Magnetically-driven capsule robot capable of releasing medicine at multiple target points

Abstract

The invention provides a multi-target-point drug release magnetic drive capsule robot, and relates to the field of medical equipment, the multi-target-point drug release magnetic drive capsule robot comprises an outer sleeve, the side wall of the outer sleeve is provided with a plurality of first drug discharge holes, and the first drug discharge holes are spirally arranged; the inner sleeve is coaxially and rotatably arranged in the outer sleeve, one end of the inner sleeve is fixedly connected with a medicine discharging magnet, a plurality of medicine bins are arranged in the inner sleeve, a plurality of second medicine discharging holes communicated with the different medicine bins are formed in the side wall of the inner sleeve, and the multiple second medicine discharging holes are collinear; the reset mechanism is used for driving the inner sleeve to reset to the initial position; and the walking mechanism is arranged on the outer sleeve and used for driving the outer sleeve to move. According to the capsule endoscope, the inner sleeve is controlled to rotate relative to the outer sleeve through an external magnetic field, and multi-target, multi-time and multi-drug combined drug application of the capsule endoscope is achieved.

Description

Technical Field

[0001] The present application relates to the field of medical equipment technology, and in particular to a magnetically driven capsule robot for multi-target drug release. Background Art

[0002] With the continuous development of medical technology, capsule endoscopy, as a minimally invasive and painless diagnostic tool, has gradually been widely used in the early diagnosis and treatment of digestive system diseases. Capsule endoscopy uses endoscopic technology to integrate the camera, light source and sensor into a small capsule. Patients only need to swallow the capsule to complete the whole process of gastrointestinal monitoring and image transmission, avoiding the trauma and discomfort of traditional endoscopic examinations. In addition to being used for observation and inspection of the gastrointestinal tract, capsule endoscopy is also used for drug delivery and local treatment, becoming a tool with important potential in clinical treatment, making capsule endoscopy show great application prospects in the diagnosis and treatment of chronic diseases and tumors.

[0003] In clinical applications, many patients often need to be treated with a combination of multiple drugs, such as targeted therapy for multiple lesions or combined medication to improve efficacy. However, existing capsule endoscopes usually only support the release of a single drug and it is difficult to release multiple drugs at the same time. In addition, all drugs are usually released at one time, making it difficult to achieve multi-target, multiple, and multi-drug combination administration. Summary of the invention In order to improve the problem that capsule endoscopes are difficult to implement multi-target, multiple, and multi-drug combination administration, the present application provides a magnetically driven capsule robot for multi-target drug release.

[0004] The magnetically driven capsule robot for multi-target drug release provided in this application adopts the following technical solution: A magnetically driven capsule robot for multi-target drug release, with an outer sleeve and a side wall provided with a plurality of first-row drug holes, wherein the plurality of first-row drug holes are arranged in a spiral shape; The inner sleeve is coaxially rotatably arranged inside the outer sleeve, one end of which is fixedly connected to a medicine-discharging magnet for driving the inner sleeve to rotate in cooperation with an external magnetic field, and a plurality of medicine bins are arranged inside along its own axis direction, and a plurality of second-row medicine holes are respectively connected to different medicine bins on the side wall, and the plurality of second-row medicine holes are arranged in a colinear manner; A reset mechanism, used for driving the inner sleeve to reset to an initial position; and A walking mechanism is provided on the outer sleeve and is used to drive the outer sleeve to move; The plurality of first-row medicine holes and the plurality of second-row medicine holes correspond one to one in the axial direction of the outer sleeve. When the inner sleeve is in the initial position, the plurality of first-row medicine holes are staggered with the corresponding second-row medicine holes.

[0005] Further, the walking mechanism includes a walking magnet and a spiral strip. The walking magnet is fixedly connected to one end of the outer sleeve away from the medicine discharging magnet, and the spiral strip is wound around the side wall of the outer sleeve.

[0006] Further, an arc-shaped groove coaxial with the outer sleeve is formed on the inner wall of the outer sleeve. A slider is provided on the outer wall of the inner sleeve. The slider is adapted to the size of the arc-shaped groove and slides along the arc-shaped groove. All the plurality of first medicine discharging holes are located within the angular range where the arc-shaped groove is located.

[0007] Further, the reset mechanism is jointly constituted by the walking magnet and the medicine discharging magnet. When the inner sleeve is in the starting position, the magnetic pole positions of the medicine discharging magnet and the walking magnet are opposite, so that the slider is maintained at the starting end of the arc-shaped groove.

[0008] Further, the distribution angle of the plurality of first medicine discharging holes is not greater than 180°.

[0009] Further, the spiral strip is arranged in sections, and an anchoring gap is provided between different sections of the spiral strip.

[0010] Further, the outer sleeve includes a cylindrical part and round top parts located at both ends of the cylindrical part. The round top parts are detachably connected to the cylindrical part.

[0011] Further, an opening groove for the slider to slide into is provided at the starting end of the arc-shaped groove. One end of the opening groove is communicated with the starting end of the arc-shaped groove, and the other end is communicated with the end face of the cylindrical part of the outer sleeve.

[0012] Further, an endoscope device is further included. The endoscope device includes an endoscope lens and an endoscope circuit board. The endoscope lens is arranged at the front end in the advancing direction of the outer sleeve.

[0013] Further, there are three medicine storage bins, first medicine discharging holes and second medicine discharging holes respectively.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: 1. When administering medicine, the medicine discharging magnet is driven to rotate by an external magnet, so that the inner sleeve rotates. Further, the second medicine discharging hole of the medicine storage bin storing the corresponding medicine is communicated with the first medicine discharging hole, and one or more medicines are selectively released. After the medicine release is completed, the reset mechanism drives the inner sleeve to reset, and the medicine storage bin can be timely closed to control the single-dose medicine discharge amount. Then, the walking mechanism drives the outer sleeve to move to the next target point to release another kind or multiple kinds of medicines, so as to realize multi-target, multiple-time and multiple-medicine combination joint medicine administration of the capsule robot; 2. By setting the walking mechanism as a walking magnet and a spiral strip, the external magnet drives the walking magnet to rotate, causing the outer sleeve to rotate. Then, the spiral strip on the surface of the outer sleeve interacts with the inner wall of the patient's gastrointestinal tract, driving the outer sleeve to peristalsis, thereby realizing the movement of the capsule robot. The spiral strip is set in multiple segments, and there are anchoring gaps between the multiple segments of the spiral strip. When the walking magnet is not driven, the gastrointestinal tissue within the range of the anchoring gap can hinder the rotation of the outer sleeve, improving the stability of anchoring, and thus increasing the accuracy of the capsule robot during the release of various drugs. 3. The initial positions of the drug-release permanent magnet and the walking magnet are opposite at both poles. When the drug-release permanent magnet is not affected by the external magnet, it is attracted by the walking magnet and resets to the initial position along the arc-shaped groove, closing the medicine bin. It can also facilitate the inner sleeve to be at the initial angular position during the next drug delivery, making it convenient to control the types of drugs delivered. 4. With a relatively simple mechanical structure design, the proportion of the medicine bin volume in the total volume of the capsule is relatively large. This can not only reduce the failure rate of the capsule robot, but also lower the manufacturing cost and maintenance difficulty. Moreover, it can increase the drug storage capacity, making the treatment process more efficient. Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0016] Figure 1 It is a schematic diagram of the overall structure of the embodiment of the present application.

[0017] Figure 2 It is a cross-sectional view of the overall structure of the embodiment of the present application.

[0018] Figure 3 It is an exploded view of the embodiment of the present application.

[0019] Figure 4 It is a cross-sectional view along the central plane of the arc-shaped groove of the embodiment of the present application.

[0020] Figure 5 It is a schematic diagram of the structure of the outer sleeve of the embodiment of the present application.

[0021] Reference numerals: 1. Outer sleeve; 11. First row of medicine holes; 12. Arc-shaped groove; 13. Open slot; 2. Inner sleeve; 21. Second row of medicine holes; 22. Medicine bin; 23. Slide block; 3. Medicine-discharging magnet; 4. Walking magnet; 5. Spiral strip; 6. Endoscope device; 61. Endoscope lens; 62. Endoscope circuit board. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] The present application embodiment discloses a magnetically driven capsule robot for multi-target drug release. Figure 1 and Figure 2 The magnetically driven capsule robot for multi-target drug release comprises an outer sleeve 1, an inner sleeve 2, a walking mechanism and an endoscope device 6. The outer sleeve 1 and the inner sleeve 2 are both cylindrical. The outer sleeve 1 is provided with a plurality of first-row drug holes 11, which are waist-shaped holes and are arranged in a spiral shape. The end of the inner sleeve 2 is also equipped with an endoscope or a camera and a communication module. The current position of the robot is detected through image recognition technology to help doctors confirm the target position; the inner sleeve 2 is coaxially arranged with the outer sleeve 1 and is rotatably connected to the outer sleeve 1 along its own axis. A circular groove is provided at one end of the inner sleeve 2, and a drug discharge magnet 3 is embedded in the circular groove. The drug discharge magnet 3 is cylindrical and matches the circular groove, such as Figure 2 As shown, the inner sleeve 2 is provided with a plurality of medicine bins 22, and the side wall of the inner sleeve 2 is provided with a plurality of second-row medicine holes 21 respectively connected to different medicine bins 22, and the plurality of second-row medicine holes 21 are arranged in a colinear manner; the walking mechanism is arranged on the outer sleeve 1, and is used to drive the outer sleeve 1 to move. The plurality of first-row medicine holes 11 and the plurality of second-row medicine holes 21 correspond one-to-one in the axial direction of the outer sleeve 1, that is, the first-row medicine holes 11 and the corresponding second-row medicine holes 21 are located in the same cross-section of the outer sleeve, and when the inner sleeve 2 is in the initial position, the plurality of first-row medicine holes 11 are staggered with the corresponding second-row medicine holes 21. The endoscope device 6 is used to monitor and locate the drug release environment. In actual use, the patient swallows the capsule robot into the esophagus orally, and the capsule robot smoothly enters the patient's gastrointestinal tract. The capsule robot is controlled by the walking mechanism to move to the target point, ready for drug administration. During the drug administration process, the outer sleeve 1 is anchored near the anchor point, and the drug-releasing permanent magnet is driven to rotate by the magnetic drive mechanism outside the human body, so that the inner sleeve 2 rotates relative to the outer sleeve 1, and the angle of the second row of drug holes 21 on the inner sleeve 2 changes, and the corresponding second row of drug holes 21 of the drug chamber 22 of the drug required for the target point are connected with the corresponding first row of drug holes 11, so that drug administration can be achieved. After the drug administration is completed, the magnetic drive mechanism outside the human body stops driving, so that the inner sleeve 2 is reset to the initial position under the drive of the reset mechanism, which is convenient for the release of drugs at the next target point. By adjusting the angle of the inner sleeve 2 and controlling the medicine chamber 22 to be opened, one or more drugs can be selectively administered, so that multiple drugs can be administered at the same target, and different drugs can be administered at different targets, thereby greatly improving the drug administration efficiency of capsule endoscopic surgery and realizing multi-target, multiple, and multi-drug combination administration by capsule endoscopy.

[0024] Among them, the magnetic drive mechanism outside the human body includes an external magnetic field generator, a control module and a communication module, which drives the rotation of the drug-discharging magnet 3 by controlling the position and strength of the external magnetic field. In order to compare with the existing magnetic drive technology, it will not be expanded here.

[0025] According to the actual medication needs of patients and the volume limitation of the capsule robot, in this embodiment, three medicine bins 22 are provided, and correspondingly, three first row of medicine holes 11 and three second row of medicine holes 21 are provided. Setting three medicine bins 22 can better meet the actual needs of patients in terms of the types and dosage of medicines.

[0026] For details, please refer to Figure 2 and Figure 3 The walking mechanism includes a walking magnet 4 and a spiral strip 5. The walking magnet 4 is a cylindrical permanent magnet. The walking magnet 4 is fixedly embedded in one end of the outer sleeve 1 away from the drug-discharging magnet 3. The walking magnet 4 and the drug-discharging magnet 3 are staggered to reduce the interference to the walking magnet 4 when the drug-discharging magnet 3 is driven to rotate. The spiral strip 5 is wound on the side wall of the outer sleeve 1. When the outer sleeve 1 needs to be driven to move, the outer sleeve 1 is driven to rotate by an external magnetic drive mechanism. The spiral strip 5 interacts with the patient's gastrointestinal tract to make the outer sleeve 1 peristaltic, thereby realizing the movement of the outer sleeve 1. As an alternative embodiment, the walking mechanism can also adopt a wheeled magnetic power walking mechanism to drive the wheeled robot to move through the external magnetic field.

[0027] Please refer to Figure 3, the endoscope device 6 includes an endoscope lens 61 and an endoscope circuit board 62. The endoscope lens 61 is provided at one end in the advancing direction of the outer sleeve, and the endoscope circuit board 62 is provided on the back of the endoscope lens 61. The endoscope device 6 transmits information to the outside through wireless transmission methods such as Bluetooth and WiFi, so as to facilitate the monitoring and positioning of the drug release position, so as to control the walking mechanism to adjust the position of the outer sleeve 1.

[0028] Please refer to Figure 4 , in order to limit the inner sleeve 2 when the outer sleeve 1 peristalsis, an arc-shaped groove 12 coaxial with the outer sleeve 1 is provided on the inner wall of the outer sleeve 1, that is, the arc-shaped groove 12 is arc-shaped. A slider 23 located in the arc-shaped groove 12 is fixedly welded on the outer wall of the inner sleeve 2. The slider 23 is cylindrical and its axis is along the radial direction of the inner sleeve 2. The arc-shaped side wall of the slider 23 is attached to the inner wall of the arc-shaped groove 12, which can limit the slider 23 and at the same time reduce the friction between the slider 23 and the inner wall of the arc-shaped groove 12. A plurality of first medicine discharge holes 11 are all located in the angular range where the arc-shaped groove 12 is located, so that the length of the arc-shaped groove 12 can meet the drug delivery of all medicine bins 22.

[0029] In this embodiment, as Figure 4 shown, the angle of the arc-shaped groove 12 covering the outer sleeve 1 is 270°, and the angular interval between adjacent first medicine discharge holes 11 is 90°. The slider 23 is collinear with a plurality of second medicine discharge holes 21, as Figure 2 shown. When the inner sleeve 2 is in the initial position, the angular difference between the second medicine discharge hole 21 and the nearest first medicine discharge hole 11 is 90°. When it is necessary to drive the capsule robot to move, control the walking magnet 4 to rotate, so that the outer sleeve 1 rotates, and the spiral strip 5 drives the outer sleeve 1 to crawl on the inner wall of the gastrointestinal tract. At this time, under the limiting action of the starting end of the arc-shaped groove 12, the slider 23 rotates synchronously with the outer sleeve 1, so that no relative rotation occurs between the inner sleeve 2 and the outer sleeve 1, so as to ensure that the medicine bins 22 remain closed during the movement of the capsule robot. According to the actual use sequence of the drugs required by the target, the drugs to be used first are filled in the medicine bin 22 corresponding to the first medicine discharge hole 11 close to the second medicine discharge hole 21, and the drugs to be used later are filled in the medicine bin 22 corresponding to the first medicine discharge hole 11 far from the second medicine discharge hole 21. When dispensing medicine, the outer sleeve 1 is anchored on the gastrointestinal wall, and the dispensing magnet 3 is driven to rotate. The rotation direction is opposite to the rotation direction of the walking magnet 4 when driving the outer sleeve 1 to walk. At this time, the slider 23 slides along the chute. When the slider 23 slides 90°, the first medicine discharge hole 11 and the second medicine discharge hole 21 are connected, and the corresponding medicine bin 22 discharges medicine. When the slider 23 slides 180° and 270°, the other two corresponding medicine bins 22 discharge medicine.

[0030] In order to further save the space used by the capsule robot and simplify the structural design, in this embodiment, the reset mechanism resets the inner sleeve 2 by combining the traveling magnet 4 and the medicine discharging magnet 3, that is, when the inner sleeve 2 is in the starting position, the magnetic pole positions of the medicine discharging magnet 3 and the traveling magnet 4 are opposite, as Figure 2 shown (the "N" and "S" in the attached drawings are only for conveniently indicating the magnetic pole positions of the permanent magnets and are not actual structural features). When the inner sleeve 2 is in a non-starting position, according to the principle of attraction between opposite poles, the medicine discharging magnet 3 is reset to the initial position under the magnetic attraction of the traveling magnet 4. As an alternative embodiment, the reset mechanism can also be reset by elastic members such as springs and torsion springs. Compared with resetting by elastic members, in the embodiment of the present application, resetting by magnetic force makes the mechanical structure relatively simple, makes the volume of the medicine bin 22 account for a larger proportion of the total volume of the capsule, can not only reduce the failure rate of the capsule robot, but also reduce the manufacturing cost and maintenance difficulty, and can also increase the medicine storage capacity and make the treatment process more efficient.

[0031] In order to improve the anchoring stability of the outer sleeve 1, the spiral strip 5 is segmented, and an anchoring gap is provided between different segments of the spiral strip 5. Specifically, multiple groups of spiral strips 5 are provided, and multiple spiral strips 5 in the same group are arranged at intervals along the axis direction of the outer sleeve 1. Different groups of spiral strips 5 are arranged around the side wall of the outer sleeve 1, and the interval between different groups of spiral strips 5 is the anchoring gap. In this embodiment, the spiral strip 5 is divided into four groups, and each group is provided with three segments of spiral strip 5. The four groups of spiral strips 5 are arranged at equal intervals around the side wall of the outer sleeve 1. By providing the anchoring gap, the outer sleeve 1 is not easy to roll when staying on the gastrointestinal wall. The principle is similar to cutting out a plane on the ground of a horizontally placed cylinder. The plane contact with the support surface is more stable than the arc surface contact with the support surface. Moreover, the gastrointestinal wall is soft and easy to deform, so that when the outer sleeve 1 stays on the gastrointestinal wall, the gastrointestinal wall can be partially recessed into the anchoring gap, further improving the anchoring stability of the outer sleeve 1.

[0032] Considering that driving the rotation of the inner sleeve 2 will also affect the anchoring of the traveling magnet 4, firstly, the above-mentioned anchoring gap can make the outer sleeve 1 firmly anchored on the gastrointestinal wall; secondly, the traveling magnet 4 and the medicine discharging magnet 3 are arranged with offset ends to increase the distance between the two permanent magnets, and the position and intensity of the external magnetic field are controlled by the magnetic field generator and the control module to reduce the magnetic force influence on the traveling magnet 4; further, by controlling the arrangement angle of the first medicine discharging holes 11, the angle of rotation required for the inner sleeve 2 during medicine discharging is reduced, thereby reducing the influence of the rotation of the inner sleeve 2 on the traveling magnet 4. Therefore, it is defined that the distribution angle of the multiple first medicine discharging holes 11 is not greater than 180°. Compared with the full-angle distribution, the angle of rotation required for the inner sleeve 2 during medicine discharging can be effectively reduced.

[0033] In order to effectively reduce the possibility of the capsule robot scratching the gastrointestinal tract wall, the adjacent edges of the spiral strip 5 are all set as rounded corners. The edges after passivation treatment can effectively avoid damaging the gastrointestinal tissue. Moreover, the outer sleeve 1 includes a cylindrical part and round top parts provided at both ends of the cylindrical part, making the outer sleeve 1 in a capsule shape. The round top parts of the outer sleeve 1 and the cylindrical part are detachably connected by connection methods such as clamping or screw connection. This can not only effectively avoid damaging the gastrointestinal tissue, but also reduce the resistance of the capsule robot when walking.

[0034] Please refer to Figure 5 , in order to facilitate the installation of the inner sleeve 2, the filling of drugs, and the maintenance of the capsule robot, an opening groove 13 for the slider 23 to slide into is provided at the starting section of the arc groove 12. One end of the opening groove 13 is communicated with the starting end of the arc groove 12, and the other end is communicated with the end face of the cylindrical part of the outer sleeve 1.

[0035] The implementation principle of a magnetically driven capsule robot for multi-target drug release in an embodiment of the present application is as follows: When drug release is carried out, the walking magnet 4 is driven to rotate by an external magnetic drive mechanism, so that the spiral strip 5 drives the outer sleeve 1 to crawl forward to the target point. Then, the drug release permanent magnet is driven to rotate in the opposite direction by the external magnetic drive mechanism, so that the second row of drug holes 21 of the corresponding medicine bin 22 is communicated with the first row of drug holes 11, and the drug release permanent magnet is released. The drug release permanent magnet drives the inner sleeve to reset under the action of the walking magnet 4, realizing the closing of all medicine bins 22, selectively controlling the dosage and types of drugs delivered to each target point, and realizing multi-target, multiple-time, and multi-drug combination joint drug delivery of the capsule endoscope.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetically driven capsule robot for multi-target drug release, characterized in that: include: An outer sleeve has a side wall on which a plurality of first-row medicine holes are formed, wherein the plurality of first-row medicine holes are arranged in a spiral shape; The inner sleeve is coaxially rotatably arranged inside the outer sleeve, one end of which is fixedly connected to a medicine-discharging magnet for driving the inner sleeve to rotate in cooperation with an external magnetic field, and a plurality of medicine bins are arranged inside along its own axis direction, and a plurality of second-row medicine holes are respectively connected to different medicine bins on the side wall, and the plurality of second-row medicine holes are arranged in a colinear manner; A reset mechanism, used for driving the inner sleeve to reset to an initial position; as well as A walking mechanism is provided on the outer sleeve and is used to drive the outer sleeve to move; The plurality of first-row medicine holes and the plurality of second-row medicine holes correspond one to one in the axial direction of the outer sleeve. When the inner sleeve is in the initial position, the plurality of first-row medicine holes are staggered with the corresponding second-row medicine holes.

2. The magnetically driven capsule robot for multi-target drug release according to claim 1, characterized in that: The walking mechanism comprises a walking magnet and a spiral strip. The walking magnet is fixedly connected to one end of the outer sleeve away from the medicine-discharging magnet, and the spiral strip is wound on the side wall of the outer sleeve.

3. The magnetically driven capsule robot for multi-target drug release according to claim 2, characterized in that: An arc groove coaxial with the outer sleeve is provided on the inner wall of the outer sleeve, and a slider is provided on the outer wall of the inner sleeve. The slider is adapted to the size of the arc groove and slides along the arc groove. The plurality of first-row medicine holes are all located within the angle range of the arc groove.

4. The magnetically driven capsule robot for multi-target drug release according to claim 3, characterized in that: The reset mechanism is composed of a traveling magnet and a medicine-discharging magnet. When the inner sleeve is in the starting position, the magnetic pole positions of the medicine-discharging magnet and the traveling magnet are opposite, so that the slider is maintained at the starting end of the arc groove.

5. The magnetically driven capsule robot for multi-target drug release according to claim 3, characterized in that: The distribution angle of the plurality of first row medicine holes is no greater than 180°.

6. The magnetically driven capsule robot for multi-target drug release according to claim 2, characterized in that: The spiral strips are arranged in sections, and anchoring gaps are arranged between the spiral strips in different sections.

7. The magnetically driven capsule robot for multi-target drug release according to claim 1, characterized in that: The outer sleeve comprises a cylindrical portion and dome portions located at two ends of the cylindrical portion, and the dome portions are detachably connected to the cylindrical portion.

8. The magnetically driven capsule robot for multi-target drug release according to claim 1, characterized in that: The starting end of the arc groove is provided with an open groove for the sliding block to slide into, one end of the open groove is communicated with the starting end of the arc groove, and the other end is communicated with the end surface of the cylindrical part of the outer sleeve.

9. The magnetically driven capsule robot for multi-target drug release according to claim 1, characterized in that: It also includes an endoscope device, which includes an endoscope lens and an endoscope circuit board. The endoscope lens is arranged at the front end of the outer sleeve in the forward direction.

10. A magnetically driven capsule robot for multi-target drug release according to any one of claims 1 to 9, characterized in that: The medicine bin, the first row of medicine holes and the second row of medicine holes are all provided with three.

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