A magnetically driven capsule robot for multi-target drug release

Abstract

The present application provides a magnetically driven capsule robot for multi-target drug release, which relates to the field of medical devices and includes: an outer sleeve with a plurality of first drug discharge holes formed on the side wall, and the plurality of first drug discharge holes are arranged in a spiral shape; an inner sleeve coaxially and rotatably arranged inside the outer sleeve, with a drug discharge magnet fixedly connected to one end thereof, a plurality of medicine bins provided inside, and a plurality of second drug discharge holes respectively communicated with different medicine bins provided on the side wall, and the plurality of second drug discharge holes are collinear; a reset mechanism for driving the inner sleeve to reset to the initial position; and a walking mechanism arranged on the outer sleeve for driving the outer sleeve to move. The present application controls the relative rotation of the inner sleeve with respect to the outer sleeve through an external magnetic field, so as to realize multi-target, multiple, and multiple drug combination joint drug administration of the capsule endoscope.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a magnetically driven capsule robot for multi-target drug delivery. Background Art

[0002] With the continuous development of medical technology, capsule endoscopes, as a minimally invasive and painless diagnostic tool, have gradually been widely used in the early diagnosis and treatment of digestive system diseases. Capsule endoscopes integrate a camera, a light source, and sensors in a small capsule using endoscope technology. Patients only need to swallow the capsule to complete the whole process monitoring and image transmission of the gastrointestinal tract, avoiding the trauma and discomfort in traditional endoscope examinations. In addition to being used for the observation and examination of the gastrointestinal tract, capsule endoscopes are also used for drug delivery and local treatment, becoming an important potential tool in clinical treatment, and showing 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 treatment for multiple lesions or combination of drugs to improve the curative effect. However, existing capsule endoscopes usually only support the release of a single drug, making it difficult to release multiple drugs simultaneously, and usually releasing all the drugs at once, making it difficult to achieve multi-target, multiple, and multiple drug combination joint drug administration. Summary of the Invention

[0004] In order to solve the problem that it is difficult for capsule endoscopes to achieve multi-target, multiple, and multiple drug combination joint drug administration, this application provides a magnetically driven capsule robot for multi-target drug delivery.

[0005] The magnetically driven capsule robot for multi-target drug delivery provided by this application adopts the following technical solutions:

[0006] A magnetically driven capsule robot for multi-target drug delivery, an outer sleeve, on the side wall of which there are provided a plurality of first drug discharge holes, and the plurality of first drug discharge holes are arranged in a spiral pattern;

[0007] An inner sleeve, coaxially rotatably arranged inside the outer sleeve, one end of which is fixedly connected with a drug discharge magnet for cooperating with an external magnetic field to drive the inner sleeve to rotate, and inside there are provided a plurality of medicine bins along its own axial direction, and on the side wall there are provided a plurality of second drug discharge holes respectively communicating with different medicine bins, and the plurality of second drug discharge holes are collinear;

[0008] A reset mechanism for driving the inner sleeve to reset to the initial position; and

[0009] A traveling mechanism, arranged on the outer sleeve, for driving the outer sleeve to move;

[0010] Among them, the multiple first row of medicine holes and the multiple second row of medicine holes correspond to each other one by one in the axial direction of the outer sleeve. When the inner sleeve is in the initial position, the multiple first row of medicine holes are all offset from the corresponding second row of medicine holes.

[0011] Furthermore, the traveling mechanism includes a traveling magnet and a spiral strip. The traveling 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.

[0012] Furthermore, 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. The multiple first row of medicine holes are all located within the angular range where the arc-shaped groove is located.

[0013] Furthermore, the reset mechanism is jointly constituted by the traveling 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 traveling magnet are opposite to each other, so that the slider is maintained at the starting end of the arc-shaped groove.

[0014] Furthermore, the distribution angle of the multiple first row of medicine holes is not greater than 180°.

[0015] Furthermore, the spiral strip is provided in sections, and an anchoring gap is provided between different sections of the spiral strip.

[0016] Furthermore, the outer sleeve includes a cylindrical part and round tops located at both ends of the cylindrical part. The round tops are detachably connected to the cylindrical part.

[0017] Furthermore, 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 communicates with the starting end of the arc-shaped groove, and the other end communicates with the end face of the cylindrical part of the outer sleeve.

[0018] Furthermore, an endoscope device is further included. The endoscope device includes an endoscope lens and an endoscope circuit board. The endoscope lens is provided at the front end in the advancing direction of the outer sleeve.

[0019] Furthermore, there are three medicine bins, the first row of medicine holes, and the second row of medicine holes respectively.

[0020] In summary, the present application includes at least one of the following beneficial technical effects:

[0021] 1. When administering medicine, an external magnet is used to drive the medicine-discharging magnet to rotate, causing the inner sleeve to rotate. As a result, the second medicine-discharging holes of the medicine bins storing the corresponding medicines are connected to the first medicine-discharging holes, enabling the selective release of one or more medicines. After the medicine release is completed, the reset mechanism drives the inner sleeve to reset, promptly closing the medicine bins to control the single-dose medicine discharge. Then, the walking mechanism drives the outer sleeve to move to the next target point for the release of another kind or kinds of medicines, thus realizing the multi-target, multiple-time, and multi-drug combination administration of the capsule robot.

[0022] 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. Subsequently, 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 gaps can hinder the rotation of the outer sleeve, improving the anchoring stability and thus increasing the accuracy of the multi-drug release of the capsule robot.

[0023] 3. The two poles of the medicine-releasing permanent magnet and the walking magnet are in opposite positions in the initial state. Without the influence of an external magnet, the medicine-releasing permanent magnet is attracted by the walking magnet and resets to the initial position along the arc-shaped groove, closing the medicine bin. It also facilitates the inner sleeve to be at the initial angular position during the next medicine administration, making it convenient to control the types of medicine administered.

[0024] 4. With a relatively simple mechanical structure design, the proportion of the volume of the medicine bin 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 medicine storage capacity, making the treatment process more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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 use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0026] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application.

[0027] Figure 2 It is a cross-sectional view of the overall structure of an embodiment of the present application.

[0028] Figure 3 It is an exploded view of an embodiment of the present application.

[0029] Figure 4It is a cross-sectional view along the center plane of the arc groove of an embodiment of the present application.

[0030] Figure 5 It is a schematic structural diagram of the outer sleeve of an embodiment of the present application.

[0031] Figure numerals: 1. outer sleeve; 11. first row of medicine holes; 12. arc-shaped groove; 13. open groove; 2. inner sleeve; 21. second row of medicine holes; 22. medicine chamber; 23. slider; 3. medicine discharge magnet; 4. walking magnet; 5. spiral strip; 6. endoscope device; 61. endoscope lens; 62. endoscope circuit board. DETAILED DESCRIPTION

[0032] 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.

[0033] 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.

[0034] During actual use, the patient swallows the capsule robot orally into the esophagus. The capsule robot smoothly enters the patient's gastrointestinal tract. The movement mechanism is used to control the movement of the capsule robot to the target site for drug delivery preparation. During drug delivery, the outer sleeve 1 is anchored near the anchor point, and the drug release permanent magnet is driven to rotate by the magnetic drive mechanism outside the human body, causing the inner sleeve 2 to rotate relative to the outer sleeve 1. The angle of the second row of drug holes 21 on the inner sleeve 2 changes, controlling the corresponding second row of drug holes 21 of the medicine bin 22 required for this target site to communicate with its corresponding first row of drug holes 11, thus realizing drug delivery. After drug delivery is completed, the magnetic drive mechanism outside the human body stops driving, causing the inner sleeve 2 to return to its initial position under the drive of the reset mechanism, facilitating the drug release at the next target site. By adjusting the angle of the inner sleeve 2, the medicine bin 22 to be opened is controlled, thereby selectively delivering one or more drugs. It can achieve the delivery of multiple drugs at the same target site and also deliver different drugs at different target sites, greatly improving the drug delivery efficiency of the capsule endoscope surgery and realizing multi-target, multiple-time, and multiple-drug combination joint drug administration of the capsule endoscope.

[0035] Among them, the magnetic drive mechanism outside the human body includes an external magnetic field generator, a control module, and a communication module. The rotation of the drug discharge magnet 3 is driven by controlling the position and intensity of the external magnetic field. For comparing with existing magnetic drive technologies, it will not be elaborated here.

[0036] According to the actual drug use requirements of the patient and the volume limitation of the capsule robot, in this embodiment, three medicine bins 22 are provided, and the corresponding first row of drug holes 11 and the second row of drug holes 21 are both set to three. Setting three medicine bins 22 can better meet the actual needs of the patient in terms of the variety and dosage of drugs.

[0037] Specifically, please refer to Figure 2 and Figure 3 , the movement mechanism includes a movement magnet 4 and a spiral strip 5. The movement magnet 4 is a cylindrical permanent magnet, and the movement magnet 4 is fixedly embedded at one end of the outer sleeve 1 away from the drug discharge magnet 3. Setting the movement magnet 4 and the drug discharge magnet 3 with staggered ends can reduce the interference caused to the movement magnet 4 when driving the drug discharge magnet 3 to rotate. The spiral strip 5 is wound around the side wall of the outer sleeve 1. When it is necessary to drive the outer sleeve 1 to move, the outer sleeve 1 is driven to rotate by the external magnetic drive mechanism, and the spiral strip 5 interacts with the patient's gastrointestinal tract, causing the outer sleeve 1 to perform peristalsis, thereby realizing the movement of the outer sleeve 1. As an alternative embodiment, the movement mechanism can also adopt a wheel-type magnetic power movement mechanism, and the wheel-type robot is driven to move by an external magnetic field.

[0038] 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, and facilitate the control of the walking mechanism to adjust the position of the outer sleeve 1.

[0039] 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. Multiple first medicine discharge holes 11 are all located within 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.

[0040] In this embodiment, as Figure 4 shown, the angle of the arc-shaped groove 12 covering the outer sleeve 1 is 270°, the angular interval between adjacent first medicine discharge holes 11 is 90°, and the slider 23 is collinear with multiple 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. 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 effect 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 communicated, 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.

[0041] 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, due 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, enables the volume of the medicine bin 22 to account for a relatively large 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, making the treatment process more efficient.

[0042] 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 easily rolled 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.

[0043] Considering that the rotation of the inner sleeve 2 will also affect the anchoring of the traveling magnet 4, firstly, the above-mentioned anchoring gap can firmly anchor the outer sleeve 1 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.

[0044] 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 with 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, which can not only effectively avoid damaging the gastrointestinal tissue, but also reduce the resistance of the capsule robot to walk.

[0045] 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.

[0046] The implementation principle of a magnetically driven capsule robot with 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 times, and multiple drug combination joint drug delivery of the capsule endoscope.

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than 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 recorded in the foregoing embodiments, or perform equivalent replacements on 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 magnetic-driven capsule robot for multi-target drug release, characterized in that, Comprising: An outer sleeve having a plurality of first medicine discharging holes formed in its side wall, and the plurality of first medicine discharging holes are arranged in a spiral pattern; An inner sleeve rotatably arranged coaxially inside the outer sleeve, one end of which is fixedly connected with a medicine discharging magnet for cooperating with an external magnetic field to drive the inner sleeve to rotate, and a plurality of medicine bins are arranged along its own axis direction inside, and a plurality of second medicine discharging holes respectively communicated with different medicine bins are arranged on the side wall, and the plurality of second medicine discharging holes are collinear; A reset mechanism for driving the inner sleeve to reset to its initial position; And A traveling mechanism arranged on the outer sleeve for driving the outer sleeve to move; Wherein, the plurality of first medicine discharging holes and the plurality of second medicine discharging holes correspond to each other in the axial direction of the outer sleeve, and when the inner sleeve is in the initial position, the plurality of first medicine discharging holes are all offset from the corresponding second medicine discharging holes.

2. The magnetically actuated capsule robot for multi-target drug delivery according to claim 1, wherein The traveling mechanism includes a traveling magnet and a spiral strip, the traveling magnet is fixedly connected to the 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.

3. The magnetically driven capsule robot for multi-target drug release according to claim 2, wherein An arc-shaped groove coaxial with the outer sleeve is formed on the inner wall of the outer sleeve, a slider is arranged 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, and the plurality of first medicine discharging holes are all located within the angular range where the arc-shaped groove is located.

4. The magnetically actuated capsule robot for multi-target drug delivery according to claim 3, characterized in that, The reset mechanism is jointly constituted by the traveling 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 traveling magnet are opposite, so that the slider is maintained at the starting end of the arc-shaped groove.

5. The magnetically actuated capsule robot for multi-target drug delivery according to claim 3, wherein The distribution angle of the plurality of first medicine discharging holes is not greater than 180°.

6. The magnetically driven capsule robot for multi-target drug release according to claim 2, characterized in that, The spiral strip is arranged in sections, and an anchoring gap is provided between different sections of the spiral strip.

7. A magnetic-driven capsule robot for multi-target drug release according to claim 1, characterized in that, The outer sleeve includes a cylindrical portion and circular top portions located at both ends of the cylindrical portion, and the circular top portions are detachably connected to the cylindrical portion.

8. A magnetically driven capsule robot for multi-target drug delivery according to claim 3, wherein 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 portion of the outer sleeve.

9. A magnetic-driven capsule robot for multi-target drug delivery according to claim 1, characterized in that, An endoscope device is further included, and the endoscope device includes an endoscope lens and an endoscope circuit board, and the endoscope lens is arranged at the front end in the advancing direction of the outer sleeve.

10. A magnetically driven capsule robot for multi-target drug release according to any one of claims 1-9, characterized in that, There are three medicine bins, first medicine discharging holes and second medicine discharging holes respectively.

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