helmholtz experimental stage, which is used to generate an external magnetic field.

[0068] Step S3: Using the Helmholtz experimental platform, control the waveform, phase, frequency, and magnetic flux magnitude of the external magnetic field in the x and z directions. The magnetically controlled micro actuator begins to move under the influence of the external magnetic field.

[0069] In this example, both the x and z directions are chosen as sinusoidal waves with a frequency of 2Hz, a magnetic flux of 80Gs, and an initial phase difference of 0° between x and z.

[0070] Step S4: Take the phase difference between the external magnetic field in the x and z directions as the phase difference of the external magnetic field, change the phase of the external magnetic field in the x and z directions, and monitor the motion time and displacement of the magnetically controlled micro actuator in real time to obtain the motion state (motion speed) of the magnetically controlled micro actuator under different phase differences.

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

[0072] In specific implementation, magnetic fields in the x and z directions are activated, and timing begins the instant the magnetic fields are activated. The time taken for the magnetically controlled micro-actuator to move from its initial position to the specified grid line position is recorded. In this embodiment, the motion speed of the magnetically controlled micro-actuator under sinusoidal x and z directions, with a frequency of 2Hz and a magnetic flux of 80Gs, is obtained using the formula v = s / t. Here, v represents the motion speed, s represents the motion distance, and t represents the time. In this embodiment, by changing the phase difference between the x and z directions and repeating the experiment, the relationship between the motion speed of the magnetically controlled micro-actuator and the phase difference of the magnetic fields in the x and z directions can be obtained, yielding the velocity-phase difference, as shown below. Figure 7 As shown.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 grain-sized magnetically controlled micro actuator, characterized in that: It is mainly composed of an ellipsoidal actuator shell (1) and a magnetic rod (2). The ellipsoidal actuator shell (1) is rice grain shaped. Several magnetic rod holes (3) are opened in the ellipsoidal actuator shell (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. The movement state and trajectory of the actuator are precisely controlled by the external magnetic field. The actuator is wrapped in a medical capsule. Targeted drug delivery to patients is achieved by precisely controlling the position of the actuator. The cross section perpendicular to the major axis of the ellipsoidal actuator housing (1) is taken as the cross section of the ellipsoidal actuator housing (1), and the cross section perpendicular to the minor axis of the ellipsoidal actuator housing (1) is taken as the longitudinal section of the ellipsoidal actuator housing (1). The ellipsoidal actuator housing (1) has a rice grain-shaped structure with a circular cross section and an elliptical longitudinal section. The major axis of the ellipsoidal actuator housing (1) is 8~10mm, and the minor axis of the ellipsoidal actuator housing (1) is 4~6mm. The magnetic rod hole (3) is arranged along the short axis of the ellipsoidal driver housing (1). When there are two magnetic rod holes (3), the two magnetic rod holes (3) are spaced apart, so that the two magnetic rods (2) arranged in the magnetic rod hole (3) are spaced apart. One magnetic rod hole (3) is located at the midpoint of the long axis of the ellipsoidal driver housing (1), and the other magnetic rod hole (3) is located at one-quarter to one-eighth of the long axis of the ellipsoidal driver housing (1). When there is only one magnetic rod hole (3), the magnetic rod hole (3) is located at the midpoint of the long axis of the ellipsoidal driver housing (1).

2. The rice-grain-shaped magnetically controlled micro actuator according to claim 1, characterized in that: The magnetic rod (2) is a magnetized iron rod with a diameter of 0.4mm to 0.5mm and a hole diameter of 0.5mm to 0.6mm. The length of the magnetic rod (2) is equal to the diameter of the cross-section of the ellipsoidal driver housing (1) at the location of the corresponding magnetic rod hole (3).

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

4. A grain-sized magnetically controlled micro actuator according to claim 1, characterized in that: When two magnetic rod holes (3) are provided, the included angle between the two magnetic rod holes (3) is 0°~180°.

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