Capsule unit and multi-cavity capsule robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a capsule unit and a multi-cavity capsule robot. The valve plate is mounted in the shell, and the permanent magnet is mounted on the valve plate; an access hole communicated with the external environment is formed in the side wall of the shell; a blocking part corresponding to the access hole in position is arranged on the valve plate and is used for blocking the access hole; under the action of a gradient magnetic field in a preset direction, the permanent magnet corresponding to the cavity channel drives the valve plate to move along a preset stress direction, so that the blocking part is far away from the access hole, and the access hole is communicated with the inner cavity of the shell and the external environment; and the blocking parts of the valve plates of the other non-corresponding cavities keep blocking the access hole. By optimizing the structure of the capsule unit, high integration is realized, the preparation difficulty and the production cost are effectively reduced, and the reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a capsule unit and a multi-lumen capsule robot. BACKGROUND

[0002] The disintegration behavior and drug release process of existing capsule preparations are highly dependent on local environmental factors, such as pH fluctuations in the gastrointestinal tract, enzyme activity, peristaltic rhythm, and food influence, etc., which makes it difficult to accurately control the release behavior. In recent years, researchers have been committed to developing intelligent, remotely controllable active drug delivery systems. Among them, the magnetic responsive capsule robot based on external magnetic field driving has become an important technical direction to realize targeted drug delivery in the gastrointestinal tract because of its good tissue penetration ability, non-invasive control method and excellent biocompatibility. By applying an external magnetic field, the magnetic capsule can be wirelessly navigated and precisely positioned, and combined with responsive materials or structural design to achieve controllable drug release triggered on demand, thereby significantly improving the spatiotemporal accuracy of drug delivery, enhancing the therapeutic effect and reducing systemic toxicity.

[0003] However, the magnetic control capsule robots in the prior art mostly adopt a multi-component assembly structure, usually including independent magnetic drive units, drug reservoirs, release mechanisms, shells, and sealing components, etc. Such design not only leads to a complex overall structure and difficulty in miniaturization, but also involves precise machining and manual or semi-automatic assembly processes in the manufacturing process, which has high process complexity, low yield, and thus significantly increases production costs, which is not conducive to large-scale clinical promotion. In addition, the multi-component structure may also bring about poor sealing reliability, increased risk of mechanical failure, and biological safety hazards, etc. SUMMARY

[0004] The purpose of the present application is to provide a capsule unit and a multi-lumen capsule robot, which realizes high integration through the optimization of the structure of the capsule unit, not only effectively reduces the preparation difficulty and production cost, but also realizes the improvement of reliability.

[0005] In one aspect, the present application provides a capsule unit, comprising at least one shell, a valve piece, and a permanent magnet; each of the shells is installed with the valve piece, and the permanent magnet is installed on the valve piece; an access hole communicating with the external environment is formed on the side wall of the shell; the valve piece is provided with a blocking part corresponding to the position of the access hole for blocking the access hole; under the action of a gradient magnetic field in a preset direction, the permanent magnet in the corresponding shell drives the valve piece to move along a preset force direction, so that the blocking part moves away from the access hole, and the access hole communicates the internal chamber of the shell with the external environment, and the blocking part of the valve piece in the remaining shell remains to block the access hole.

[0006] As an optional embodiment, the valve plate includes two first connecting rods, two second connecting rods and a hinge connection part; the two first connecting rods and the two second connecting rods form a parallelogram structure; the hinge connection part connects the ends of the first connecting rod and the second connecting rod; two rotating shafts whose extension directions are perpendicular to the plane where the valve plate is located are provided in the shell; the two first connecting rods are respectively connected to the rotating shafts; the sealing part is provided on the first connecting rod; when the preset force direction of the permanent magnet intersects with the extension direction of the first connecting rod, the first connecting rod moves around the rotating shaft and drives the sealing part away from the entry and exit hole.

[0007] As an optional embodiment, a limiting protrusion is provided in the shell and is located on the movement path of the sealing part; the limiting protrusion is arranged on one side of the access hole; when the sealing part blocks the access hole, the sealing part has an abutment surface that contacts the limiting protrusion.

[0008] As an optional implementation, the hinge connection portion includes an elastic hinge; the first connecting rod, the second connecting rod and the elastic hinge are integrally formed.

[0009] As an optional embodiment, the shell is provided with support columns on both sides of the plane where the valve plate is located, the fixed ends of the support columns are connected to the shell, and the free ends abut against the valve plate, so that a distance is formed between the two side surfaces of the valve plate and the shell.

[0010] As an optional implementation, the shell is a cylindrical structure; the outer circumference of the cylindrical structure is provided with a threaded structure.

[0011] As an optional implementation, there are two access holes, which are rotationally symmetrical about the central axis of the shell.

[0012] As an optional embodiment, it further includes a permanent magnet connector, in which the permanent magnet is installed; and the permanent magnet connector is installed on at least one of the second connecting rods.

[0013] On the other hand, the present application provides a multi-cavity capsule robot, comprising a plurality of the above-mentioned capsule units; the plurality of capsule units are arranged in sequence; the plurality of capsule units can be used to store the same medicine or different medicines respectively.

[0014] As an optional implementation, the preset force directions of the blocking portions on the activation valve sheets in the plurality of capsule units away from the inlet and outlet holes may be the same or different.

[0015] The beneficial effects of the embodiments of the present application include: The capsule unit and the multi-lumen capsule robot provided by the embodiments of the present application simplify the complex structure of multi-component assembly of a traditional magnetically controlled capsule robot by integrating a permanent magnet and a valve plate, realize the integration of driving, sealing and drug release functions, significantly reduce the manufacturing and assembly difficulty, and improve the production yield and repeatability. The integrated structure of the embodiments of the present application not only facilitates automatic assembly, shortens the manufacturing process, but also reduces potential failures caused by part loosening, sealing failure and the like, thereby greatly reducing the system failure rate and improving the stability and long-term reliability of operation. At the same time, the simplification of the structure helps to realize the miniaturization of the capsule, enhances the moving ability of the capsule in the gastrointestinal tract, and in combination with wireless precise control of an external magnetic field, the capsule can realize on-demand and controllable drug release at a target site. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0017] Figure 1 FIG. 1 is a structural schematic diagram of a capsule unit according to an embodiment of the present application; Figure 2 FIG. 2 is another structural schematic diagram of the capsule unit according to the embodiment of the present application; Figure 3 FIG. 3 is a third structural schematic diagram of the capsule unit according to the embodiment of the present application; Figure 4 FIG. 4 is a structural schematic diagram of a valve plate of the capsule unit according to the embodiment of the present application; Figure 5 FIG. 5 is another structural schematic diagram of the valve plate of the capsule unit according to the embodiment of the present application; Figure 6 FIG. 6 is a third structural schematic diagram of the valve plate of the capsule unit according to the embodiment of the present application; Figure 7 FIG. 7 is a fourth structural schematic diagram of the valve plate of the capsule unit according to the embodiment of the present application; Figure 8 FIG. 8 is a fifth structural schematic diagram of the valve plate of the capsule unit according to the embodiment of the present application; Figure 9 FIG. 9 is a structural schematic diagram of a multi-lumen capsule robot according to the embodiment of the present application.

[0018] Icon: 100 - capsule unit; 101 - shell; 102 - valve piece; 103 - permanent magnet; 104 - access hole; 105 - blocking part; 106 - first connecting rod; 107 - hinged connection part; 108 - rotating shaft; 109 - limiting protrusion; 110 - abutting surface; 111 - support column; 112 - threaded structure; 113 - permanent magnet connecting piece; 114 - multi-lumen capsule robot; 115 - preset stress direction; 116 - first shell; 117 - second shell; 118 - second connecting rod. DETAILED DESCRIPTION

[0019] In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some but not all of the embodiments of the present application. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor are within the scope of protection of the present application.

[0021] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. In addition, the terms "first", "second", "third" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "setting", "mounting", "connecting", "connecting" should be understood broadly, for example, can be fixedly connected, can be detachably connected, or integrally connected; can be mechanically connected, or electrically connected; can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0023] The disintegration behavior and drug release process of existing capsule preparations are highly dependent on local environmental factors such as pH fluctuations in the gastrointestinal tract, enzyme activity, peristaltic rhythm, and food effects, making it difficult to accurately control their release behavior. In recent years, researchers have been working to develop intelligent, remotely controllable active drug delivery systems. Among them, magnetic-responsive capsule robots based on external magnetic field driving have become an important technical direction for achieving targeted drug delivery in the gastrointestinal tract due to their good tissue penetration ability, non-invasive control method, and excellent biocompatibility. By applying an external magnetic field, the magnetic capsule can be wirelessly navigated and precisely positioned, and combined with responsive materials or structural design to achieve controlled drug release on demand, thereby significantly improving the spatial and temporal accuracy of drug delivery, enhancing treatment effectiveness, and reducing systemic toxicity and side effects.

[0024] However, most of the magnetic control capsule robots in the prior art adopt a multi-component assembly structure, usually including independent magnetic drive units, drug reservoirs, release mechanisms, shells, and sealing components. Such design not only leads to a complex overall structure and difficulty in miniaturization, but also involves precision machining and manual or semi-automatic assembly processes during manufacturing, resulting in high process complexity, low yield, and significantly increased production costs, which is not conducive to large-scale clinical promotion. In addition, the multi-component structure may also cause poor sealing reliability, increased risk of mechanical failure, and potential biosecurity risks.

[0025] To solve the above technical problems, the embodiments of the present application provide a capsule unit and a multi-lumen capsule robot.

[0026] Referring to Figure 1 , Figure 2 and Figure 3 , the capsule unit 100 provided by the embodiments of the present application includes at least one shell 101, a valve piece 102, and a permanent magnet 103; one valve piece 102 is installed in each shell 101, and the permanent magnet 103 is installed on the valve piece 102; an access hole 104 communicating with the external environment is formed on the side wall of the shell 101; the valve piece 102 is provided with a blocking part 105 corresponding to the position of the access hole 104, for blocking the access hole 104; as shown in Figure 4 , under the action of a gradient magnetic field in a preset direction, the permanent magnet 103 in the corresponding shell 101 drives the valve piece 102 to move along a preset force direction 115, so that the blocking part 105 moves away from the access hole 104, and the access hole 104 communicates the internal chamber of the shell 101 with the external environment, and the blocking part of the valve piece in the remaining shell 101 remains blocked to the access hole 104.

[0027] It should be noted that the embodiment of the present application directly integrates the permanent magnet 103 on the valve piece 102, and movably installs the valve piece 102 in the shell 101, to form an integrated magnetic response driving and controlled release structure. The shell 101 side wall is provided with an access hole 104, and the blocking part 105 on the valve piece 102 blocks the access hole 104 when pulled by the external gradient magnetic field in the preset direction, to prevent the release of the liquid medicine stored in the shell 101.

[0028] When the external gradient magnetic field in the preset direction is applied, the permanent magnet 103 is driven by the magnetic force to move the valve piece 102 as a whole, so that the blocking part 105 is separated from the access hole 104, thereby opening the passage between the internal cavity of the shell 101 and the external environment, to realize the on-demand release of the medicine. The embodiment of the present application integrates the driving element and the valve function, simplifies the traditional multi-component structure, realizes the magnetic control capsule unit 100 with compact structure, easy miniaturization and convenient manufacturing, wirelessly controls the opening and closing of the valve piece 102 through the external magnetic field, and achieves the purpose of precisely controlling the release of the medicine.

[0029] The embodiment of the present application integrates the permanent magnet 103 and the valve piece 102, simplifies the complex structure of the multi-component assembly of the traditional magnetic control capsule robot, realizes the integration of the driving, sealing and drug release functions, significantly reduces the manufacturing and assembly difficulty, and improves the production yield and repeatability. The integrated structure of the embodiment of the present application not only facilitates automatic assembly and shortens the manufacturing process, but also reduces potential failures caused by part loosening, sealing failure and the like, thereby greatly reducing the system failure rate and improving the stability and long-term reliability of the operation. At the same time, the simplification of the structure helps to realize the miniaturization of the capsule, enhances the moving ability of the capsule in the gastrointestinal tract, and in combination with the wireless precise control of the external magnetic field, can realize the on-demand and controllable release of the medicine at the target site.

[0030] Referring to FIGS. 1 to 3, Figure 1 , Figure 3 It is shown that the shell 101 includes a first shell 116 and a second shell 117, and the first shell 116 and the second shell 117 are mutually buckled.

[0031] Referring to FIGS. 1 to 3, Figure 4As shown, as an optional embodiment, the valve piece 102 comprises two first connecting rods 106, two second connecting rods 118 and a hinge connection part 107; the two first connecting rods 106 and the two second connecting rods 118 form a parallelogram structure; the hinge connection part 107 connects the end portions of the first connecting rod 106 and the second connecting rod 118; two rotation shafts 108 extending in a direction perpendicular to the plane where the valve piece 102 is located are arranged in the shell 101; the two first connecting rods 106 are respectively connected with the two rotation shafts 108 in correspondence; the blocking part 105 is arranged on the first connecting rod 106; when the preset force direction 115 intersects with the extension direction of the first connecting rod 106, the first connecting rod 106 moves around the rotation shaft 108 and drives the blocking part 105 to move away from the access hole 104.

[0032] It should be noted that the embodiment of the present application constructs a parallelogram linkage structure composed of two first connecting rods 106, two second connecting rods 118 and a hinge connection part 107 as the driving framework of the valve piece 102, wherein the first connecting rod 106 serves as a lever and is provided with a blocking part 105, the two ends of the first connecting rod 106 are connected with the second connecting rod 118 through the hinge connection part 107, and the whole is connected with the rotation shaft 108 arranged vertically in the shell 101 through the first connecting rod 106, so as to realize rotation around the shaft.

[0033] It should be noted that the permanent magnet 103 is fixed on the second connecting rod 118, when a gradient magnetic field in a specific direction is applied externally, the permanent magnet 103 is displaced in a preset direction under the action of magnetic force, drives the second connecting rod 118 to move, and then drives the first connecting rod 106 to rotate around the rotation shaft 108 through the linkage effect of the parallelogram structure, so that the blocking part 105 moves and separates from the access hole 104 in the side wall of the shell 101, thereby opening the drug release channel.

[0034] When the direction of the external magnetic field is not matched with the preset force direction 115 for moving the blocking part 105 to open the access hole 104, the structure of the embodiment of the present application remains static, the blocking part 105 re-seals the access hole 104 under the action of its own structural stability and reset mechanism (restoring force), so as to realize controllable and on-demand release of the drug. The embodiment of the present application utilizes the linkage mechanism to efficiently convert the magnetic force into the opening and closing movement of the valve piece 102, the structure is compact and responsive, and only acts when the magnetic force in the preset force direction 115 is excited, so as to ensure the stability and controllability of the release process.

[0035] For the gradient magnetic field along the preset force direction 115 drive permanent magnet 103 movement of the description: including the magnetic force size and magnetic force direction two elements. For example, the external gradient magnetic field to the magnetic force size of the permanent magnet 103 set to 1 mN, and the magnetic field applied to the permanent magnet 103 force and the preset force direction 115 consistent, ensure the valve on the blocking part 105 move. When the magnetic force size in the preset force direction 115 is less than the set value, then can not realize or keep the blocking part 105 open access hole 104.

[0036] Exemplary, in the hinge connection part 107 provides elastic reset function, in the preset force direction 115 magnetic drive first connecting rod 106 move so that the blocking part 105 away from the access hole 104, the hinge connection part 107 reserve elastic potential energy, when the permanent magnet 103 force direction and the preset force direction 115 mismatch, the first connecting rod 106, the second connecting rod 118 and the blocking part 105 under the action of elastic reset, at this time the blocking part 105 access hole 104.

[0037] It should be noted that the permanent magnet 103 driven by the specific state of the magnetic force can be set according to the need. For example, the first connecting rod 106, the second connecting rod 118 in the undriven time constitutes a rectangular structure, at this time, the gradient magnetic field acting on the permanent magnet 103 of the preset force direction 115 and the first connecting rod 106 extension direction perpendicular intersection, so that the blocking part 105 move, open access hole 104. Or, the gradient magnetic field acting on the permanent magnet 103 of the preset force direction 115 and the second connecting rod 118 extension direction parallel, so that the blocking part 105 move, open access hole 104.

[0038] The embodiment of the application adopts the integrated link type valve plate 102 structure, combines the permanent magnet 103 with the parallelogram linkage mechanism, realizes the integration design of magnetic drive and valve control, significantly simplifies the internal structure of the capsule robot, reduces the assembly complexity and manufacturing cost, and is conducive to large-scale production. The structure uses external magnetic field to accurately control the force of the permanent magnet 103, and efficiently converts the magnetic force into the rotary opening and closing movement of the blocking part 105 through the connecting rod mechanism, realizes the reliable opening and closing of the access hole 104, not only responds quickly and releases controllably, but also can maintain the self locking sealing state when there is no magnetic field, improves the sealing reliability and working stability. The overall structure is compact, the moving parts are few, the failure rate is low, the tolerance and safety of the capsule in the complex gastrointestinal environment are enhanced, and miniaturization is facilitated, which provides an efficient, stable and repeatable scheme for precise targeted drug delivery.

[0039] Reference Figure 4As shown, as an optional embodiment, the housing 101 is provided with a limiting protrusion 109 located on the movement path of the sealing part 105; the limiting protrusion 109 is arranged on one side of the access hole 104; when the sealing part 105 seals the access hole 104, the sealing part 105 has an abutting surface 110 in contact with the limiting protrusion 109.

[0040] The embodiment of the present application achieves directional constraint of movement by mechanical contact between the limiting protrusion 109 arranged on one side of the access hole 104 in the housing 101 and the corresponding abutting surface 110 arranged on the sealing part 105. When the external magnetic field drives the permanent magnet 103 to move the valve piece 102, the first connecting rod 106 rotates around the rotating shaft 108, pushes the sealing part 105 to move in a preset stress direction 115 to open the access hole 104; since the limiting protrusion 109 is located on one side of the access hole 104 and limits the movement space in this direction, the sealing part 105 can only move in the direction of the other side where the limiting protrusion 109 is not arranged, thereby achieving directional guidance of the opening operation.

[0041] The limiting structure of the embodiment of the present application not only ensures the consistency and controllability of the valve opening path, but also prevents the sealing part 105 from deflecting or being stuck during the driving process, improves the action reliability and response accuracy, guarantees the stable formation of the drug release channel, and at the same time, achieves accurate positioning and effective sealing by the contact between the abutting surface 110 and the limiting protrusion 109 in the closed state, thereby improving the overall controlled release performance.

[0042] Referring to Figure 1 As shown, as an optional embodiment, the hinge connection part 107 includes an elastic hinge; the first connecting rod 106, the second connecting rod 118 and the elastic hinge are integrally formed.

[0043] It should be noted that the first connecting rod 106, the second connecting rod 118 and the hinge connection part 107 connecting the two are integrally formed, and the molding material can be an elastic material such as silica gel or rubber.

[0044] The hinge connection part 107 is designed as an elastic hinge with a relatively thin structure, which has flexibility and deformability while ensuring that the first and second connecting rods 118 have sufficient axial rigidity. When the external magnetic field acts on the permanent magnet 103, the magnetic force generated drives the second connecting rod 118 to move, and then drives the first connecting rod 106 to rotate around the rotating shaft 108 through the bending deformation of the elastic hinge, thereby achieving the movement of the sealing part 105 and the opening of the access hole 104.

[0045] It should be noted that the flexible deformation of the elastic hinge in the thickness direction (perpendicular to the plane of the valve piece 102) is equivalent to the function of the rotating shaft 108 of the traditional mechanical hinge, thereby replacing the complex assembled rotating structure.

[0046] The integrally formed elastic connecting rod mechanism of the embodiment of the present application not only simplifies the manufacturing process and improves the structural reliability, but also endows the valve piece 102 with good motion compliance and reset capability. After the magnetic field is removed, the elastic hinge can restore to the initial state by relying on the material itself, ensuring that the sealing part 105 re-tightly blocks the access hole 104, and realizing the repeatable, stable and reliable control of drug release.

[0047] Referring to FIG. 1, as an optional embodiment, the shell 101 is provided with a support column 111 on both sides of the plane where the valve piece 102 is located. The fixed end of the support column 111 is connected with the shell 101, and the free end is in abutment with the valve piece 102, so that the surfaces on both sides of the valve piece 102 form a spacing with the shell 101. Figure 2 Figure 3 It should be noted that, in the embodiment of the present application, the support column 111 is arranged on both sides of the plane where the valve piece 102 is located in the shell 101. The fixed end of the support column 111 is connected with the shell 101, and the free end is in abutment with the surface of the valve piece 102, so that the valve piece 102 is stably supported at the middle position of the cavity of the shell 101, and a certain spacing is formed between the valve piece 102 and the inner wall of the shell 101.

[0048] The embodiment of the present application not only realizes the reliable positioning and motion guiding of the valve piece 102, but also effectively reduces the volume occupation of the valve piece 102 assembly in the cavity, maximally releases the internal space of the shell 101, especially enlarges the volume of the periphery of the access hole 104 that can be used for storing liquid medicine, and improves the drug loading capacity. At the same time, since the access hole 104 is arranged corresponding to the middle part of the side wall of the shell 101, and cooperates with the sealing part 105 of the centrally arranged valve piece 102, the fluid passage layout can be optimized on the premise of ensuring the structural strength, which is beneficial to the smooth release of the liquid medicament when it is opened. The support column 111 of the embodiment of the present application not only ensures the stable motion and sealing performance of the valve piece 102, but also takes into account the high drug loading capacity and miniaturization requirement, and improves the storage efficiency and practicability of the capsule robot.

[0049] Referring to FIG. 1, as an optional embodiment, the shell 101 is provided with a support column 111 on both sides of the plane where the valve piece 102 is located. The fixed end of the support column 111 is connected with the shell 101, and the free end is in abutment with the valve piece 102, so that the surfaces on both sides of the valve piece 102 form a spacing with the shell 101.

[0050] Referring to FIG. 1, as an optional embodiment, the shell 101 is provided with a support column 111 on both sides of the plane where the valve piece 102 is located. The fixed end of the support column 111 is connected with the shell 101, and the free end is in abutment with the valve piece 102, so that the surfaces on both sides of the valve piece 102 form a spacing with the shell 101. Figure 2 Figure 3 As an optional embodiment, the shell 101 is in a cylindrical structure, and the outer periphery of the cylindrical structure is provided with a threaded structure 112. The threaded structure 112 is used to clean the mucus in the digestive tract and promote drug absorption.

[0051] ​​It should be noted that the capsule shell 101 is designed as a cylindrical structure in the embodiment of the present application, and a threaded structure 112 is arranged on the outer periphery thereof. When the capsule moves along the digestive tract under the driving of an external magnetic field or gastrointestinal peristalsis, the threaded structure 112 can generate a mechanical movement similar to “spinning forward”, effectively scraping or dispersing the mucus layer covering the gastrointestinal wall and the surface of the capsule. On the one hand, the embodiment of the present application reduces the barrier effect of mucus on drug release and absorption, and improves the local drug permeation efficiency. On the other hand, it helps to keep the surface of the capsule clean, enhances the contact stability and controllability of drug release at the target site. At the same time, the threaded structure 112 can slightly disturb the mucosal surface during the rotating movement, promote local blood circulation and drug absorption, and improve the treatment effect. The threaded structure 112 of the embodiment of the present application combines the movement characteristics of the capsule itself with the structural morphology, realizes the physical mucus removal and absorption promotion function, and can enhance the drug delivery efficiency without additional energy consumption, having the advantages of simple structure, safety and reliability, and high functional integration.

[0052] As an optional implementation, the number of the access holes 104 is two, and the access holes 104 are rotationally symmetric about the central axis of the shell 101.

[0053] The embodiment of the present application arranges two access holes 104 rotationally symmetric about the central axis on the side wall of the shell 101. When the external magnetic field drives the valve sheet 102 to move and open the blocking part 105, the two access holes 104 can simultaneously communicate with the internal chamber of the shell 101, forming a channel for fluid flow, enhancing the stability and controllability of the drug release process.

[0054] At the same time, the symmetric structure is beneficial to maintaining the mechanical balance of the capsule in the radial direction, reducing the resistance in the movement process, and improving the passability and positioning accuracy in the complex gastrointestinal environment. In addition, the embodiment of the present application can also reduce the single hole diameter under the same total opening area, taking into account the drug release rate and structural strength, and further optimizing the drug release performance and mechanical reliability of the capsule.

[0055] Referring to Figure 1 As an optional implementation, the capsule unit 100 further comprises a permanent magnet connecting piece 113, and the permanent magnet 103 is installed in the permanent magnet connecting piece 113; the permanent magnet connecting piece 113 is installed on at least one second connecting rod 118. Among them, the two second connecting rods 118 are located on both sides of the center of the capsule unit 100.

[0056] For example, the permanent magnet connecting piece 113 is arranged on only one side of the second connecting rod 118, that is, only one of the two second connecting rods 118 is arranged with the permanent magnet 103.

[0057] It should be noted that referring to Figure 8The embodiments of the present application form an asymmetric magnetic dipole moment distribution. When an external rotating magnetic field is applied, the permanent magnet 103 is subjected to a magnetic torque, which can generate a translational driving force to push the capsule to move. The rotational motion, combined with the threaded structure 112 on the outer periphery of the shell 101, can generate a self-propelling effect, enhancing the movement ability and penetration in a complex mucus environment.

[0058] It should be noted that the embodiments of the present application make the valve sheet 102 have mechanical anisotropy, so that it has high rigidity in the non-opening direction and remains flexible and responsive in the preset opening direction (the preset stress direction 115), thereby realizing selective driving response. When the capsule unit 100 generates a magnetic torque under the action of an external rotating magnetic field and rolls forward along the digestive tract, the valve sheet 102 is difficult to deform due to its high structural rigidity, and the sealing part 105 remains tightly fitted with the access hole 104, effectively preventing the leakage of the liquid medicine in the cavity during the movement; only when the external magnetic field is excited in a specific manner to generate sufficient magnetic force along the preset stress direction 115, the valve sheet 102 deforms or rotates to drive the sealing part 105 to open the access hole 104, thereby realizing on-demand drug release. As shown in Figure 5 、 Figure 6 、 Figure 7 The non-opening direction is shown.

[0059] Referring to Figure 9 The present application also provides a multi-lumen capsule robot 114, which includes a plurality of the above-mentioned capsule units 100; the plurality of capsule units 100 are arranged in sequence; the plurality of capsule units 100 can be used to store the same medicine or different medicines respectively.

[0060] The preset magnetic field traction force direction for exciting the valve sheet 102 to move in the plurality of capsule units 100 can be the same or different.

[0061] For example, the multi-lumen capsule robot 114 includes three capsule units 100, the first capsule unit 100 is subjected to a magnetic force in a first direction to make the sealing part 105 move to open the access hole 104; the second capsule unit 100 is subjected to a magnetic force in a second direction to make the sealing part 105 move to open the access hole 104; and the third capsule unit 100 is subjected to a magnetic force in a third direction to make the sealing part 105 move to open the access hole 104. The first direction, the second direction and the third direction all extend along the plane where the valve sheet 102 is located, and the three directions are different, that is, the first direction, the second direction and the third direction have different angles. It should be noted that the larger the angle is, the more conducive to precise control. For example, the angles between the first direction, the second direction and the third direction are all 120°.

[0062] For example, the multi-lumen capsule robot 114 includes four capsule units 100, and the preset opening directions of the four capsule units 100 are uniformly distributed at an angle of 90°.

[0063] It should be noted that the embodiments of the present application form the multi-lumen capsule robot 114 by sequentially arranging a plurality of the above-mentioned capsule units 100, each capsule unit 100 can independently store the same or different medicaments, and the multi-drug, multi-dose or time-sequential release function is achieved.

[0064] In the valve sheet 102 structure in each capsule unit 100, the spatial arrangement of the permanent magnet 103 or the orientation of the connecting rod structure is differentially designed, so that it only responds to the external gradient magnetic field in a specific direction, that is, only when the magnetic field direction is consistent with the preset opening direction of the unit, the permanent magnet 103 will be forced to drive the valve sheet 102 to move and open the access hole 104; and the magnetic field in other directions cannot trigger the release action of the unit. Therefore, under the accurate control of the external gradient magnetic field, the capsule unit 100 responding to a specific direction can be selectively activated, the independent and on-demand opening of the corresponding chamber is achieved, and the selective drug release of the multi-lumen is completed.

[0065] The design of the embodiments of the present application does not require complex electronic control or wireless communication modules, and relies on the matching of structure-magnetic field direction to achieve high-selectivity controlled release logic. Not only does it significantly simplify the system structure and improve reliability, but it is also easy to assemble and miniaturize, supports the integration of more chambers, and provides a highly flexible, safe and controllable drug delivery platform for complex treatment plans (such as combination therapy and phased release).

[0066] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A capsule unit (100), characterized in that: The invention comprises at least one shell (101), a valve plate (102) and a permanent magnet (103); the valve plate (102) is installed in each shell (101), and the permanent magnet (103) is installed on the valve plate (102); an inlet and outlet hole (104) communicating with the external environment is provided on the side wall of the shell (101); a blocking portion (105) corresponding to the position of the inlet and outlet hole (104) is provided on the valve plate (102) for blocking the inlet and outlet hole (104). 4); Under the action of a gradient magnetic field in a preset direction, the permanent magnet (103) in the corresponding housing (101) drives the valve plate (102) to move along a preset force direction (115), so that the blocking portion (105) is away from the access hole (104), and the access hole (104) connects the internal chamber of the housing (101) with the external environment, and the blocking portion (105) of the valve plate (102) in the remaining housing (101) keeps blocking the access hole (104).

2. The capsule unit (100) according to claim 1, characterized in that The valve plate (102) includes two first connecting rods (106), two second connecting rods (118) and a hinge connection portion (107); the two first connecting rods (106) and the two second connecting rods (118) form a parallelogram structure; the hinge connection portion (107) connects the ends of the first connecting rod (106) and the second connecting rod (118); two rotating shafts (108) extending in a direction perpendicular to the plane where the valve plate (102) is located are provided in the shell (101); the two first connecting rods (106) are respectively connected to the rotating shafts (108); the blocking portion (105) is provided on the first connecting rod (106); when the preset force direction (115) of the permanent magnet (103) intersects with the extension direction of the first connecting rod (106), the first connecting rod (106) moves around the rotating shaft (108) and drives the blocking portion (105) away from the inlet and outlet hole (104).

3. The capsule unit (100) according to claim 2, characterized in that A limiting protrusion (109) is provided in the housing (101) and is located on the movement path of the blocking portion (105); the limiting protrusion (109) is arranged on one side of the access hole (104); and when the blocking portion (105) blocks the access hole (104), the blocking portion (105) has an abutting surface (110) that contacts the limiting protrusion (109).

4. The capsule unit (100) according to claim 2, characterized in that The hinge connection portion (107) comprises an elastic hinge; the first connecting rod (106), the second connecting rod (118) and the elastic hinge are integrally formed.

5. The capsule unit (100) according to claim 2, characterized in that The housing (101) is provided with support columns (111) on both sides of the plane where the valve plate (102) is located, and the fixed ends of the support columns (111) are connected to the housing (101) and the free ends are in contact with the valve plate (102), so that the two side surfaces of the valve plate (102) and the housing (101) form a distance.

6. The capsule unit (100) according to any one of claims 2 to 5, characterized in that: The housing (101) is a cylindrical structure; a threaded structure (112) is provided on the outer periphery of the cylindrical structure.

7. The capsule unit (100) according to claim 6, characterized in that There are two inlet and outlet holes (104), which are rotationally symmetrical about the central axis of the housing (101).

8. The capsule unit (100) according to claim 6, characterized in that It also includes a permanent magnet connector (113), wherein the permanent magnet (103) is installed in the permanent magnet connector (113); and the permanent magnet connector (113) is installed on at least one of the second connecting rods (118).

9. A multi-cavity capsule robot (114), characterized in that: The invention comprises a plurality of capsule units (100) according to any one of claims 2 to 8; the plurality of capsule units (100) are arranged in sequence; and the plurality of capsule units (100) can be used to store the same medicine or respectively store different medicines.

10. The multi-cavity capsule robot (114) according to claim 9, characterized in that: The preset force directions (115) of the blocking portion (105) on the activation valve sheet (102) in the plurality of capsule units (100) away from the inlet and outlet holes (104) may be the same or different.

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