Rotary solenoid microactuator with drive coil

Abstract

Techniques, apparatuses, and systems are disclosed that provide a rotary solenoid microactuator having a rotary solenoid core with a dual magnetic drive coil and a magnetic field focusing element. One or more examples may also include spring reset, and other examples may include two sets of drive coils to push and pull at each magnetic gap. The magnetic field focusing element is operable to increase the magnetic field. The rotating solenoid microactuator is configured to expel the liquid medicament from the medicament delivery device.

Description

[0001] Related Applications

[0002] This application claims the benefit of U.S. Provisional Patent Application No. 63 / 371,805, filed on August 18, 2022, the entire contents of which are incorporated by reference into this application in their entirety. Background Art

[0003] For wearable medical devices, physical size is a major driver of the overall impact on treatment for the patient using them. In a complex medical device such as an insulin pump, one of the largest components is the pumping actuator, which provides the force required to deliver drug therapy to the patient. In order to maintain a small device footprint, the design goal is to optimize the efficiency and performance of the actuator while still delivering the necessary output.

[0004] As electromechanical actuators shrink in size, the relative ratio of active components (magnets, coils, etc.) to packaged components decreases, resulting in a loss in performance and efficiency.

[0005] The reason for the reduction in performance and efficiency can be attributed to the reduction in total magnetic flux due to the reduced size of the permanent magnets and magnetic coils employed. Since volume is a third-order relationship (i.e., L×W×H), halving each axis results in a final volume equal to 1 / 8 of the starting volume. However, the smaller the magnet volume, the smaller the magnetic flux that creates the force between the permanent magnets and the coils.

[0006] In many cases, the force / torque density required for pumps is quite high. Commercially available DC micromotors based on existing technology have little available torque and require mechanical advantage technology (i.e. gear reduction), which increases the size, cost and complexity of the actuator solution. Rotary motors are also designed to rotate continuously at quite high speeds, while pumping mechanisms are often reciprocating in nature, which means that additional conversion is required.

[0007] Although some solenoids solve the problem of reciprocating motion by having bipolar operation (on / off, push / pull, etc.), they often suffer from other challenges. In order to generate a large output force, a large magnetic field is required. The solenoid can utilize the attraction generated by the magnetic coil to the ferromagnetic plunger, but this is limited by the field strength (current) of the coil and the magnetic permeability of the plunger. In addition, in some embodiments, wherein a permanent magnet is added to the plunger or a ferromagnetic plunger is used, the magnetic field of the plunger may interact with the external electromagnetic field, which may cause unexpected insulin delivery if / when the drug delivery device is exposed to an external magnetic field. The additional magnet can also increase the size of the drug delivery device by increasing key dimensions, for example, the outer diameter of the reservoir including the new coil.

[0008] Unfortunately, the typical arrangement of a linear solenoid places the plunger inside the center of the coil, creating the magnetic field within the coil. The disadvantage of this arrangement is that the coil diameter increases to accommodate the larger volume of the permanent magnet. As a result, the two elements are not complementary and lead to additional inefficiencies.

[0009] When these challenges are considered together, it is possible to arrive at a clear problem statement regarding optimizing force output, actuator size (volume), and electrical output.

[0010] It would be helpful to have a small, low cost microactuator with reciprocating motion and maximum output force for a given electrical input.

[0011] It would also be beneficial if there was a device or algorithm that utilized the data provided to customize insulin pump settings or algorithm parameters for each individual. Summary of the invention

[0012] This summary is provided to introduce some concepts in a simplified form that are further described in the detailed description below. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

[0013] According to one example of the subject matter of the present disclosure, a microactuator for a wearable drug delivery device may include a force transfer assembly, a drive coil, and a main structure. The force transfer assembly may include a first focusing element and a second focusing element, wherein the second focusing element includes a yoke. The drive coil may be operable to attract or repel the first focusing element and the second focusing element. The main structure may be configured to keep the force transfer assembly and the drive coil aligned with each other.

[0014] In another example of a microactuator, a microactuator for a wearable drug delivery device is provided, which includes a force transfer assembly, a first pair of drive coils, and a second pair of drive coils. The force transfer assembly includes a magnet between a first focusing element and a second focusing element. The second focusing element includes a yoke. Each drive coil in the first pair of drive coils is energized to a magnetic polarity opposite to the other drive coil so as to attract or repel the first focusing element and the second focusing element in a first direction. Each drive coil in the second pair of drive coils is energized to a magnetic polarity opposite to the other drive coil so as to attract or repel the first focusing element and the second focusing element in a second direction opposite to the first direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1A One example of a microactuator in accordance with the disclosed subject matter is shown.

[0016] Figure 1B Shows Figure 1AAn exploded view of an embodiment of a microactuator.

[0017] Figure 2A A side view of the magnetic assembly of the microactuator is shown.

[0018] Figure 2B An example of magnetic field lines in a fully assembled microactuator is shown according to one aspect of the disclosed subject matter.

[0019] Figure 3A and 3B A top view of the microactuator is shown to illustrate Figures 1A-2B An example of the operating principle of the microactuator is shown.

[0020] Figure 4A and 4B Top and side views of an example of a rotary solenoid microactuator with a single drive coil are shown.

[0021] Figure 4C and 4D Additional details of an example of a microactuator are shown, the microactuator comprising Figure 4A and 4B A rotary solenoid microactuator with a single drive coil is shown in the example of FIG.

[0022] Figures 5A-5D Another embodiment suitable for providing a rotary solenoid microactuator having multiple drive coils is shown.

[0023] Figures 6A-6D Shown with Figure 4A and 4B The example is similar to the dual drive coil example.

[0024] Figure 7 An example of a wearable drug delivery system that may incorporate the example microactuators described herein is shown. DETAILED DESCRIPTION

[0025] The following discussion provides a detailed discussion of microactuators.An example of a microactuator described herein may be a rotary solenoid microactuator including one or more drive coils.

[0026] In one example, the microactuator 100 may include a single magnet 110 that provides a static NS (where N is red and S is green) magnetic field and two (or a pair of) focusing elements 121 and 122. The two focusing elements 121 and 122 can be physically connected (e.g., directly) to the magnet and configured or operable to focus the magnetic field to align with one or more drive coils 131, 132 (e.g., a first drive coil and a second drive coil). In some examples, the magnet 110 and the focusing elements 121, 122 are configured to rotate on a spindle 140. The spindle 140 is operable to snap fit into a main structure 115 configured to the drive coils 131 and 132. For example, the drive coils 131, 132 can be retained in the main structure 115 and provide a controllable magnetic field to attract or repel the static magnetic field of the magnet 110. In this example, each drive coil 131 and 132 may be individually controlled to attract or repel the static magnetic field of magnet 110 , thereby causing rotation in either of two rotational directions.

[0027] The yoke 150 (or similar feature) is configured to transfer the torque / force of the actuator 100 to the pump mechanism (not shown in this example). In more detail, the yoke 150 may include one or more yoke extensions 153, 155 (or yoke arms). The yoke extensions may form yoke bearings. The yoke extensions 153, 155 may be coupled to or integrated into the first focusing element 121 or the second focusing element 122. Alternatively, the yoke extensions 153, 155 may be coupled to or integrated into both the first focusing element 121 and the second focusing element 122. Although the yoke 150 is shown as being U-shaped, with the yoke extensions 153 and 155 forming extensions of the U, other shapes are also contemplated, for example, the yoke extensions 153, 155 extending from the yoke 150 in a T-shape or a Y-shape.

[0028] You can refer to Figure 1B A process describing the structure and sequence of assembling the actuator. The focusing elements 121 and 122 can sandwich the spindle 140 and the magnet 110 to form a complete magnetic assembly 160. In some embodiments, the first focusing element includes a first spindle hole, the second focusing element includes a second spindle hole, and the spindles are configured to protrude through the first spindle hole and the second spindle hole and couple to the main structure. The first spindle hole and the second spindle hole can be centrally positioned within the first and second focusing elements. Square key features 141 and 142 (also referred to as key structures or interlocking features) provided at opposite ends of the spindle 140 ensure that the upper focusing element 121 and the lower focusing element 122 are aligned with the spindle 140, respectively. The focusing elements 121, 122 and the magnet 110 can be locked to the spindle 140 using a heat staking operation or the like. The complete magnetic assembly 160, once constructed, can be an inseparable assembly.

[0029] Snap features 117 or similar features in the top and bottom of the main structure 115 are operable to allow the main shaft 140 to snap into place within the main structure 115 and provide axial and radial bearing-like features for the main shaft 140. The snap features 117 can be elastic. In addition, the snap features 117 can each include a bearing surface configured to contact a portion of the main shaft 140. In particular, the snap features can each include a bearing surface having an arc shape. Therefore, in some embodiments, the snap features are configured to receive the main shaft and are operable to provide axial and radial bearing-like features for the main shaft. The drive coils 131 and 132 can be press-fit into the pockets 119 of the main structure 115 to receive and position the respective drive coils 131 and 132 and align them relative to the focusing elements 121, 122. The pocket 119 can be used to maintain the respective drive coils 131 and 132 aligned and spaced apart with or within a gap (shown in later examples) between the first focusing element 121 and the second focusing element 122. In some embodiments, the drive coils are disposed within the pocket 119. In some embodiments, the first drive coil 131 and the second drive coil 132 are located on opposite sides of the force transfer assembly within the main structure.

[0030] Ferrite cores 133 and 134 can be located in the drive coils 131 and 132, respectively, to help ensure that the magnetic field lines (not shown in this example) leave the drive coils 131 and 132 in an optimized direction to interact with the permanent magnet magnetic field lines. The ferrite cores 133 and 134 in each drive coil 133 and 134 help improve the shape of the magnetic field to optimize the magnetic force between the magnet 110 and the drive coils 131 and 132.

[0031] Figure 2A A side view of the complete magnetic assembly of the microactuator is shown. Figure 2B An example of magnetic field lines in a fully assembled microactuator according to one aspect of the disclosed subject matter is shown.

[0032] The complete magnetic assembly 200 may include two focusing elements 221 and 222 that rotate with the main shaft 240, wherein the magnet 210 is disposed between the two focusing elements 221 and 222. The focusing element 221 may be a first focusing element and the focusing element 222 may be a second focusing element. Each of the focusing elements 221 and 222 of FIG. 1 may include a magnetic field guiding element, for example, an element including or consisting of a magnetic material such as iron. The magnetic field guiding element may be a different element, or may be integrally formed with the focusing element. The first focusing element may include an upper element and a lower element. In Figure 2A, reference numeral 221-1U denotes an upper magnetic field guide element (first upper magnetic field guide element) on a first side of the first focusing element 221, and reference numeral 221-2U ​​denotes another upper magnetic field guide element (second upper magnetic field guide element) on a second side of the first focusing element. Reference numeral 222-1L denotes a lower focusing element (first lower magnetic field guide element) on a first side of the second focusing element, and 222-2L denotes a lower focusing element (second lower magnetic field guide element) on a second side of the second focusing element.

[0033] like Figure 2A As shown on the right side of FIG. 2 , the upper magnetic field guide element 221-2U ​​and the lower magnetic field guide element 222-2L guide the magnetic field generated by the magnet 210 (shown by line 231) through the gap 225. In some embodiments, the upper magnetic guide element 221-2U ​​and the lower magnetic field guide element 222-2L are configured to form a gap separating the upper magnetic guide element 221-2U ​​from the lower magnetic guide element 222-2L. Similarly, as shown in FIG. Figure 2A As shown on the left side of FIG. 2 , a gap 226 exists on the opposite side of magnet 210 and opposite gap 225. The magnetic field generated by magnet 210 also passes through gap 226 (as shown by magnetic field lines 232).

[0034] like Figure 2B As shown, the drive coil 230 is generally located within the gap 225, substantially equidistant from the upper focusing element 221-2U ​​and the lower focusing element 222-2L. The drive coil 230 can be maintained positioned in the pocket portion of the main structure, such as Figure 1A and 1B A pocket (as shown in the previous example) may be used to maintain alignment and spacing of the drive coil with the gap 225 between the first and second focusing elements. Although not shown in this example, a drive coil similar to drive coil 230 is disposed in gap 226.

[0035] Figure 3A and 3B A top view of the microactuator is shown to illustrate Figures 1A to 2B The operating principle of an example of a microactuator is shown.

[0036] In operation, the microactuator 300 may be coupled to a power source that is operable to energize the drive coils 331 and 332 to attract (or repel) the magnetic poles of a magnet (not shown in this example). For example, a current may be applied to the drive coil 331, which causes the drive coil 331 to generate a magnetic field (N in this example), which may interact with the magnet, which may be a permanent magnet that emits a magnetic field Nm. The combination of the magnetic field N generated by the drive coil 331 and the magnetic field Nm emitted by the magnet generates a force that repels the focusing element 321 away from the drive coil 331 in the direction indicated by arrow A. In addition, or as an alternative, a current may be applied to the drive coil 332, which causes the drive coil 332 to generate a magnetic field (S in this example), which may interact with the magnet (e.g., a permanent magnet) that emits the magnetic field Nm. The combination of the magnetic field S generated by the drive coil 332 and the magnetic field Nm emitted by the magnet generates a force that attracts the focusing element 322 toward the drive coil 332 in the direction indicated by arrow B.

[0037] In response to the force generated to repel focusing element 321 from drive coil 331 and / or the force generated to attract focusing element 322 toward drive coil 332, yoke 350 translates or rotates about the main axis in the direction indicated by arrow C. Reversal of the current through the drive coil changes the translation / rotation direction of yoke 350.

[0038] Additional features can be added to Figures 1A-3B In the example shown. For example, an external spring can be added to provide a bistable positioning of the actuator at the end of the stroke. Thus, only one direction of current needs to be applied because the spring can rotate the yoke 350 back to its initial position (i.e., the position before the current was applied). Similarly, a stop can be added to the spindle to also provide a bistable positioning of the actuator at the end of the stroke. In addition, both an external spring and a stop in the spindle can be added to provide a better bistable positioning of the actuator at the end of the stroke than using either the external spring or the stop in the spindle alone.

[0039] In a control example, the drive coils can be energized simultaneously to provide repulsive and attractive magnetic forces. Alternatively, the drive coils can be energized in an interleaved or sequential order (e.g., the attractive drive coil can be energized first, and the repulsive drive coil can be energized second), which can improve electrical efficiency.

[0040] In another example, when the drive coil is energized, energy may be stored in the drive coil for a period of time and may be collected using a capacitive circuit, etc. In one example, the drive coil may be considered an inductor that stores energy and releases the stored energy only after it stops receiving current input. This stored energy may be used to either shorten the duration of drive coil energization or be transferred to a capacitor, etc., for reuse at a later time.

[0041] Figure 4A and 4B Top and side views of an example of a single drive coil force transfer assembly as part of a single drive coil rotary solenoid microactuator are shown.

[0042] Figure 4A A top view of the force transfer assembly 405 and a single drive coil 430 is shown. The top view of the force transfer assembly 405 and the single drive coil 430 shows the spindle 410, the key feature 415 (also referred to as a key structure or interlocking feature), the top focusing element 421, and the single drive coil 430 with a ferrite core 445. The drive coil 430 can be energized via an electrical connection 433. As shown in subsequent examples, the electrical connection 433 can be coupled to a control circuit. Figure 4A Also shown is the yoke 450 of the bottom focusing element, which is hidden beneath the top focusing element 421. Figure 4A The magnets are hidden by the middle top focusing element 421. The force transfer assembly and single drive coil 400 differs from the previous examples in that it uses a single gap and drive coil, rather than dividing the magnetic field focus between two drive coils.

[0043] Figure 4B The side view of the force transfer assembly 405 and the single drive coil 430 shown includes more details, such as a magnet 425 disposed between the top focus component 421 and the bottom focus component 422. The side view also shows a ferrite core 445 extending through the single drive coil 430. In this example, the ferrite core 445 extends above the top edge and below the bottom edge of the single drive coil 430. The top focus element 421 is configured in a manner similar to the focus element 221, where the upper focus element is bent downward toward the drive coil 430, and the bottom focus element 422 is configured in a manner similar to the focus element 222, where the lower focus element is bent upward toward the drive coil 430.

[0044] Figure 4C and 4D More details of an example of a microactuator are shown, the microactuator comprising Figure 4A and 4B A rotary solenoid microactuator with a single drive coil is shown in the example. Figure 4C and 4D An example of a microactuator 400 is shown that includes a primary structure 465 for supporting a force transfer assembly 405 and a single drive coil 430. The drive coil 430 may be retained within a pocket to ensure alignment of the drive coil 430 with the focusing elements 421 and 422.

[0045] In reference Figure 4CIn the illustrated example of operation of microactuator 400, drive coil 430 may be energized to have a magnetic polarity that repels a magnetic field generated by magnet 425 and directed toward drive coil 430 by focusing elements 421 and 422. In response to energization of drive coil 430, force transfer assembly 405 may rotate in the direction indicated by arrow C. Figure 4C and 4D An example of a drive mechanism coupling 455 is shown. The drive mechanism coupling 455, in particular its coupling element, may be in contact with the yoke. In particular, the drive mechanism coupling 455, in particular its coupling element, may be disposed between the yoke extensions. The drive mechanism coupling 455 is actuated by the yoke 450 in the focusing element 422 and moves in the direction indicated by the arrow CC in response to the rotation of the force transfer assembly 405 (in the direction of the arrow C). The movement of the drive mechanism coupling 455 in the direction indicated by the arrow CC may cause the pump to initiate the transfer of a liquid drug or the like from a reservoir by using the reciprocating motion of the drive mechanism. In some embodiments, the yoke 450 actuates the drive mechanism to discharge a first amount of liquid drug from the wearable drug delivery device. In some embodiments, the movement of the yoke 450 in the first direction actuates the drive mechanism to discharge the first amount of liquid drug from the wearable drug delivery device, and the movement of the yoke in the second direction actuates the drive mechanism to discharge a second amount of liquid drug from the wearable drug delivery device. The rotation of the force transfer assembly 405 in the direction of arrow CC can be stopped in a variety of ways, such as by de-energizing the drive coil 430, energizing the drive coil 430 to produce opposite magnetic polarity (i.e., the magnetic field attracts the focusing elements 421 and 422), by mechanical stopping, etc. Figure 4D As shown, the drive coil 430 can be energized to have a magnetic polarity that attracts the magnetic field generated by the magnet 425 and directed to the drive coil 430 by the focusing elements 421 and 422. In response to the energization of the drive coil 430, the force transfer assembly 405 can rotate in the direction indicated by the arrow D. The drive mechanism coupling portion 455 is actuated by the yoke 450 in the focusing element 422 and moves in the direction indicated by the arrow DD in response to the rotation of the force transfer assembly 405 (in the direction of the arrow D). The movement of the drive mechanism coupling portion 455 in the direction indicated by the arrow DD can cause the pump to enter another stage (or the like) of transferring a liquid drug or the like from a reservoir.

[0046] The microactuator 400 may also include a bias spring (not shown in this example) to ensure that the yoke 450 returns to the starting position after each actuation of the yoke 450. The bias spring may allow only a single direction of current to be applied to the drive coil 430, so that the magnetic field moves the yoke in one direction and the bias spring moves the yoke in the opposite direction.

[0047] Figures 5A-5D Another embodiment suitable for providing a four drive coil rotary solenoid microactuator is shown. Figure 5ASchematic diagram of a force transfer assembly 540 configured to operate with four drive coils 511, 513, 515 and 517. For example, in the elliptical drive coils in the previous example, Figure 1A The 131 and 132 of the force transmission component 540 can be divided into two pairs of oppositely wound coils 511 / 513 and 515 / 517 on both sides of the force transmission component 540. The two oppositely wound coils 511 / 513 can be referred to as a first pair of driving coils, and the two oppositely wound coils 515 / 517 can be referred to as a second pair of driving coils. The two oppositely wound driving coils 511 / 513 and 515 / 517 on each side can provide additional initial driving force (with Figure 1A 1 and 132) and helps position the yoke 550. The force transfer assembly 540 and the four drive coils 511, 513, 515 and 517 can be coupled to the control circuitry and drive mechanism of the wearable drug delivery device (both are shown in subsequent examples). In some embodiments, the main structure also includes a pocket for receiving and holding each corresponding drive coil in the first pair of drive coils and each corresponding drive coil in the second pair of drive coils, and wherein the pocket is configured to maintain alignment of each corresponding drive coil in the first pair of drive coils with each corresponding drive coil in the second pair of drive coils and the gap between the first focusing element and the second focusing element. In some embodiments, the main structure also includes a plurality of pockets, each pocket including a corresponding drive coil in the first pair of drive coils and the second pair of drive coils, and wherein the pocket is configured to maintain alignment of each corresponding drive coil in the first pair of drive coils with each corresponding drive coil in the second pair of drive coils and the gap between the first focusing element and the second focusing element.

[0048] Figure 5B A schematic diagram is provided showing the positioning of the focusing elements 521 and 522 relative to the drive coil 511 that has been energized to attract the focusing elements 521 and 522. The two oppositely wound drive coils (e.g., 511 and 513, 515 and 517) on each side of the force transfer assembly 540 can be wound from the same wire (the first coil is wound in a first direction and the second coil is wound in a second direction opposite to the first direction of the first coil), such as electrical connection 533 and electrical connection 534, to simplify the manufacturing process. In reference to Figure 5A and 5BIn the operation example explained, the control circuit (shown in another example) may energize the drive coils 513 and 515 so that the drive coils 511 and 517 have a magnetic polarity that attracts the focusing elements 521 and 522, while the drive coils 513 and 515 are energized to have a magnetic polarity that repels the focusing elements 521 and 522. The magnet 510 assists the attractive force generated by the corresponding drive coils 511 and 517 and the repulsive force generated by the corresponding drive coils 513 and 515. In this first state, the yoke 550 moves in the direction of arrow AA. Figure 5A and 5B The yoke 550 is shown after being moved in the direction of arrow AA. The yoke 550 can interact with the drive mechanism to cause a first amount of liquid drug to be expelled from the wearable drug delivery device.

[0049] On the contrary, Figure 5C and 5D As shown, the control circuit (shown in another example) can excite the drive coils 513 and 515 so that the drive coils 515 and 513 generate magnetic polarity that attracts the focusing elements 521 and 522, and excite the drive coils 511 and 517 to generate magnetic polarity that repels the focusing elements 521 and 522. The magnet 510 assists the attractive force generated by the corresponding drive coils 513 and 515 and the repulsive force generated by the corresponding drive coils 511 and 517. In this second state, the yoke 550 moves in the direction of arrow BB. Figure 5C and 5D The yoke 550 is shown after movement in the direction of arrow BB. Movement of the yoke 550 in the direction of arrow BB may also cause the drive mechanism of the wearable drug delivery device to cause a second amount of liquid drug to be discharged from the reservoir of the wearable drug delivery device. In some embodiments, the microactuator further comprises a spindle, wherein the magnet has a hole through which the spindle passes, the first focusing element comprises a first spindle hole, the second focusing element comprises a second spindle hole, and the spindle is configured to protrude through the first spindle hole and the second spindle hole, in particular, wherein the spindle comprises at least one, in particular two, key structures configured to interlock with the first spindle hole and / or the second spindle hole.

[0050] Figures 6A-6D Shown with Figure 4A and 4B The example is similar to the dual drive coil example.

[0051] In such Fig. 6A In the example shown (on the right), if the drive coils 611 and 613 and the magnet 610 ( Figure 6BIf the output torque generated by the force transfer assembly 640 is sufficient to drive the drive mechanism of the wearable drug delivery device, a pair of counter-wound drive coils 611 and 613 on one side of the force transfer assembly 640 can provide the required direction control and position setting of the yoke 660. The two counter-wound drive coils 611 and 613 can provide additional initial driving force and help position the yoke 660. The force transfer assembly 640 and the two drive coils 611 and 613 can be coupled to the control circuit and drive mechanism of the wearable drug delivery system.

[0052] The two oppositely wound drive coils (eg, 611 and 613 ) of the force transfer assembly 640 may be wound from the same wire (the first coil wound in a first direction, the second coil wound in a second direction opposite to the first direction) to simplify the manufacturing process. Figure 6B A schematic diagram is provided showing the positioning of the focusing elements 621 and 622 relative to the drive coil 613 which has been energized to attract the focusing elements 621 and 622 and the magnet 610. Fig. 6A and 6B In the explained operation example, the control circuit (shown in another example) may energize the drive coil 613 so that the drive coil 613 attracts the focusing elements 621 and 622, while the drive coil 611 may be energized to repel the focusing elements 621 and 622. The magnet 610 may assist the attraction force generated by the drive coil 613 and the repulsion force generated by the corresponding drive coil 611. In this first state, 660 moves in the direction of arrow AAA. Fig. 6A and 6B Yoke 660 is shown after movement in the direction of arrow AAA. Yoke 660 may interact with a drive mechanism to cause a first amount of liquid drug to be expelled from the wearable drug delivery device.

[0053] On the contrary, Figure 6C and 6D As shown, the control circuit (shown in another example) may energize the drive coil 611 so that the drive coil 611 attracts the focusing elements 621 and 622, and energizes the drive coil 613 to repel the focusing elements 621 and 622. The magnet 610 may assist the attraction force generated by the drive coil 611 and the repulsion force generated by the corresponding drive coil 613. In this second state, the yoke 660 moves in the direction of the arrow BBB. Figure 6C and 6D The yoke 660 is shown after movement in the direction of arrow BBB. Movement of the yoke 660 in the direction of arrow BBB may also cause the drive mechanism to cause a second amount of liquid drug to be expelled from the wearable drug delivery device.

[0054] The force transfer assembly 640 and the drive coils 611 and 613 may be maintained in contact with Figure 1A and 1BThe microactuators described herein can be used in conjunction with a computer controller, such as a drug delivery algorithm.

[0055] A drug delivery algorithm (MDA) may include a system based on an "artificial pancreas" algorithm, or more generally, an artificial pancreas (AP) application. For ease of discussion, computer programs and computer applications that implement drug delivery algorithms or applications may be referred to herein as "AP applications." AP applications may be configured to provide automatic delivery of insulin based on analyte sensor inputs, such as signals received from analyte sensors (e.g., continuous glucose monitors, ketone body sensors, etc.). Signals from analyte sensors may include blood glucose measurements, timestamps, etc.

[0056] In addition, or as an alternative, although the disclosed examples may have been described with reference to closed-loop algorithm implementations, variations of the disclosed examples may be implemented to enable open-loop use. Open-loop implementations allow for the use of different insulin delivery methods, such as smart pens, syringes, etc. For example, the disclosed AP applications and algorithms are operable to perform various functions associated with open-loop operations, such as generating prompts requesting input such as diabetes type, weight, or age. Similarly, the amount of insulin dose can be received from a user by the AP application or algorithm via a user interface. Other open-loop actions can also be implemented by adjusting user settings in the AP application or algorithm, etc.

[0057] Figure 7 An example of a wearable drug delivery system that may incorporate the example microactuators described herein is shown.

[0058] The wearable drug delivery system 700 may include a control circuit 710, a power source 720, a microactuator 730, a drive mechanism 740, and a reservoir 750. The wearable drug delivery device 700 may be a wearable device worn on the body of a user. The wearable drug delivery device 700 may be directly coupled to the user (e.g., directly attached to a body part and / or skin of the user via an adhesive, etc.). In an example, a surface of the wearable drug delivery device 700 may include an adhesive to facilitate attachment to the skin of the user.

[0059] The microactuator 730 may be similar to Figures 1A-6DA microactuator with a force transfer component and a drive coil configuration as shown in the aforementioned example of . The reservoir 750 can store liquid drugs. Examples of liquid drugs can be or include any liquid form of drugs that can be administered by a drug delivery device via a subcutaneous cannula, including, for example, insulin, glucagon-like peptide-1 (GLP-1), pramlintide, a compound preparation of two or more of glucagon, GLP-1, pramlintide and insulin; and pain relief drugs, such as opioids or anesthetics (such as morphine, etc.), methadone, arthritis drugs, hormones (such as estrogen and testosterone), blood pressure drugs, chemotherapy drugs, fertility drugs, etc.

[0060] The microactuator 730 can be physically coupled to the drive mechanism 740 via a coupling 733. The coupling 733 can be a mechanical structure separate from the drive mechanism 740 that couples a yoke (shown in other examples) of the microactuator 730 to the drive mechanism 740, or can be a mechanical structure that is an integral part of the drive mechanism 740. The coupler 733 can transmit the motion of the yoke of the microactuator to the drive mechanism, or can convert the motion of the yoke into motion in a different plane or from linear motion to rotational motion, etc. Alternatively, the coupling 733 can be omitted and the yoke of the microactuator 730 can be directly coupled to the drive mechanism 740.

[0061] The drive mechanism 740 may include a plurality of mechanical elements, such as gears, gear sets, etc., which convert the linear motion of the yoke into another form of motion, such as rotational motion, etc. The drive mechanism 740 may also include an elongated shaft coupled to the first interface (i.e., plunger) or another interface of the reservoir 750.

[0062] The drive coupling 743 may couple the drive mechanism 740 to the reservoir 750. The drive coupling 743 may have a structural element that enables a certain amount of liquid medicine stored in the reservoir 750 to be discharged from the reservoir 750 via the fluid passage 760.

[0063] The power source 720 may be a power source such as a battery, a supercapacitor, an energy harvesting circuit, etc. The power source 720 may be configured to last for a few hours, a few days, etc. The power source 720 may be replaceable and / or rechargeable via a wired connection or a wireless connection.

[0064] The wearable drug delivery device 700 may include a control circuit 710 that may be implemented in hardware, software, or any combination thereof. The control circuit 710 may be, for example, a microprocessor, a logic circuit, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), or a microprocessor coupled to a memory. The control circuit 710 is operable to perform a variety of functions, such as executing a control application stored in a memory (not shown). In this example, the control circuit 710 is operable to execute logic so that a control signal is applied to the microactuator 730 in the form of a voltage or current to excite one or more drive coils via an electrical connection (shown in the previous example), as shown in reference Figures 1A-6D The example described.

[0065] Some examples of the present disclosure are described above. However, it is clearly noted that the present disclosure is not limited to those examples, but is intended to be included in the scope of the disclosed examples by additions and modifications to the content explicitly described herein. In addition, it should be understood that the features of the various examples described herein are not mutually exclusive, and can exist in various combinations and arrangements, even if such combinations or arrangements are not explicitly made herein, as long as they do not deviate from the spirit and scope of the disclosed examples. In fact, those of ordinary skill in the art will expect changes, modifications and other implementations of the content described herein, without departing from the spirit and scope of the disclosed examples. Therefore, the disclosed examples should not be limited only by the above illustrative descriptions.

[0066] It should be emphasized that the abstract of the present disclosure is provided to enable the reader to quickly determine the essence of the present technical disclosure. It should be understood that it is not used to interpret or limit the scope or meaning of the claims. In addition, in the above-mentioned specific embodiments, various features are combined in a single example to make the present disclosure more efficient. This disclosure method should not be interpreted as reflecting the intention that the examples claimed for protection require more features than the features explicitly listed in each claim. On the contrary, as reflected in the following claims, the novel subject lies in all the features of less than a single disclosed example. Therefore, the following claims are thus incorporated into the specific embodiments, wherein each claim is independently used as a separate example. In the attached claims, the terms "including" and "wherein" are used as the concise English counterparts of the corresponding terms "including" and "wherein", respectively. In addition, the terms "first", "second", "third", etc. are used only as tags and are not intended to impose numerical requirements on their objects.

[0067] The above description of examples is given for purposes of illustration and description only. It is not intended to be exhaustive or to limit the disclosure to the precise form disclosed. Many modifications and variations are possible in light of the present disclosure. The scope of the present disclosure is not limited by this detailed description, but by the appended claims. Future applications claiming priority to the present application may claim the disclosed subject matter in different ways, and may generally include any group or multiple features as disclosed in various ways or otherwise shown herein.

[0068] Although the invention is defined in the appended claims, it will be appreciated that the invention may also (alternatively) be defined according to the following embodiments:

[0069] 1. A microactuator for a wearable drug delivery device, comprising:

[0070] a force transfer assembly comprising a first focusing element and a second focusing element, wherein the second focusing element comprises a yoke;

[0071] a drive coil, wherein the drive coil is operable to attract or repel the first focusing element and the second focusing element; and

[0072] A primary structure is configured to maintain alignment of the force transfer assembly and the drive coil with respect to each other.

[0073] 2. The microactuator according to claim 1, further comprising:

[0074] A spindle, wherein the first focusing element includes a first spindle hole, the second focusing element includes a second spindle hole, and the spindle is configured to protrude through the first spindle hole and the second spindle hole and couple to the main structure.

[0075] 3. The microactuator according to claim 1, further comprising:

[0076] A magnet is disposed between the first focusing element and the second focusing element.

[0077] 4. The microactuator according to claim 1, wherein the main structure further comprises:

[0078] A snap feature is configured to receive the spindle and is operable to provide axial and radial bearing-like features for the spindle.

[0079] 5. The microactuator according to claim 1, wherein the main structure further comprises:

[0080] The pocket portion is used to receive and hold the driving coil.

[0081] 6. The microactuator of claim 1, wherein the bag is further operable to:

[0082] Alignment of the drive coil is maintained within the gap between the first focusing element and the second focusing element.

[0083] 7. The microactuator according to claim 1, wherein the drive coil comprises:

[0084] a first drive coil and a second drive coil,

[0085] Wherein, the first drive coil and the second drive coil are positioned on opposite sides of the force transfer assembly within the main structure.

[0086] 8. The microactuator of claim 1, wherein the first focusing element comprises:

[0087] The first upper magnetic guide element and the second upper magnetic guide element are arranged on opposite sides of the first focusing element relative to each other.

[0088] 9. The microactuator according to claim 1, wherein:

[0089] The first focusing element comprises:

[0090] an upper magnetic field guide element disposed on one side of the first focusing element; and

[0091] The second focusing element comprises:

[0092] a lower magnetic field guide element disposed on one side of the second focusing element below the upper magnetic field guide element,

[0093] The upper magnetic guide element and the lower magnetic guide element are configured to form a gap separating the upper magnetic guide element and the lower magnetic guide element.

[0094] 10. The microactuator according to claim 1, wherein the yoke comprises:

[0095] A yoke extension is operable to interact with a drive mechanism of the wearable drug delivery device.

[0096] 11. The microactuator according to claim 1, wherein the yoke comprises:

[0097] A yoke extension extends from the first focusing element or the second focusing element, wherein the yoke extension enables the yoke to have a T-shape, a U-shape or a Y-shape.

[0098] 12. A microactuator for a wearable drug delivery device, comprising:

[0099] a force transfer assembly comprising a magnet between a first focusing element and a second focusing element, wherein the second focusing element comprises a yoke;

[0100] a first pair of drive coils; and

[0101] The second pair of drive coils,

[0102] wherein each drive coil of the first pair of drive coils is energized to a magnetic polarity opposite to that of the other drive coil to attract or repel the first focusing element and the second focusing element in a first direction, and

[0103] Each drive coil of the second pair of drive coils is energized to an opposite magnetic polarity than the other drive coil to attract or repel the first and second focusing elements in a second direction opposite to the first direction.

[0104] 13. The microactuator according to claim 12, comprising:

[0105] A primary structure is configured to maintain alignment of the force transfer assembly, each drive coil of the first pair of drive coils, and each drive coil of the second pair of drive coils to enable rotation of the force transfer element.

[0106] 14. The microactuator according to claim 13, wherein the main structure further comprises:

[0107] A snap feature is configured to receive the spindle and is operable to provide axial and radial bearing-like features for the spindle.

[0108] 15. The microactuator according to claim 13, wherein the main structure further comprises:

[0109] a pocket for receiving and holding each corresponding drive coil of the first pair of drive coils and each corresponding drive coil of the second pair of drive coils, and

[0110] Wherein the pocket is configured to maintain each corresponding drive coil of the first pair of drive coils and each corresponding drive coil of the second pair of drive coils aligned with a gap between the first focusing element and the second focusing element.

[0111] 16. A microactuator according to claim 12, wherein each drive coil in the first pair of drive coils is wound by the same wire, wherein the wire is wound in a first direction for a first corresponding drive coil in the first pair of drive coils, and is wound in a second and opposite direction for a second corresponding drive coil in the first pair of drive coils.

[0112] 17. The microactuator according to claim 12, wherein the yoke comprises:

[0113] A yoke extension is operable to interact with a drive mechanism of the wearable drug delivery device.

[0114] 18. The microactuator according to claim 12, wherein the yoke comprises:

[0115] A yoke extension extending from the first focusing element or the second focusing element, wherein the yoke has a T-shape, a U-shape, or a Y-shape.

[0116] 19. The microactuator according to claim 12, further comprising:

[0117] Spindle,

[0118] in:

[0119] The magnet has a hole through which the spindle passes.

[0120] The first focusing element includes a first spindle hole, the second focusing element includes a second spindle hole, and

[0121] The spindle is configured to protrude through the first spindle hole and the second spindle hole.

[0122] 20. The microactuator according to claim 19, wherein:

[0123] The spindle includes a key structure configured to interlock with the first spindle bore and the second spindle bore.

Claims

1. A microactuator for a wearable drug delivery device, comprising: a force transfer assembly comprising a first focusing element and a second focusing element, wherein the second focusing element comprises a yoke; a drive coil, wherein the drive coil is operable to attract or repel the first focusing element and the second focusing element; as well as A primary structure is configured to maintain alignment of the force transfer assembly and the drive coil with respect to each other.

2. The microactuator according to claim 1, further comprising: A spindle, wherein the first focusing element includes a first spindle hole, the second focusing element includes a second spindle hole, and the spindle is configured to protrude through the first spindle hole and the second spindle hole and couple to the main structure.

3. The microactuator according to claim 1, further comprising: A magnet is disposed between the first focusing element and the second focusing element.

4. The microactuator according to claim 1, wherein the main structure further comprises: A snap feature is configured to receive the spindle and is operable to provide axial and radial bearing-like features for the spindle.

5. The microactuator according to claim 1, wherein the main structure further comprises: A pocket is provided for receiving and retaining the drive coil. More specifically, the pocket is also operable to retain the drive coil aligned within a gap between the first focusing element and the second focusing element.

6. The microactuator according to claim 1, wherein the drive coil comprises: a first drive coil and a second drive coil, Wherein, the first drive coil and the second drive coil are positioned on opposite sides of the force transfer assembly within the main structure.

7. The microactuator of claim 1, wherein the first focusing element comprises: The first upper magnetic guide element and the second upper magnetic guide element are arranged on opposite sides of the first focusing element relative to each other.

8. The microactuator according to claim 1, wherein: The first focusing element comprises: an upper magnetic field guide element disposed on one side of the first focusing element; and The second focusing element comprises: a lower magnetic field guide element disposed on one side of the second focusing element below the upper magnetic field guide element, The upper magnetic guide element and the lower magnetic guide element are configured to form a gap separating the upper magnetic guide element and the lower magnetic guide element.

9. The microactuator according to claim 1, wherein the yoke comprises: A yoke extension operable to interact with a drive mechanism of the wearable drug delivery device, more specifically, wherein the yoke comprises a yoke extension extending from the first focusing element or the second focusing element, wherein the yoke extension enables the yoke to have a T-shape, a U-shape or a Y-shape.

10. A microactuator for a wearable drug delivery device, comprising: a force transfer assembly comprising a magnet between a first focusing element and a second focusing element, wherein the second focusing element comprises a yoke; a first pair of drive coils; as well as The second pair of drive coils, wherein each drive coil of the first pair of drive coils is energized to a magnetic polarity opposite to that of the other drive coil to attract or repel the first focusing element and the second focusing element in a first direction, and Each drive coil of the second pair of drive coils is energized to an opposite magnetic polarity than the other drive coil to attract or repel the first and second focusing elements in a second direction opposite to the first direction.

11. The microactuator according to claim 12, comprising: A main structure is configured to maintain the force transfer assembly, each drive coil of the first pair of drive coils, and each drive coil of the second pair of drive coils in alignment to enable the force transfer element to rotate, and more specifically, wherein the main structure includes a snap feature, which is configured to receive the main shaft and is operable to provide axial and radial bearing-like features for the main shaft.

12. The microactuator according to claim 13, wherein the main structure further comprises: a pocket for receiving and holding each corresponding drive coil of the first pair of drive coils and each corresponding drive coil of the second pair of drive coils, and Wherein the pocket is configured to maintain each corresponding drive coil of the first pair of drive coils and each corresponding drive coil of the second pair of drive coils aligned with a gap between the first focusing element and the second focusing element.

13. A microactuator according to claim 12, wherein each drive coil in the first pair of drive coils is wound by the same wire, wherein the wire is wound in a first direction for a first corresponding drive coil in the first pair of drive coils, and is wound in a second and opposite direction for a second corresponding drive coil in the first pair of drive coils.

14. The microactuator according to claim 12, wherein the yoke comprises: A yoke extension operable to interact with a drive mechanism of the wearable drug delivery device, more specifically, wherein the yoke includes a yoke extension extending from the first focusing element or the second focusing element, wherein the yoke extension enables the yoke to have a T-shape, a U-shape or a Y-shape.

15. The microactuator according to claim 12, further comprising: Spindle, in: The magnet has a hole through which the spindle passes, The first focusing element includes a first spindle hole, the second focusing element includes a second spindle hole, and The spindle is configured to protrude through the first spindle hole and the second spindle hole, in particular, wherein the spindle comprises at least one, in particular two key structures, which are configured to interlock with the first spindle hole and / or the second spindle hole.

Images