Magnetic control vibration drug delivery capsule robot and system

Abstract

The invention belongs to the field of medical instruments, and particularly discloses a magnetic control vibration drug delivery capsule robot and system. According to the invention, the power supply and the motor are arranged inside, so that high vibration intensity can be realized; in a default state, attraction force exists between the valve magnet and the limiting magnet, and the valve magnet blocks the medicine bin outlet under the action of the attraction force; under the action of an external strong magnetic field, the valve magnet rotates, the force between the valve magnet and the valve magnet is converted into repulsive force, and as the transverse movement of the limiting magnet is limited by the limiting bin, the valve magnet opens the medicine bin outlet under the action of the repulsive force; under the vibration effect of the vibration motor, the medicine is released in an accelerated mode through the medicine release channel, meanwhile, the mucus barrier is removed, and therefore the absorption rate of the medicine is increased. The multi-time dosing and stirring can be realized as required, and compared with a medicine capsule with a magnetic soft body valve, a non-alternating small magnetic field is used for triggering, so that the requirement on a power supply is reduced, and the problem of coil heating is avoided.

Description

Technical Field

[0001] The present application belongs to the field of medical devices, and more specifically, to a magnetically controlled vibration drug delivery capsule robot and system. Background Art

[0002] Gastrointestinal diseases seriously endanger human health. Their prevalence has remained high for a long time. Taking large amounts of drugs can easily lead to dependence and risk of side effects. In addition, although oral administration is economical and practical, large molecule drugs such as nucleic acids and proteins are easily degraded and poorly absorbed (affected by the mucus barrier) in the gastrointestinal environment, resulting in extremely low drug utilization. For example, if the utilization rate of insulin required by diabetic patients every day is less than one percent when taken orally, it can only be administered by direct injection, which is often accompanied by pain and discomfort.

[0003] In recent years, studies have shown that the introduction of vibration (ultrasonic vibration in vitro, micro-vibration in vivo, etc.) during drug absorption can effectively improve the oral administration efficiency of macromolecular drugs. The enhancement principle is to eliminate the mucus barrier and improve the contact efficiency between the drug and the intestine through vibration. However, the existing drug delivery methods are still at the passive delivery level, and the release of drugs mainly depends on pH trigger control or natural dissolution, which cannot achieve fixed-point targeted delivery.

[0004] To address this problem, CN 117731219 A discloses a magnetically controlled capsule robot, comprising a capsule shell and a cargo chamber arranged inside the capsule shell, wherein the capsule shell wall is provided with a material exchange channel, a magnetic lock arranged around the material exchange channel, and a magnetic switch valve arranged in cooperation with the magnetic lock; the characteristic is that the magnetic lock and the magnetic switch valve in the magnetically controlled capsule robot are respectively magnetized magnetic locks and magnetic switch valves, and the magnetization of the magnetic locks and the magnetic switch valves is in any one of the following two ways: (i) the magnetization direction of the magnetic switch valve is to radiate outward with the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is to be perpendicular to the curved surface or plane where the magnetic lock is located and to be outward; (ii) the magnetization direction of the magnetic switch valve is to converge inward with the magnetic switch valve as the center, and the magnetization direction of the magnetic lock is perpendicular to the curved surface or plane where the magnetic lock is located and to be inward.

[0005] The control of the capsule robot based on magnetic soft valves requires a high-frequency alternating magnetic field (usually the frequency and amplitude of the magnetic field are greater than 20Hz and 30mT), which relies on coils and AC power supplies. However, to generate such a magnetic field in a large space such as the human body, the power required is very high (more than tens of kHz), and the coil heating problem is serious under long-term working conditions. It is also difficult to achieve lightweight and wearable for the entire system. In addition, this type of capsule robot does not have a built-in motor drive, and the vibration intensity is usually small, which limits its function.

[0006] Therefore, a new technical solution is urgently needed to achieve site-specific targeted drug delivery while avoiding the above-mentioned technical problems. Summary of the invention

[0007] In view of the defects of the prior art, the purpose of this application is to provide a magnetically controlled vibration drug delivery capsule robot and system, aiming to solve the problems that the prior art cannot take into account fixed-point targeted drug delivery while avoiding the problems of high power supply requirements, large coil temperature rise and low vibration intensity.

[0008] The first aspect of the present application relates to a magnetically controlled vibration drug-delivery capsule robot, which comprises a housing, a vibration motor fixed in the housing, a magnetically controlled component, a drug storage bin, a limit bin, a valve magnet, a limit magnet, and a power supply; The magnetic control component has a default off state and is used to drive the vibration motor to start and shut down in response to the presence of an external magnetic field; A drug release channel is provided between the drug storage bin and the outer wall of the shell; The limit magnet is placed in the limit bin, and the valve magnet is located in the medicine storage bin; When there is no magnetic field, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limit magnet; When the first magnetic field is applied, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limit magnet, and the vibration motor drives the drug capsule to vibrate and stir; When the second magnetic field is applied, the limit magnet and the valve magnet both respond to the magnetic field and rotate in the axial direction. Under the repulsive force of the limit magnet, the valve magnet translates axially to open the drug storage bin outlet, and the vibration motor drives the drug capsule to vibrate to release the drug. The first magnetic field strength is smaller than the second magnetic field strength, and the first magnetic field strength is greater than the trigger magnetic field of the magnetic control component, and the second magnetic field strength is greater than the trigger magnetic field of the magnet.

[0009] In some embodiments, the limiting magnet and the valve magnet are spherical or cylindrical magnets and are pre-treated by saturation magnetization.

[0010] In some embodiments, the drug release channel is a Y-shaped three-way structure, the main pipeline is located in the axial direction, the outlet is located in the drug storage bin, and the two branch pipelines are located in the cross section, and the outlets are located on the outer wall of the shell.

[0011] In some embodiments, the drug release channel is a two-way structure, the main channel is located in the axial direction, the outlet is located in the drug storage bin, the branch channel is located in the cross section, the outlet is located in the outer wall of the shell, and the outer wall of the shell is provided with a transverse channel.

[0012] In some embodiments, the magnetic control component is at least one of a normally open reed switch, a normally closed reed switch, a Hall switch, a bipolar Hall latch, or a series-parallel combination.

[0013] In some embodiments, the vibration motor is located at one end of the shell away from the magnetic control component and deviates from the capsule axis.

[0014] In some embodiments, the vibration motor is located directly below the limiting magnet.

[0015] In some embodiments, the shell is provided with threads on the outside for stirring the released drug to break the mucus barrier.

[0016] The second aspect of the present application relates to a magnetically controlled vibration drug delivery capsule system, comprising the magnetically controlled vibration drug delivery capsule robot and an external magnetic field generating device as described in any embodiment of the present application; The external magnetic field generating device is used to provide a magnetic field to the vibrating drug-delivery capsule robot.

[0017] In some embodiments, it further includes: an external control terminal; The external control terminal is used to communicate with the magnetically controlled vibration drug-delivery capsule robot and send control instructions to change the duty cycle of the power supply output current waveform, thereby changing the vibration frequency of the vibration motor.

[0018] It can be understood that the beneficial effects of the second aspect mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0019] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the prior art: The present application provides a magnetically controlled vibration drug delivery capsule robot, which has a power supply and a motor inside, and can achieve a strong vibration intensity; a valve magnet and a limit magnet are inside, and there is an attraction between the two in the default state, and the valve magnet blocks the outlet of the medicine chamber under the action of the attraction; under the action of an external strong magnetic field, the two rotate, and the force between the two is converted into a repulsive force. Since the limit magnet is restricted from lateral movement by the limit chamber, the valve magnet opens the outlet of the medicine chamber under the action of the repulsive force; then, under the vibration of the vibration motor, the drug is accelerated to be released through the drug release channel, and the mucus barrier is removed, thereby improving the absorption rate of the drug. The present application can achieve multiple drug delivery and stirring as needed, and compared with drug capsules with magnetic soft valves, it uses a small non-alternating magnetic field for triggering, which reduces the requirements for the power supply and avoids the problem of coil heating. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an exploded diagram of the structure of a magnetically controlled vibration drug delivery capsule robot provided in an embodiment of the present application.

[0021] Figure 2 It is a schematic diagram of the drug storage and release related structures provided in the embodiments of the present application.

[0022] Figure 3 It is a schematic diagram of the drug release channel structure provided in the embodiment of the present application.

[0023] Figure 4 It is a schematic diagram of the external thread structure of the shell provided in an embodiment of the present application.

[0024] Figure 5 1 is a schematic diagram of applying an external magnetic field provided in an embodiment of the present application, wherein (a) corresponds to applying a higher magnetic field, and (b) corresponds to applying a lower magnetic field.

[0025] Figure 6 It is a mechanical schematic diagram between the limiting magnetic bead and the valve magnetic bead provided in the embodiment of the present application.

[0026] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein: 1 is a housing, 2 is a vibration motor, 3 is a magnetic control component, 4 is a drug storage bin, 5 is a limit bin, 6 is a valve magnet, 7 is a limit magnet, 8 is a power supply, 9 is a drug release channel, 10 is a thread, 91 is a main pipeline, and 92 and 93 are two branch pipelines respectively. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0028] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0029] First, as Figure 1 As shown, the present application discloses a magnetically controlled vibration medication capsule robot, which includes a shell 1 and a vibration motor 2 fixed in the shell 1, a magnetically controlled component 3, a drug storage bin 4, a limit bin 5, a valve magnet 6, a limit magnet 7 and a power supply 8.

[0030] The magnetic control component 1 has a default off state and is used to drive the vibration motor to start and shut down in response to the existence of an external magnetic field.

[0031] A drug release channel 9 is provided between the drug storage bin 4 and the outer wall of the shell 1 .

[0032] like Figure 2 As shown, the limiting magnet 7 is placed in the limiting bin 5 , and the valve magnet 6 is located in the medicine storage bin 4 .

[0033] When there is no magnetic field, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limiting magnet; when the first magnetic field is applied, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limiting magnet, and the vibration motor drives the drug capsule to vibrate for stirring; when the second magnetic field is applied, the limiting magnet and the valve magnet both respond to the magnetic field and rotate in the axial direction, and the valve magnet moves axially under the repulsive force of the limiting magnet to open the outlet of the medicine storage bin, and the vibration motor drives the drug capsule to vibrate for releasing medicine; the first magnetic field strength is less than the second magnetic field strength, and the first magnetic field strength is greater than the triggering magnetic field of the magnetic control component, and the second magnetic field strength is greater than the triggering magnetic field of the magnet.

[0034] The magnetically controlled capsule comprises a shell made of impact-resistant material to ensure that the shell is not damaged when the vibrating capsule vibrates. The shell is also made of biocompatible material that passes safety standards, for example, medical-grade polycarbonate is used as the shell material.

[0035] In this embodiment, the capsule can have any size or dimension as long as it can be placed in the patient's body. Figure 1 As shown, the capsule has a length from the front end to the rear end. In one embodiment, the length of the capsule is 28.2 mm. The capsule has a hemispherical end. The PCB board and the reed switch are placed in the end. The diameter of the hemispherical end is the diameter of the capsule body. In one embodiment, the diameter of the capsule is about 12 mm, and the shell thickness is 0.65 mm.

[0036] In this embodiment, the capsule can have any weight and can be modified based on the built-in battery without causing significant discomfort to the patient when moved or vibrated. In one embodiment, the capsule weighs less than 4 grams. In another embodiment, the capsule weighs less than 5 grams.

[0037] In one embodiment, the vibration motor 2 is an eccentric motor. The motor and the eccentric provide vibration power for the capsule, and by changing its duty cycle, the vibration of the vibrating capsule has an adjustable frequency. The vibration motor can generate vibrations with a frequency of 5-20 Hz and a duty cycle adjustable from 0.1 to 1. The drug release in this application is achieved by motor vibration, and the specific principles are flow rate difference, pressure difference and inertia.

[0038] The vibration intensity of the vibrating capsule has a predetermined value, which is preset when the capsule leaves the factory. Each vibrating capsule can be customized to have a different vibration intensity. In one embodiment, the speed of the vibration motor can be 100 rpm to 6000 rpm.

[0039] The limiting magnet 7 is limited by the limiting chamber 5 and only supports axial rotation, and cannot move horizontally. The valve magnet 6 is only used to open and close the drug release channel 9. The magnitude of the triggering magnetic field depends on the width of the drug release channel and the residual magnetization intensity of the spherical magnet. In this embodiment, the drug release channel is set to have a diameter of 3mm, the residual magnetic flux density of the spherical magnet is 1.21T, and the triggering magnetic field should be greater than 15mT.

[0040] In some embodiments, the limiting magnet 7 and the valve magnet 6 are spherical or cylindrical magnets and are pre-treated by saturation magnetization.

[0041] It should be noted that the present application prefers that the magnet is spherical or cylindrical, which makes it easier to achieve flipping motion.

[0042] In one embodiment, the limit magnet and the valve magnet are both spherical magnets with a residual magnetization strength of about 1.21T, a model of N35 neodymium iron boron magnet, a same magnetization mode, and a diameter slightly larger than the diameter of the drug release channel.

[0043] In some embodiments, Figure 3 As shown, the drug release channel 9 is a Y-shaped three-way structure, the main pipeline 91 is located in the axial direction, and the outlet is set in the drug storage bin, and the two branch pipelines 92 and 93 are located in the cross section, and the outlets are set on the outer wall of the shell.

[0044] It should be noted that the present application preferably sets the outlet of the drug release channel as two branch pipes, which can reduce the surface tension of the liquid and increase the drug release rate due to the increased liquid contact area. The two branch pipes are located in the same plane, further reducing the space of the capsule.

[0045] In some embodiments, the drug release channel is a two-way structure, the main channel is located in the axial direction, the outlet is located in the drug storage bin, the branch channel is located in the cross section, the outlet is located in the outer wall of the shell, and the outer wall of the shell is provided with a transverse channel.

[0046] It should be noted that the present application preferably provides a transverse channel on the outer wall of the shell, which increases the liquid contact area, weakens the liquid surface tension and increases the drug release rate.

[0047] The magnetic control component can be operated according to the external magnetic field, and can be used as a switch of the whole circuit. The basic principle of its triggering action is that when the triggering magnetic field is reached, the magnetic control component will close the whole circuit. In one embodiment, the triggering magnetic field of the motor is greater than 2mT, in another embodiment, the triggering magnetic field is less than 3mT, and in another embodiment, the triggering magnetic field is less than 5mT.

[0048] In some embodiments, the magnetic control component is at least one of a normally open reed switch, a normally closed reed switch, a Hall switch, a bipolar Hall latch, or a series-parallel combination.

[0049] In some embodiments, the vibration motor is located at one end of the shell away from the magnetic control component and deviates from the capsule axis.

[0050] It should be noted that the present application makes the above-mentioned design for the placement of the motor. At this time, the center of gravity of the vibrating capsule deviates from the axis, and the lateral vibration is greater under the action of the magnetic field, which reduces its own rotation and enhances the drug release / stirring effect.

[0051] In some embodiments, the vibration motor is located directly below the limiting magnet.

[0052] It should be noted that the pair of magnets of the vibration motor itself will affect the control of the magnetic ball. The present application preferably places the motor directly below the limiting magnet, which can not only avoid this influence but also make the structure more compact.

[0053] In some embodiments, Figure 4 As shown, the shell is provided with a thread 10 on the outside for stirring the released medicine to break the mucus barrier.

[0054] It should be noted that the threads outside the shell can stir the released drugs and break the mucus barrier, thereby increasing the absorption efficiency of the drugs.

[0055] In a second aspect, the present application discloses a magnetically controlled vibration drug delivery capsule system, comprising a magnetically controlled vibration drug delivery capsule robot and an external magnetic field generating device as described in any embodiment of the present application; The external magnetic field generating device is used to provide a magnetic field to the vibrating drug-delivery capsule robot.

[0056] If the external magnetic field generating device is a permanent magnet, the magnetic field strength is changed by changing the distance between the permanent magnet and the vibrating capsule; if the external magnetic field generating device is a coil, the magnetic field strength is changed by changing the current.

[0057] In one embodiment, the strength of the first magnetic field is 3 mT, and the strength of the second magnetic field is 15 mT.

[0058] In some embodiments, it further includes: an external control terminal; The external control terminal is used to communicate with the magnetically controlled vibration drug-delivery capsule robot and send control instructions to change the duty cycle of the power supply output current waveform, thereby changing the vibration frequency of the vibration motor.

[0059] The magnetically controlled vibration drug delivery capsule robot not only has the function of drug delivery and promoting drug absorption, but can also be used to vibrate and provide massage in the stomach and intestines.

[0060] The complete working process of the magnetically controlled vibration drug delivery capsule system involved in the present application is as follows: (1) When the capsule is in storage or before use, it is in a non-magnetic field environment, the overall circuit is disconnected, the vibration motor does not vibrate, there is attraction between the valve magnet and the limit magnet, and the valve magnet closes the outlet of the drug storage bin; (2) The capsule is swallowed, and the capsule is in a free state; (3) A permanent magnet is placed on the outer side of the stomach, and the distance is small at the beginning, that is, a higher magnetic field, such as Figure 5 As shown in (a), both the limit magnet and the valve magnet respond to the magnetic field and rotate in the axial direction, as shown in FIG. Figure 6 As shown, the valve magnet moves axially under the repulsive force of the limit magnet, opens the outlet of the drug storage bin, and the vibration motor drives the drug capsule to vibrate for a round of drug release; (4) When the drug release needs to be stopped and stirring is required, the distance between the permanent magnet and the stomach is increased, that is, a lower magnetic field is obtained, such as Figure 5 As shown in (b), the limit magnet and the valve magnet rotate back to the initial state. The valve magnet blocks the outlet of the drug storage bin under the attraction of the limit magnet, and the vibration motor drives the drug capsule to vibrate for a round of stirring; (5) When it is necessary to stop drug release and stirring in the middle, continue to increase the distance between the permanent magnet and the stomach. At this time, the magnetic control switch is turned off and the vibration motor is turned off to achieve power saving mode; (6) If a new round of drug release is required, proceed to step (3); if a new round of stirring is required, proceed to step (4); (7) If the capsule is out of power or no longer needs to be used, remove the external magnet and the capsule is discharged through the digestive tract.

[0061] The present application controls the size of the magnetic field. The triggering magnetic fields of the magnet and the reed switch are different. Therefore, corresponding actions are generated in response to magnetic fields of different sizes, thereby achieving decoupling control of vibration and drug administration, controlling the dose of drug release while increasing the absorption efficiency of the drug.

[0062] It should be understood that expressions such as "including" and "may include" that may be used in the present application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In the present application, terms such as "including" and / or "having" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components, or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0063] In addition, in the present application, the expression "and / or" includes any and all combinations of the associated listed words. For example, the expression "A and / or B" may include A, may include B, or may include both A and B.

[0064] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Among them, "fixed connection" means that the relative position relationship after connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after connection. The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference directions of the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0065] In addition, in the embodiments of the present application, the mathematical concepts mentioned are symmetry, equality, parallelism, verticality, etc. These limitations are all for the current state of the art, rather than being absolutely strict definitions in a mathematical sense, and allow a small amount of deviation, approximation to symmetry, approximation to equality, approximation to parallelism, approximation to verticality, etc. For example, A and B are parallel, which means that A and B are parallel or approximately parallel, and the angle between A and B can be between 0 and 10 degrees. A and B are perpendicular, which means that A and B are perpendicular or approximately perpendicular, and the angle between A and B can be between 80 and 100 degrees.

[0066] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A magnetically controlled vibration drug delivery capsule robot, characterized in that: It includes a housing and a vibration motor, a magnetic control component, a medicine storage bin, a limit bin, a valve magnet, a limit magnet and a power supply fixed in the housing; The magnetic control component has a default off state and is used to drive the vibration motor to start and shut down in response to the presence of an external magnetic field; A drug release channel is provided between the drug storage bin and the outer wall of the shell; The limit magnet is placed in the limit bin, and the valve magnet is located in the medicine storage bin; When there is no magnetic field, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limit magnet; When the first magnetic field is applied, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limit magnet, and the vibration motor drives the drug capsule to vibrate and stir; When the second magnetic field is applied, the limit magnet and the valve magnet both respond to the magnetic field and rotate in the axial direction. Under the repulsive force of the limit magnet, the valve magnet translates axially to open the drug storage bin outlet, and the vibration motor drives the drug capsule to vibrate to release the drug. The first magnetic field strength is smaller than the second magnetic field strength, and the first magnetic field strength is greater than the trigger magnetic field of the magnetic control component, and the second magnetic field strength is greater than the trigger magnetic field of the magnet.

2. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The limit magnet and valve magnet are spherical or cylindrical magnets and are pre-treated by saturation magnetization.

3. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The drug release channel is a Y-shaped three-way structure, the main pipeline is located in the axial direction, the outlet is arranged in the drug storage bin, and the two branch pipelines are located in the cross section, and the outlets are arranged on the outer wall of the shell.

4. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The drug release channel is a two-way structure, the main channel is located in the axial direction, the outlet is arranged in the drug storage bin, the branch channel is located in the cross section, the outlet is arranged on the outer wall of the shell, and the outer wall of the shell is provided with a transverse channel.

5. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The magnetic control component is at least one of a normally open reed switch, a normally closed reed switch, a Hall switch, and a bipolar Hall latch, or a series-parallel combination thereof.

6. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The vibration motor is located in the shell at one end away from the magnetic control component and deviates from the capsule axis.

7. The magnetically controlled vibration drug-delivery capsule robot according to claim 6, characterized in that: The vibration motor is located directly below the limiting magnet.

8. The magnetically controlled vibration drug-delivery capsule robot according to claim 1, characterized in that: The shell is provided with threads on the outside for stirring the released medicine to break the mucus barrier.

9. A magnetically controlled vibration drug delivery capsule system, characterized in that: It comprises the magnetically controlled vibration drug-delivery capsule robot as claimed in any one of claims 1 to 8 and an external magnetic field generating device; The external magnetic field generating device is used to provide a magnetic field to the vibrating drug-delivery capsule robot.

10. The magnetically controlled vibrating capsule system according to claim 9, characterized in that: Also includes: External control terminal; The external control terminal is used to communicate with the magnetically controlled vibration drug-delivery capsule robot and send control instructions to change the duty cycle of the power supply output current waveform, thereby changing the vibration frequency of the vibration motor.

Images