A magnetically controlled vibrating dosing capsule robot and system

Abstract

The application belongs to the field of medical devices, and specifically discloses a magnetic control vibration drug delivery capsule robot and system. Through the application, a power supply and a motor are internally arranged, so that a strong vibration intensity can be achieved; a valve magnet and a limiting magnet are internally arranged, and an attractive force exists between the two in a default state; under the action of the attractive force, the valve magnet blocks the outlet of the medicine bin; under the action of an external strong magnetic field, the two rotate, and the force between the two changes into a repulsive force; since the limiting magnet is limited in transverse movement by the limiting bin, under the action of the repulsive force, the valve magnet opens the outlet of the medicine bin; then under the vibration action of the vibration motor, the medicine is accelerated to be released through a medicine releasing channel, and at the same time, a mucus barrier is removed, so that the absorption rate of the medicine is improved. The application can achieve multiple drug delivery and stirring as required, and compared with a magnetic soft valve drug capsule, a non-alternating small magnetic field is used for triggering, the requirement for the 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 particularly, to a magnetic control vibration drug delivery capsule robot and system. BACKGROUND

[0002] Gastrointestinal diseases seriously endanger human health, and their prevalence rate has been high for a long time. A large amount of drug use is easy to produce dependence and has the risk of side effects. In addition, although oral administration is economical and practical, macromolecular drugs such as nucleic acids and proteins have problems such as easy degradation and poor absorption (affected by the mucus barrier) in the gastrointestinal environment, resulting in extremely low drug utilization rate. For example, insulin needed by diabetic patients every day has a utilization rate of less than one percent if taken orally, resulting in the need for direct injection for drug delivery, which often accompanies pain and discomfort.

[0003] In recent years, research has shown that the introduction of vibration (in vitro ultrasonic vibration, in vivo micro-vibration, etc.) in the drug absorption process can effectively improve the efficiency of oral administration of macromolecular drugs. The enhancement principle lies in eliminating the mucus barrier and improving the contact efficiency of drugs and the intestinal tract through vibration. However, the existing drug delivery methods still remain at the passive drug delivery level, and the release of drugs mainly depends on PH trigger control or natural dissolution, etc., and cannot achieve targeted drug delivery.

[0004] In view of this problem, CN 117731219 A discloses a magnetic control capsule robot, which comprises a capsule shell and a material carrying cavity arranged inside the capsule shell. A material exchange channel, a magnetic attraction lock arranged around the material exchange channel, and a magnetic switch valve matched with the magnetic attraction lock are arranged on the wall of the capsule shell. The characteristic is that the magnetic attraction lock and the magnetic switch valve in the magnetic control capsule robot are magnetized magnetic attraction lock and magnetic switch valve, and the magnetization of the magnetic attraction lock and the magnetic switch valve adopts any one of the following two ways: (i) the magnetization direction of the magnetic switch valve is outwardly diverging with the magnetic switch valve as the center, and the magnetization direction of the magnetic attraction lock is outwardly perpendicular to the curved surface or plane where the magnetic attraction lock is located; (ii) the magnetization direction of the magnetic switch valve is inwardly converging with the magnetic switch valve as the center, and the magnetization direction of the magnetic attraction lock is inwardly perpendicular to the curved surface or plane where the magnetic attraction lock is located.

[0005] Controlling these magnetic soft valve-based capsule robots requires a high-frequency alternating magnetic field (typically with a frequency and amplitude greater than 20 Hz and 30 mT), relying on coils and an AC power supply. However, generating such a magnetic field within a large space, such as the human body, requires a very high power source (over tens of kHz), and the coils heat up significantly over long periods of operation, making the entire system difficult to lightweight and wearable. Furthermore, these capsule robots lack a built-in motor drive, resulting in low vibration intensity, which limits their functionality.

[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 response to the defects of the existing technology, 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 existing technology cannot take into account fixed-point targeted drug delivery while avoiding high power supply requirements, large coil temperature rise and low vibration intensity.

[0008] A first aspect of the present application relates to a magnetically controlled vibration drug delivery capsule robot, comprising a housing, a vibration motor fixed in the housing, a magnetic control component, a drug storage bin, a limit bin, a valve magnet, a limit magnet, and a power supply;

[0009] 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;

[0010] A drug release channel is provided between the drug storage bin and the outer wall of the shell;

[0011] The limit magnet is placed in the limit bin, and the valve magnet is located in the medicine storage bin;

[0012] When there is no magnetic field, the valve magnet blocks the outlet of the medicine storage bin under the attraction of the limit magnet;

[0013] 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;

[0014] 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. Under the repulsive force of the limiting magnet, the valve magnet translates axially, opening the outlet of the drug storage bin. The vibration motor drives the drug capsule to vibrate and release the drug.

[0015] 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.

[0016] In some embodiments, the limiting magnet and the valve magnet are spherical or cylindrical magnets and are pre-treated by saturation magnetization.

[0017] 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.

[0018] 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 on the outer wall of the shell, and the outer wall of the shell is provided with a transverse channel.

[0019] 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 thereof.

[0020] In some embodiments, the vibration motor is located at one end of the housing away from the magnetic control component and deviates from the capsule axis.

[0021] In some embodiments, the vibration motor is located directly below the limiting magnet.

[0022] In some embodiments, the shell is provided with a thread on the outside for stirring the released drug to break the mucus barrier.

[0023] A 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 according to any one of the embodiments of the present application and an external magnetic field generating device;

[0024] The external magnetic field generating device is used to provide a magnetic field to the vibrating drug-delivery capsule robot.

[0025] In some embodiments, the invention further comprises: an external control terminal;

[0026] The external control terminal is used to communicate with the magnetically controlled vibration drug-delivering 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.

[0027] 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.

[0028] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies:

[0029] The present application provides a magnetically controlled vibration drug delivery capsule robot, which has a built-in power supply and motor, and can achieve a strong vibration intensity; a valve magnet and a limit magnet are built in, and there is an attraction between the two in the default state. 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 cleared at the same time, thereby improving the absorption rate of the drug. The present application can realize 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

[0030] Figure 1 This is an exploded diagram of the structure of a magnetically controlled vibration drug delivery capsule robot provided in an embodiment of the present application.

[0031] Figure 2 This is a schematic diagram of the drug storage and release related structures provided in the embodiments of the present application.

[0032] Figure 3 This is a schematic diagram of the drug release channel structure provided in the examples of this application.

[0033] Figure 4 This is a schematic diagram of the external thread structure of the shell provided in an embodiment of the present application.

[0034] Figure 5 This 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.

[0035] Figure 6 This is a mechanical diagram between the limiting magnetic bead and the valve magnetic bead provided in the embodiment of the present application.

[0036] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0037] 1 is the shell, 2 is the vibration motor, 3 is the magnetic control component, 4 is the drug storage bin, 5 is the limit bin, 6 is the valve magnet, 7 is the limit magnet, 8 is the power supply, 9 is the drug release channel, 10 is the thread, 91 is the main pipeline, 92 and 93 are two branch pipelines respectively. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0039] The embodiments of the present application will be described below with reference to the accompanying drawings.

[0040] In a first aspect, as shown in Figure 1 The magnetic control vibration drug delivery capsule robot comprises a shell 1, a vibration motor 2, a magnetic control component 3, a drug storage bin 4, a limiting bin 5, a valve magnet 6, a limiting magnet 7 and a power supply 8 fixed in the shell 1.

[0041] The magnetic control component 1 has a default off state, and is used to drive the start and stop of the vibration motor in response to the presence of an external magnetic field.

[0042] The drug storage bin 4 is provided with a drug release channel 9 between the outer wall of the shell 1.

[0043] As shown in Figure 2 The limiting magnet 7 is placed in the limiting bin 5, and the valve magnet 6 is located in the drug storage bin 4.

[0044] When there is no magnetic field, the valve magnet blocks the outlet of the drug storage bin under the attraction of the limiting magnet; when a first magnetic field is applied, the valve magnet blocks the outlet of the drug storage bin under the attraction of the limiting magnet, and the vibration motor drives the vibration of the drug delivery capsule for stirring; when a second magnetic field is applied, the limiting magnet and the valve magnet both respond to the magnetic field and rotate in the axial direction, the valve magnet translates in the axial direction under the repulsion of the limiting magnet, and the outlet of the drug storage bin is opened, and the vibration motor drives the vibration of the drug delivery capsule for drug release; the first magnetic field strength is less 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.

[0045] The magnetic control capsule comprises an outer shell made of impact-resistant material to ensure that the vibrating capsule will not damage the outer shell under vibration. The outer shell is also made of biocompatible material that meets safety standards, for example, medical-grade polycarbonate is used as the outer shell material.

[0046] In this embodiment, the capsule can have any size or dimension, provided that it can be placed in the patient's body. Referring to Figure 1 As shown in the figure, the capsule has a length from the front end to the rear end, and in an embodiment, the length of the capsule is 28.2 millimeters. 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 an embodiment, the diameter of the capsule is about 12 millimeters, and the thickness of the outer shell is 0.65 millimeters.

[0047] In this embodiment, the capsule can have any weight, and the weight can be modified based on the built-in battery, provided that movement or vibration does not cause significant discomfort to the patient. In one embodiment, the capsule weighs less than 4 grams. In another embodiment, the capsule weighs less than 5 grams.

[0048] In one embodiment, the vibration motor 2 is an eccentric motor. The motor and eccentric provide the capsule with vibration power. By varying the duty cycle, the vibration frequency of the vibrating capsule can be adjusted. The vibration motor can generate vibrations with a frequency of 5-20 Hz and a duty cycle adjustable between 0.1 and 1. Drug release in this application is achieved through motor vibration, specifically based on flow rate differences, pressure differences, and inertia.

[0049] 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.

[0050] The limiting magnet 7 is constrained by the limiting chamber 5 and supports only axial rotation, preventing lateral movement. The valve magnet 6 is used solely 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 of the spherical magnet. In this embodiment, the drug release channel is set to 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.

[0051] In some embodiments, the limiting magnet 7 and the valve magnet 6 are spherical or cylindrical magnets and have undergone saturation magnetization pretreatment.

[0052] It should be noted that the present application prefers that the magnets are spherical or cylindrical, which makes it easier to achieve flipping motion.

[0053] In one embodiment, the limit magnet and the valve magnet are both spherical magnets with a residual magnetization strength of about 1.21T, model N35 neodymium iron boron magnets, the same magnetization mode, and a diameter slightly larger than the diameter of the drug release channel.

[0054] In some embodiments, as 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 located in the drug storage bin, and the two branch pipelines 92 and 93 are located in the cross section, and the outlets are located on the outer wall of the shell.

[0055] It should be noted that the present application preferably sets the outlet of the drug release channel as two branch pipes. Since the liquid contact area is increased, the surface tension of the liquid can be weakened to increase the drug release rate. The two branch pipes are located in the same plane, further reducing the space of the capsule.

[0056] In some embodiments, the drug release channel is a two-way structure, the main pipeline is in the axial direction, the outlet is arranged on the drug storage chamber, the branch pipeline is in the transverse direction, the outlet is arranged on the outer wall of the shell, and the outer wall of the shell is provided with a transverse channel.

[0057] It should be noted that the transverse channel is preferably arranged on the outer wall of the shell, which can increase the liquid contact area, weaken the surface tension of the liquid, and increase the drug release rate.

[0058] The magnetic control component can act according to an external magnetic field, as a switch of the overall circuit. The basic principle of triggering the action is that when the triggering magnetic field is reached, the magnetic control component will close the overall 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.

[0059] In some embodiments, the magnetic control component is at least one of a normally open dry reed, a normally closed dry reed, a Hall switch, a bipolar Hall latch, or a series-parallel combination.

[0060] 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.

[0061] It should be noted that the above design is made to the placement position of the motor, at this time, the center of gravity of the vibrating capsule deviates from the axis, and the lateral vibration is larger under the action of the magnetic field, the rotation is reduced, and the drug release / stirring effect is enhanced.

[0062] In some embodiments, the vibration motor is located directly below the limiting magnet.

[0063] It should be noted that a pair of magnets of the vibration motor can affect the magnetic ball control, and the motor is preferably placed directly below the limiting magnet, which not only avoids the influence, but also makes the structure more compact.

[0064] In some embodiments, as shown in Figure 4 The shell is provided with a thread 10 outside, which is used for stirring the released drug and breaking the mucus barrier.

[0065] It should be noted that the thread outside the shell can stir the released drug and break the mucus barrier, thereby increasing the absorption efficiency of the drug.

[0066] In a second aspect, the application discloses a magnetic control vibration drug delivery capsule system, which comprises the magnetic control vibration drug delivery capsule robot and an external magnetic field generating device.

[0067] The external magnetic field generating device is used to provide a magnetic field for the vibration drug delivery capsule robot.

[0068] If the external magnetic field generating device is a permanent magnet, the magnetic field strength is changed by changing the distance between the 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.

[0069] In one embodiment, the intensity of the first magnetic field is 3 mT, and the intensity of the second magnetic field is 15 mT.

[0070] In some embodiments, the invention further comprises: an external control terminal;

[0071] The external control terminal is used to communicate with the magnetically controlled vibration drug-delivering 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.

[0072] 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.

[0073] The complete working process of the magnetically controlled vibration drug delivery capsule system involved in this 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 chamber; (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 Figure 6 As shown in the figure, the valve magnet moves axially under the repulsive force of the limiting magnet, opens the outlet of the drug storage chamber, 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 generated, 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 and perform a round of stirring; (5) When it is necessary to stop releasing the drug and stopping stirring, 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 will be discharged through the digestive tract.

[0074] The present application controls the size of the magnetic field, and 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 drug absorption efficiency.

[0075] It should be understood that expressions such as "include" and "may include" used in this 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 this application, terms such as "include" and / or "have" 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.

[0076] In addition, in this 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.

[0077] 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 two are connected to each other and the relative position relationship after the connection remains unchanged. "Rotational connection" means that the two are connected to each other and can rotate relative to each other after the connection. "Sliding connection" means that the two are connected to each other and can slide relative to each other after the connection. The directional terms mentioned in the embodiments of the present application, such as "top", "bottom", "inside", "outside", "left", "right", etc., are only reference to the 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.

[0078] In addition, in the embodiments of the present application, the mathematical concepts mentioned include symmetry, equality, parallelism, and perpendicularity. These limitations are all for the current state of the art, rather than being absolutely strict definitions in a mathematical sense. A small amount of deviation is allowed, and it is possible to be approximately symmetric, approximately equal, approximately parallel, or approximately perpendicular. 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.

[0079] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection 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 limiting magnet and the valve magnet both respond to the magnetic field and rotate in the axial direction. Under the repulsive force of the limiting magnet, the valve magnet translates axially, opening the outlet of the drug storage bin. The vibration motor drives the drug capsule to vibrate and 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, with the main pipeline located in the axial direction and the outlet located in the drug storage bin, and the two branch pipelines located in the cross section and the outlets located 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 located in the drug storage bin, the branch channel is located in the cross section, the outlet is located 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 a thread 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 according to 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 vibration drug delivery 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-delivering 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.

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