Cavity internal medicine delivery robot

Abstract

The invention discloses a cavity interior medicine delivery robot, and relates to the technical field of medical instruments, the cavity interior medicine delivery robot comprises a capsule body, a top end shell detachably mounted at the top of the capsule body and a micro camera arranged in the capsule body, and when the capsule body is blocked by obstacles in a complex stomach environment, the capsule body is driven by the micro camera to rotate; the direction of the magnetic field is adjusted to guide the magnetic field to the inclined upper part of the obstacle, so that the magnetic fluid directionally flows under the action of the magnetic field, and the capsule body is converted into a heavy-tail light-head state from a heavy-tail light-head state along with the flowing of the magnetic fluid, so that the capsule body rotates under the action of gravity and is gradually adjusted to a position in contact with the obstacle; the direction of the magnetic field is adjusted again to drive the capsule body to continuously rotate, finally the capsule body crosses the obstacle, it is ensured that the capsule body smoothly moves in the stomach environment, the whole device is designed into a capsule shape, the appearance is round and smooth, and the patient does not have protruding foreign body sensation in the swallowing process; the device has the advantages of being good in swallowing comfort, rapid and accurate in medicine delivery and the like.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an intracavitary drug delivery robot. Background Technology

[0002] The most common method of delivering medication to the stomach is through capsules. After entering the stomach, the capsules dissolve in the stomach's mucus, and the medication is dispersed throughout the stomach. This method of delivery is non-targeted. Because the medication is often dispersed throughout the digestive tract, the proportion of medication that actually reaches the lesion is extremely low, resulting in unsatisfactory drug delivery efficiency. Therefore, for targeted drug delivery, intracavitary drug delivery robots are used. Intracavitary drug delivery robots use the body's natural cavities (such as the stomach) to precisely deliver medication to the lesion site, achieving targeted treatment and reducing toxic side effects.

[0003] Existing intracavitary drug delivery robots connect multiple robots in series. The robot's walking components are mounted on a magnetic component. The magnetic component interacts with an external driving field. When the external magnetic field changes, all walking components generate periodic movements resembling the legs of a centipede, propelling the drug delivery device over obstacles and transporting the container and the drug to be transported to the designated location. Gastric acid dissolves the soluble cap containing the drug, allowing the drug to be delivered to the lesion site. This drug delivery robot can effectively reach the target delivery location, improving the drug delivery effect.

[0004] Centipede-like drug delivery robots traverse gastric wall folds through multi-segment flexible motion. Their soluble caps release drugs precisely when triggered by gastric acid, offering advantages such as strong lesion targeting and high biocompatibility. However, when multiple robots are used in series, two key issues arise: 1. Increased axial length reduces esophageal passage; 2. Bilateral walking mechanisms cause lateral dimensions to exceed the swallowing comfort threshold, resulting in a stronger foreign body sensation. This structural design easily leads to swallowing difficulties, where the robot becomes stuck in the esophageal sphincter, triggering the pharyngeal reflex (regurgitation), making it difficult for the patient to swallow the drug smoothly.

[0005] It is concluded that existing technologies have difficulty simultaneously achieving the advantages of both passing through the folds of the stomach wall and swallowing comfort. Therefore, this invention makes an innovative design based on the original intracavitary drug delivery robot. Summary of the Invention

[0006] The present invention addresses the problem that existing technical solutions are too simplistic and provides a solution that is significantly different from existing technologies. Specifically, the purpose of the present invention is to provide an intracavitary drug delivery robot to solve the problems mentioned in the background art, namely, the difficulty in achieving the advantages of gastric wall fold crossing and swallowing comfort.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an intracavitary drug delivery robot, comprising a capsule body, a detachable top shell mounted on the top of the capsule body, and a miniature camera disposed inside the capsule body, and further comprising: A bottom sleeve fitted over the outside of the capsule body, its position adaptively adjusted based on the direction of the magnetic field; A drug storage component for automatic drug delivery is located on the outside of the capsule body; A sealing component located on the outside of the capsule to isolate stomach acid and a control component located inside the capsule to drive the delivery of the medication; The bottom casing has a magnetic fluid storage tank inside, and the magnetic fluid storage tank stores magnetic fluid whose flow direction is adaptively adjusted based on the direction of the magnetic field. The drug storage component includes a drug storage cavity that is opened at an equal angle outside the capsule body, and the drug is filled inside the drug storage cavity; The sealing component includes a sealing cap that is equidistantly disposed on the outside of the capsule body for sealing the medicine; The control component includes a protrusion that controls the opening and closing of the sealing cover.

[0008] Preferably, the bottom end shell is composed of a semi-circular body and an arc-shaped plate; Arc-shaped plates are fixedly distributed at equal angles at the top of the semi-circle; The inner wall of the arc-shaped plate is fixedly connected to the outer wall of the capsule body.

[0009] Preferably, a connecting ring is fixedly connected to the top of the bottom end casing; The connecting ring is hollow; The inner wall of the arc-shaped plate has flow channels, which are connected to the magnetic fluid storage tank and the connecting ring.

[0010] Preferably, the drug storage component further includes a sealing membrane disposed on the inner wall of the drug storage cavity for sealing the drug.

[0011] Preferably, the sealing component further includes a channel formed in the inner wall of the capsule, and a connecting rod is slidably sleeved on the inner wall of the channel; One end of the connecting rod extending outside the capsule body is fixedly connected to the inner wall of the sealing cap.

[0012] Preferably, a limiting block is fixed at one end of the connecting rod that extends into the capsule body.

[0013] Preferably, the sealing cap has an arc-shaped structure and fits snugly against the outer wall of the capsule body; The sealing cap is staggered with the arc-shaped plate in the bottom sleeve.

[0014] Preferably, a spring is fixedly connected to the inner wall of the capsule body; The spring is slidably sleeved with the connecting rod.

[0015] Preferably, the control component further includes a micro motor fixed to the inner wall of the capsule; The output shaft of the micro motor is fixedly connected to a rotating block; The protrusions are distributed at equal angles on the outer wall of the rotating block.

[0016] Preferably, the position of the protrusion is intersected with the end of the connecting rod that extends into the capsule body.

[0017] Compared with the prior art, the beneficial effects of the present invention are: When the capsule encounters an obstacle in the complex environment of the stomach, the magnetic field is adjusted to be directed diagonally above the obstacle, causing the magnetofluid to flow in a specific direction under the influence of the magnetic field. As the magnetofluid flows, the capsule changes from a tail-heavy to a head-heavy state. At this point, the capsule rotates under the influence of gravity, gradually adjusting to a position where it contacts the obstacle. The magnetic field is then adjusted again to drive the capsule to continue rotating, eventually overcoming the obstacle. This ensures smooth movement of the capsule within the stomach environment. Furthermore, the device is designed in the shape of a capsule, with a smooth and rounded appearance, so patients do not experience a noticeable foreign body sensation during swallowing. Compared to existing technologies, this device offers advantages such as improved swallowing comfort and faster, more accurate medication delivery.

[0018] Once the capsule precisely reaches the target delivery site, its internal micro-motor starts and drives the rotating block and protrusion to rotate synchronously. The protrusion gradually pushes the connecting rod outward from the capsule, thereby releasing the sealing cap from the drug storage cavity. At this time, gastric acid in the gastric juice can quickly penetrate and dissolve the sealing film, allowing the drug to be slowly released from the storage cavity and evenly distributed at the specific drug delivery site in the stomach. This device ensures the accuracy of drug delivery through mechanical unlocking and chemical dissolution, ensuring that the sealing cap is released only after the capsule reaches the target position, avoiding drug leakage during transportation due to gastric acid dissolving the sealing film in advance, and reducing drug waste in non-target areas. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a schematic diagram of a capsule whose structure is obstructed by an obstacle.

[0021] Figure 3 This is a schematic diagram of the process by which the capsule flips over an obstacle.

[0022] Figure 4 This is a schematic diagram of the capsule's structure after it has overturned the obstacle.

[0023] Figure 5This is a first-view perspective three-dimensional cross-section of the present invention.

[0024] Figure 6 for Figure 5 Enlarged view of the structure at point A in the middle.

[0025] Figure 7 This is a second perspective view of the three-dimensional cross-section of the present invention.

[0026] Figure 8 This is a planar cross-sectional view of the present invention.

[0027] Figure 9 This is a comparison diagram of the planar states in which the protrusion pushes the sealing cap away from the capsule body via the connecting rod in this invention.

[0028] Figure 10 This is a three-dimensional comparison diagram of the sealed cap detached from the capsule body in this invention.

[0029] Figure 11 This is a schematic diagram of the capsule body in this invention.

[0030] Figure 12 This is a schematic diagram of the bottom end shell structure in this invention.

[0031] Figure 13 This is a cross-sectional view of the bottom casing in this invention.

[0032] Figure 14 This is a schematic diagram of the micro motor in this invention.

[0033] Figure 15 This is a schematic diagram of the spring structure in this invention.

[0034] In the diagram: 1. Capsule body; 2. Top shell; 3. Miniature camera; 4. Bottom shell; 41. Connecting ring; 42. Magnetofluid storage tank; 5. Drug storage chamber; 51. Sealing membrane; 6. Sealing cap; 61. Connecting rod; 62. Limiting block; 63. Spring; 7. Miniature motor; 71. Rotating block; 72. Protrusion. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] Please see Figures 1 to 15The present invention provides a technical solution: an intracavitary drug delivery robot, comprising a capsule body 1, a top shell 2 detachably mounted on the top of the capsule body 1, and a miniature camera 3 disposed inside the capsule body 1, and further comprising: The bottom shell 4 is fitted onto the outside of the capsule body 1 and its position is adaptively adjusted based on the direction of the magnetic field; A drug storage component for automatic drug delivery is installed on the outside of the capsule body 1; A sealing component is disposed on the outside of the capsule body 1 to isolate gastric acid, and a control component is disposed inside the capsule body 1 to drive the delivery of the drug. The bottom casing 4 has a magnetic fluid storage tank 42 inside, and the magnetic fluid storage tank 42 stores magnetic fluid whose flow direction is adaptively adjusted based on the direction of the magnetic field. The drug storage component includes a drug storage cavity 5 that is opened at equal angles on the outside of the capsule body 1, and the drug is filled inside the drug storage cavity 5; The sealing component includes a sealing cap 6 that is equidistantly disposed on the outside of the capsule body 1 for sealing the medicine; The control component includes a protrusion 72 that controls the opening and closing of the sealing cover 6.

[0037] In specific implementation, the miniature camera 3 is an existing device, such as the camera mentioned in Chinese patent publication number CN118749874A. The miniature camera 3 can take high-definition pictures inside the stomach and display the condition of the stomach through an external display system, providing doctors with clear images of the inside of the stomach, enabling doctors to observe the condition of the stomach more accurately, and making it easier to accurately position the device to deliver medication. Magnetofluid, as a unique colloidal solution, is composed of nanoscale magnetic particles, a base fluid, and a surfactant. This solution has the fluidity of a liquid and can flow freely like an ordinary liquid. When subjected to an external magnetic field, the nanoscale magnetic particles in the magnetofluid will respond quickly, driving the entire solution to flow in the direction of the magnetic force, exhibiting unique magnetic response characteristics.

[0038] The bottom casing 4 is composed of a semi-circular body and an arc plate; Arc-shaped plates are fixedly distributed at equal angles at the top of the semi-circle; The inner wall of the arc-shaped plate is fixedly connected to the outer wall of the capsule body 1.

[0039] In practice, the bottom shell 4 is fitted over the outside of the capsule body 1, so that the device as a whole still takes on the shape of a capsule, and the patient will not feel a protruding foreign body when swallowing.

[0040] A connecting ring 41 is fixedly connected to the top of the bottom end sleeve 4; The connecting ring 41 is hollow; The inner wall of the arc-shaped plate is provided with a flow channel, and the flow channel is connected to the magnetic fluid storage tank 42 and the connecting ring 41.

[0041] In practice, the initial storage volume of the magnetofluid in the magnetofluid storage tank 42 is two-thirds of its total capacity. When an external magnetic field is applied, the magnetofluid will flow in a directional manner under the action of the magnetic field force, with its flow direction consistent with the direction of the magnetic field. This characteristic allows the magnetofluid to generate sufficient thrust, thereby driving the capsule 1 to move in the preset target direction. However, when the capsule 1 moves in the stomach environment, it may encounter various obstacles, such as stomach wall folds and polyps, preventing it from moving forward. Faced with this situation, the system will react quickly by adjusting the direction of the magnetic field, guiding the magnetic field to an angle above the obstacle. This adjustment causes the magnetofluid to flow under the action of the magnetic field force and flow into the interior of the connecting ring 41 through a specific flow channel. As the magnetofluid flows in, the center of gravity distribution of the capsule 1 changes from the original balanced state to a "top-heavy" state. This change in the center of gravity causes the capsule 1 to rotate under the action of gravity, gradually adjusting its posture, and finally turning onto the obstacle. After the capsule 1 successfully turns onto the obstacle, the system will adjust the direction of the magnetic field again, guiding it to the direction in which the capsule 1 needs to move. Under the influence of this magnetic force, the capsule 1 continues to rotate, gradually passing over the obstacle, thus achieving the action of flipping over or skimming over the obstacle.

[0042] The drug storage component also includes a sealing membrane 51 disposed on the inner wall of the drug storage cavity 5 for sealing the drug.

[0043] In practice, the sealing membrane 51 is made of a soluble membrane, such as gelatin, starch and sodium alginate, which can be dissolved by gastric juice upon contact with the sealing membrane 51.

[0044] The sealing component also includes a channel formed in the inner wall of the capsule body 1, and a connecting rod 61 is slidably sleeved on the inner wall of the channel; One end of the connecting rod 61 extending outside the capsule body 1 is fixedly connected to the inner wall of the sealing cap 6.

[0045] In practice, the connecting rod 61 connects and limits the sealing cover 6. When the connecting rod 61 moves to the outside of the capsule body 1, it can drive the sealing cover 6 to move, so that the sealing cover 6 no longer seals the medicine storage cavity 5, and the gastric acid will come into contact with the sealing film 51.

[0046] A limiting block 62 is fixed at one end of the connecting rod 61 that extends into the inside of the capsule body 1; The sealing cap 6 has an arc-shaped structure and is fitted to the outer wall of the capsule body 1; The sealing cover 6 is staggered with the arc-shaped plate in the bottom sleeve 4.

[0047] In practice, the sealing cap 6 seals the drug storage cavity 5, which can isolate the stomach acid and prevent the drug from being automatically delivered before the capsule body 1 reaches the delivery site.

[0048] A spring 63 is fixedly connected to the inner wall of the capsule body 1; The spring 63 is slidably sleeved with the connecting rod 61.

[0049] In practice, the limiting block 62 can limit one end of the spring 63. Therefore, when the connecting rod 61 moves to the outside of the capsule body 1, one end of the spring 63 is limited by the limiting block 62, and the other end is blocked by the inner wall of the capsule body 1, so the spring 63 is compressed.

[0050] The control component also includes a micro motor 7 fixed to the inner wall of the capsule body 1; The output shaft of the micro motor 7 is fixedly connected to a rotating block 71; The protrusions 72 are distributed at equal angles on the outer wall of the rotating block 71.

[0051] In specific implementation, the micro motor 7 is existing technology, as disclosed in Chinese patent publication number CN118749874A.

[0052] The position of the protrusion 72 is intersected with the end of the connecting rod 61 that extends into the capsule body 1.

[0053] In practice, after the capsule body 1 reaches the area where the medication needs to be delivered, the micro motor 7 is activated. The micro motor 7 can drive the rotating block 71 and the protrusion 72 to rotate together. The protrusion 72 will pass one end of the connecting rod 61. The surface of the protrusion 72 is smooth and has an arc. The end of the connecting rod 61 extending into the capsule body 1 is also an arc surface. Therefore, the connecting rod 61 is obstructed by the protrusion 72 and moves to the outside of the capsule body 1. At this time, the sealing cap 6 no longer seals the medication storage cavity 5. Gastric acid comes into contact with the sealing film 51 and dissolves it, and the medication will fall out, thus achieving medication delivery.

[0054] Working principle: When using the internal drug delivery robot, the patient swallows the capsule 1 into the stomach. Since the device is still capsule-shaped, the patient will not feel a protruding foreign body when swallowing. The magnetic fluid is adsorbed by an external magnetic field, thereby enabling the movement of the capsule 1 to be controlled by the magnetic fluid. like Figures 2-4As shown, when capsule 1 encounters an obstacle in the stomach, the magnetic field direction is adjusted to guide it diagonally above the obstacle. This magnetic field adjustment causes the magnetofluid to flow directionally under the influence of the magnetic field, flowing into the internal space of the connecting ring 41. With the flow of the magnetofluid, the center of gravity distribution of capsule 1 changes significantly, from a tail-heavy to a head-heavy state. This change in center of gravity causes capsule 1 to rotate under the influence of gravity, eventually adjusting to a position in contact with the obstacle. The magnetic field direction is then adjusted again, guiding it in the desired direction of movement. Under this magnetic field, capsule 1 continues to rotate, gradually overcoming the obstacle. Through this series of magnetic field adjustments and center of gravity shifts, capsule 1 can successfully flip over or skim over obstacles, enabling it to move smoothly within the stomach environment and accurately reach the target medication delivery site.

[0055] like Figures 7-10 As shown, when the capsule body 1 accurately reaches the target drug delivery site, the micro motor 7 inside it is activated. The micro motor 7 drives the rotating block 71 and the protrusion 72 to rotate synchronously. As the rotating block 71 rotates, the protrusion 72 gradually approaches one end of the connecting rod 61 and applies a pushing force to the connecting rod 61 during the rotation, thereby pushing the connecting rod 61 towards the outside of the capsule body 1. The movement of the connecting rod 61 directly acts on the sealing cover 6, causing the sealing cover 6 to disengage from the outer wall of the capsule body 1.

[0056] The sealing cap 6 no longer seals the drug storage cavity 5, allowing gastric acid to enter and come into contact with the sealing membrane 51 through the open space. Gastric acid is highly corrosive and can quickly dissolve the sealing membrane 51, thereby destroying its original sealing performance. As the sealing membrane 51 dissolves, the drug loses its original sealing protection and begins to gradually disperse under the action of gastric acid, ensuring that the drug is accurately and evenly distributed at the target delivery site.

[0057] It should be noted that magnetohydrodynamic technology is a relatively mature and widely used existing technology. In this invention, only the magnetohydrodynamic body is used, that is, its existing physical properties and functions are directly utilized without any modification to it.

[0058] This invention employs a capsule-shaped design, eliminating significant foreign body sensation during swallowing. An external magnetic field controls the adsorption of a magnetic fluid, driving the capsule 1 to move within the stomach. Upon encountering an obstacle, the magnetic field direction is adjusted to guide the magnetic fluid into the connecting ring 41, shifting the capsule 1's center of gravity from tail-heavy to head-heavy. This allows the capsule to rotate and adjust until it contacts the obstacle. The magnetic field direction is then adjusted again to overcome the obstacle, ensuring smooth movement to the target medication delivery site. Upon arrival, a micro-motor 7 is activated, driving the rotating block 71 and protrusion 72 to rotate, pushing the connecting rod 61 to detach the sealing cap 6, exposing the sealing film 51 to gastric acid. The gastric acid rapidly dissolves the sealing film 51, allowing the medication to precisely disperse at the target site under the influence of the gastric acid, achieving efficient and uniform delivery.

[0059] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intracavitary drug delivery robot, comprising a capsule body (1), a top shell (2) detachably mounted on the top of the capsule body (1), and a miniature camera (3) disposed inside the capsule body (1), characterized in that: Also includes: The bottom shell (4) is fitted outside the capsule body (1) and its position is adaptively adjusted based on the direction of the magnetic field. A drug storage component for automatic drug delivery is installed on the outside of the capsule body (1); A sealing component disposed on the outside of the capsule body (1) to isolate gastric acid and a control component disposed inside the capsule body (1) to drive the delivery of the drug; The bottom casing (4) has a magnetic fluid storage tank (42) inside, and the magnetic fluid storage tank (42) stores magnetic fluid whose flow direction is adaptively adjusted based on the direction of the magnetic field. The drug storage component includes a drug storage cavity (5) that is opened at equal angles outside the capsule body (1), and the drug is filled inside the drug storage cavity (5); The sealing component includes a sealing cap (6) that is equidistantly disposed on the outside of the capsule body (1) for sealing the medicine; The control component includes a protrusion (72) that controls the opening and closing of the sealing cover (6).

2. The intracavitary drug delivery robot according to claim 1, characterized in that: The bottom end shell (4) is composed of a semi-circular body and an arc-shaped plate; Arc-shaped plates are fixedly distributed at equal angles at the top of the semi-circle; The inner wall of the arc-shaped plate is fixedly connected to the outer wall of the capsule body (1).

3. The intracavitary drug delivery robot according to claim 2, characterized in that: A connecting ring (41) is fixedly connected to the top of the bottom end sleeve (4). The connecting ring (41) is hollow; The inner wall of the arc plate is provided with a flow channel, and the flow channel is connected to the magnetic fluid storage tank (42) and the connecting ring (41).

4. The intracavitary drug delivery robot according to claim 1, characterized in that: The drug storage component also includes a sealing membrane (51) disposed on the inner wall of the drug storage cavity (5) for sealing the drug.

5. The intracavitary drug delivery robot according to claim 1, characterized in that: The sealing component also includes a channel opened on the inner wall of the capsule body (1), and a connecting rod (61) is slidably sleeved on the inner wall of the channel. The connecting rod (61) extends out of the capsule body (1) and is fixedly connected to the inner wall of the sealing cap (6).

6. The intracavitary drug delivery robot according to claim 5, characterized in that: The connecting rod (61) extends into the capsule body (1) and a limiting block (62) is fixed at one end.

7. The intracavitary drug delivery robot according to claim 6, characterized in that: The sealing cap (6) has an arc-shaped structure and is fitted to the outer wall of the capsule body (1); The sealing cap (6) and the arc-shaped plate in the bottom sleeve (4) are staggered.

8. The intracavitary drug delivery robot according to claim 7, characterized in that: A spring (63) is fixedly connected to the inner wall of the capsule body (1). The spring (63) is slidably sleeved with the connecting rod (61).

9. The intracavitary drug delivery robot according to claim 1, characterized in that: The control component also includes a micro motor (7) fixed to the inner wall of the capsule body (1). The output shaft of the micro motor (7) is fixedly connected to a rotating block (71). The protrusions (72) are distributed at equal angles on the outer wall of the rotating block (71).

10. The intracavitary drug delivery robot according to claim 9, characterized in that: The position of the protrusion (72) is intersected with one end of the connecting rod (61) extending into the capsule body (1).

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