Implantable insulin pump for supplying medicine through oral magnetic control capsule robot

Abstract

The invention relates to an insulin pump for supplying medicine through a magnetic control capsule robot. The insulin pump comprises an implantable main body and the magnetic control capsule robot which can be taken orally and is filled with an insulin medicament, the implantable main body comprises a sealed shell, and a magnetic control module, a puncture module, a storage and transportation module and a power supply module which are integrated in the sealed shell. When the magnetic control capsule robot arrives near the right curve of the colon of the right inferior belly along the digestive tract, the magnetic control module of the implantable main body adsorbs and fixes the magnetic control capsule robot through magnetism; the puncture module punctures a shell of the magnetic control capsule robot through a puncture needle to establish a medicine channel; the storage and delivery module extracts insulin in the magnetic control capsule robot through negative pressure and stores the insulin, and then the insulin is pumped into the abdominal cavity of a patient through the piezoelectric micropump. According to the intraperitoneal infusion system, long-term wound opening caused by traditional in-vitro infusion is avoided for a type I diabetes patient needing to continuously supply insulin in a mode of orally taking the magnetic control capsule robot, non-invasive and accurate intraperitoneal infusion of insulin is achieved, and the wound infection risk of the type I diabetes patient can be remarkably reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a fully implantable abdominal drug delivery system for continuous insulin infusion, which is especially suitable for type I diabetes patients who need long-term insulin treatment. BACKGROUND

[0002] Type I diabetes patients cannot self-regulate blood glucose and need to continuously and quantitatively infuse insulin through external equipment to maintain stable blood glucose. In addition, such patients usually have weak wound healing ability, and long-term percutaneous catheterization will further increase the risk of infection and poor healing. Traditional insulin pumps are mostly worn externally, and use percutaneous infusion through a catheter, which not only easily causes catheter blockage, local infection, and inconvenience in movement, but also further increases the risk of infection due to long-term open wounds. A fully implantable insulin pump implants the entire device in the body and replenishes the drug in the body through an oral drug-carrying magnetic capsule robot, which can avoid percutaneous catheter-related complications and greatly improve the convenience of patients' life. SUMMARY

[0003] The present application aims to solve the technical problems of existing insulin pumps (such as percutaneous infusion type worn externally), which need to be replenished through surgery or percutaneous puncture, are highly invasive and complex to operate, and their infusion accuracy is easily limited by mechanical structure. Therefore, the present application provides a fully implantable abdominal drug delivery insulin pump, which can achieve completely non-invasive drug replenishment and has the advantages of high infusion accuracy and stable and reliable operation.

[0004] To solve the above technical problems, the present application adopts the following technical solutions.

[0005] A fully implantable abdominal drug delivery insulin pump includes an implantable main body 1 and a magnetic capsule robot 2 for orally carrying insulin. The implantable main body 1 includes a sealed shell 3 made of biocompatible material, and a magnetic control module, a puncture module, a storage and infusion module, and a power supply module integrated in the sealed shell 3.

[0006] The magnetic control module is used for precise positioning and firm adsorption of the magnetic control capsule robot 2 in vivo. The core of the module is a permanent-electric composite magnet composed of a permanent magnet 11 and an electromagnetic coil 9, and the adsorption and separation of the magnetic control capsule robot are realized by adjusting the direction and strength of the magnetic field. The rotation of the permanent magnet 11 is driven by the driving motor 4, the transmission shaft 7 and the gear transmission mechanism, which can change the orientation of the magnetic pole and thus control the size and direction of the magnetic adsorption force on the magnetic control capsule robot 2. The rotation angle is monitored by the encoder of the driving motor 4, and the orientation of the magnetic pole of the permanent magnet 11 can be calculated in real time. The control system adjusts the current size and direction of the electromagnetic coil 9 according to the above information, so that the magnetic field generated by the electromagnetic coil 9 and the magnetic field of the permanent magnet 11 are in the same direction and are superimposed, thereby significantly enhancing the total adsorption magnetic force on the magnetic control capsule robot 2. In order to realize more stable and reliable adsorption, the electromagnetic coil 9 is wound outside the permanent magnet 11 to ensure that the strongest magnetic field is formed in the direction of the magnetic control capsule robot 2, effectively penetrating the tissue gap; the Hall sensor 12 detects the magnetic field strength in real time, and then feeds back the adsorption force, realizing closed-loop control of the magnetic field strength.

[0007] The puncture module is used to pierce the shell of the magnetic control capsule robot 2 after it is adsorbed and fixed, to establish a sterile drug transfer channel. The module shares the same driving motor 4 and transmission shaft 7 with the magnetic control module, so as to reduce the volume of the implantable body 1. The second sector gear 7-2 on the transmission shaft 7 is engaged with the rack 13-1 on the puncture needle shell 13, so that the rotational motion of the driving motor 4 is converted into the stable and precise linear puncture motion of the puncture needle.

[0008] The storage and infusion module is used to extract insulin in the drug cavity 26 of the magnetic control capsule robot 2 through the channel established by the puncture module, and to store and program infusion. The module includes a plunger rod 16 driven by a driving motor 15 and a drug storage cavity 17 system. The rotation and axial translation of the plunger rod 16 are realized through screw cooperation, so as to form a controllable negative pressure in the drug storage cavity 17 to extract the drug. The extracted insulin is finally pumped into the abdominal cavity of the patient through a high-precision piezoelectric micropump 18 with programmable flow rate and mode.

[0009] The power supply module includes a receiving coil and a power management circuit, which is fixedly arranged inside the sealed shell, and is used for receiving external power in a wireless induction manner and supplying power to each functional module of the entire implantable body 1.

[0010] The magnetic control capsule robot 2 includes a shell 22, which is internally provided with a sealed drug cavity 26 for containing insulin. The drug cavity 26 is closed by a sealing structure. A camera 24 is arranged at the front end of the shell, which can shoot the image of the digestive tract after oral administration and transmit it wirelessly, for real-time positioning. A magnetic ring 23 is embedded in the middle of the shell, which is used for magnetic force adsorption and fixation with the magnetic control module of the implantable body 1.

[0011] The application also provides an operation method of the full-implanted intraperitoneal insulin pump, and the core process of the operation method comprises the following steps: when it is monitored that the storage amount is insufficient, the patient orally takes the drug-loaded magnetic capsule robot; precise docking is realized through navigation of a camera on the magnetic capsule robot and adsorption of a magnetic control module; a puncture module is started to puncture the magnetic capsule robot and a storage and delivery module is started to extract the drug at the same time; after the drug extraction is completed, the empty magnetic capsule robot is released; finally, the storage and delivery module performs high-precision insulin infusion into the abdominal cavity through a piezoelectric micropump according to a set program. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0013] Figure 1 is a schematic diagram of the docking working state of the implantable main body and the magnetic capsule robot in the body in the patent embodiment of the present application.

[0014] Figure 2 is a schematic diagram of the internal three-dimensional structure of the implantable main body of the full-implanted intraperitoneal insulin pump in the patent embodiment of the present application.

[0015] Figure 3 is a schematic diagram of the detailed structure of the magnetic control module of the full-implanted intraperitoneal insulin pump in the patent embodiment of the present application.

[0016] Figure 4 is a schematic diagram of the detailed structure of the puncture module of the full-implanted intraperitoneal insulin pump in the patent embodiment of the present application.

[0017] Figure 5 is a schematic diagram of the internal structure of the implantable main body of the full-implanted intraperitoneal insulin pump in the patent embodiment of the present application.

[0018] Figure 6 is a schematic diagram of the three-dimensional structure of the magnetic capsule robot of the full-implanted intraperitoneal insulin pump in the patent embodiment of the present application.

[0019] Explanation of reference signs: 1-Implantable main body, 2-Magnetically controlled capsule robot, 3-Sealed shell, 3-1~3-6-Auxiliary plates, 3-7-Guide bracket, 4-Drive motor, 5-Coupling, 6-Set screw, 7-Drive shaft, 7-1-First sector gear, 7-2-Second sector gear, 8-Circular gear, 9-Electromagnetic coil, 10-Magnetic base, 11-Permanent magnet, 12-Hall sensor, 13-Puncture needle shell, 13-1-Rack, 14-Puncture needle, 3-7-Guide bracket, 15-Drive motor, 16-Plunger rod, 17-Drug storage chamber, 18-Piezoelectric micropump, 19-Inlet conduit, 20-Connecting conduit, 21-Outlet conduit, 22-Shell, 23-Docking magnetic ring, 24-Camera, 25-Wireless transmission module, 26-Drug chamber. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Example 1: System structure example.

[0022] like Figures 1 to 6 As shown, this invention provides a fully implantable intraperitoneal insulin pump. This system achieves long-term, precise insulin infusion through complete implantation and utilizes an orally operated magnetically controlled capsule robot 2 for non-invasive drug replenishment.

[0023] The implantable main body 1 is the core of the system. Its sealing shell 3 is made of biocompatible material to ensure long-term implantation stability and tissue compatibility. The sealing shell 3 contains multiple auxiliary plates. These auxiliary plates serve as a unified installation reference and structural framework, enabling high-density, three-dimensional integration of various functional modules and effectively reducing the overall volume.

[0024] Furthermore, the magnetic control module is used to precisely capture the magnetically controlled capsule robot 2 within the body, which is a key step in achieving non-invasive drug administration. For example... Figure 3 As shown, the drive motor 4 is fixed to the bottom auxiliary plate by bolts. Its output shaft is connected to the vertically arranged transmission shaft 7 via a coupling 5. A first sector gear 7-1 and a second sector gear 7-2 are fixed on the transmission shaft 7. The permanent magnet 11 is supported by a rotating shaft 8-1, the upper end of which is fixed with a circular gear 8, which meshes with the first sector gear 7-1. The first sector gear 7-1 and the second sector gear 7-2 are mounted on the transmission shaft with a fixed phase difference of 180°.

[0025] Therefore, the rotation of the drive motor 4 can precisely control the permanent magnet 11 to rotate 180° around its axis. An electromagnetic coil 9 is wound around the outside of the permanent magnet 11, which can enhance the magnetic field strength based on the permanent magnet's magnetic field. The entire magnetic base 10 is fixed to the intermediate auxiliary plate with bolts. A Hall sensor 12 is also attached to the upper surface of the magnetic base 10 for real-time feedback of the adsorption status.

[0026] Furthermore, the puncture module is used to establish a sterile drug transfer channel after the magnetically controlled capsule robot 2 is adsorbed. For example... Figure 4 As shown, this module shares the same drive motor 4 and transmission shaft 7 with the magnetic control module. On the same section of the transmission shaft 7, adjacent to the first sector gear 7-1, a second sector gear 7-2 is fixed. The puncture needle housing 13 is slidably mounted on the auxiliary plate 3-2 via three evenly distributed circular guide brackets 3-7 along a straight line. The circular guide brackets 3-7 are annular structures, forming a three-point linear guide constraint with the outer wall of the puncture needle housing 13 through a clearance fit, ensuring that the puncture needle's axis does not deviate during extension and retraction. A rack 13-1 is machined on the side of the puncture needle housing 13, meshing with the second sector gear 7-2 on the transmission shaft 7. The puncture needle is securely mounted on the puncture needle housing 13. When the drive motor 4 drives the transmission shaft 7 to rotate, the first sector gear 7-1 drives the permanent magnet 11 to rotate 180°. At this time, the magnetic field direction from the N pole to the S pole points to the magnetically controlled capsule robot 2. At the same time, the current of the electromagnetic coil 9 is increased to enhance the magnetic attraction in the direction of the magnetically controlled capsule robot 2, adsorbing the magnetically controlled capsule robot 2 onto the implantable body 1. Meanwhile, the second sector gear 7-2 drives the rack 13-1, thereby converting the rotational motion into a precise linear motion of the puncture needle 14 along the center line connecting the three circular guide brackets 3-7, completing the puncture of the shell 22 of the magnetically controlled capsule robot.

[0027] Furthermore, the storage and delivery module is used to complete drug transfer, storage, and final infusion. For example... Figure 5 As shown, this module mainly includes a drug storage unit and an infusion unit. The drug storage unit includes a drive motor 15, which drives the plunger rod 16 to rotate via a key. The lower half of the plunger rod 16 is machined with precision threads. The inner side of the drug storage chamber 17 is machined with internal threads that match the plunger rod 16. When the drive motor 15 rotates, it drives the plunger rod 16 to rotate. The thread at the lower end of the plunger rod 16 engages with the thread on the inner side of the drug storage chamber 17 to achieve translational movement along the axis of the plunger rod 16, thereby changing the volume of the drug storage chamber 17 to extract insulin fluid. The lower end of the drug storage chamber 17 is connected to the puncture needle housing 13 via a connecting catheter 20, and both ends of the catheter are fixed and sealed with clamps.

[0028] The core of the infusion unit is a high-precision piezoelectric micropump 18, which is bolted to an auxiliary plate. The inlet of the piezoelectric micropump 18 is connected to the outlet of the drug reservoir 17 via a clamp, and its outlet extends through an outlet conduit 21 to the right lower quadrant of the colon in the abdominal cavity. This piezoelectric micropump 18 has a fast response speed and can perform continuous basal rate infusion and on-demand instantaneous high-dose infusion according to a preset program or real-time blood glucose data.

[0029] Furthermore, the power supply module is integrated inside the casing. This module receives energy transmitted from the transmitting coil worn by the patient outside the body through the principle of electromagnetic induction. After rectification, voltage regulation and charging management, it powers all motors, sensors, controllers and communication modules in the system, realizing true wireless operation.

[0030] Furthermore, the magnetically controlled capsule robot 2, as Figure 6 As shown, the magnetically controlled capsule robot 2 is a disposable oral carrier. Its overall shell is sized for swallowing, with a docking magnetic ring 23 embedded in the center. This magnetic ring 23 is fitted into an annular groove in the center of the shell and sealed with adhesive. The front end of the magnetically controlled capsule robot 2 is equipped with a camera 24 and a wireless transmission module 25 for providing visual feedback within the digestive tract. The interior of the magnetically controlled capsule robot 2 contains an independent medication chamber 26, pre-filled with a high concentration of insulin. All electronic components are powered by a miniature button battery, ensuring continuous power during a single use.

[0031] Example 2: System workflow and control method example.

[0032] This embodiment details the complete closed-loop workflow of the fully implantable intraperitoneal insulin pump, from drug replenishment to daily infusion.

[0033] Step S1: System initialization and drug triggering.

[0034] After surgical implantation, the implantable main body 1 is typically fixed to the anterior wall of the patient's abdominal cavity. The fluid level in the drug storage chamber 17 is assessed by the cumulative infusion flow rate of the piezoelectric micropump 18. When the fluid level falls below a preset threshold, the system issues a prompt, and the patient can complete the non-invasive medication replenishment by orally consuming a pre-filled insulin-containing magnetically controlled capsule robot 2.

[0035] Step S2: Capsule intake and navigation in the body.

[0036] After the patient orally ingests a pre-filled, magnetically controlled capsule robot 2, the robot descends naturally through the digestive tract with peristalsis. During this process, the camera 24 of the magnetically controlled capsule robot 2 captures images of the intracavitary space at regular intervals and transmits them wirelessly to a remote host. The remote host uses image recognition algorithms, combined with received signal strength indicators, to estimate the approximate position of the magnetically controlled capsule robot 2 relative to the implanted host in real time and displays the navigation progress on the user interface.

[0037] Step S3: Precise magnetic control adsorption docking.

[0038] When the remote host recognizes its entry into the colon area through the camera image of the magnetic capsule robot 2, and the Hall sensor 12 of the magnetic control module detects the magnetic field signal, it is determined that the magnetic capsule robot 2 has entered the preset area near the insulin pump. The controller in the implantable body 1 sends an adsorption instruction. The driving motor 4 is started, the transmission shaft 7 drives the permanent magnet 11 to rotate 180°, and the electromagnetic coil 9 is energized, which increases the surface magnetic field strength to a sufficient level to penetrate the intestinal wall tissue. The strong focused magnetic field adsorbs the docking magnetic ring 23 on the magnetic capsule robot 2 firmly on the docking surface of the implantable body 1 shell. The Hall sensor 12 on the magnetic seat body 10 monitors the adsorption force in real time, and when the force value reaches and stabilizes above the set threshold for more than 2 seconds, the system determines that the "docking is stable and successful", and enters the next step.

[0039] Step S4: Sterile puncture and negative pressure drug extraction.

[0040] After docking is stable, the driving motor 4 continues to run for 180°. At this time, the second sector gear on the transmission shaft 7 engages with the rack, pushing the puncture needle shell 13 and the puncture needle 14 to smoothly advance 10mm along the central line of the three circular guide supports 3-7. This depth can effectively penetrate the shell of the magnetic capsule robot 2. At the same time, the controller sends instructions to the driving motor 15. The driving motor 15 is started, driving the plunger rod 16 to rotate and move upward, generating a stable negative pressure in the drug storage cavity 17. The negative pressure quickly sucks the insulin solution in the drug cavity 26 of the magnetic capsule robot 2 into the drug storage cavity 17 through the puncture needle 14.

[0041] Step S5: Capsule release and system reset.

[0042] After the drug extraction is completed, the controller controls the driving motor 4 to reverse 360°. The second sector gear 7-2 engages with the rack 13-1 on the puncture needle shell 13 to rotate 180° to retract the puncture needle 14, and the first sector gear 7-1 engages with the circular gear 8 to rotate the permanent magnet 11 by 180°. The electromagnetic coil 9 is de-energized, the total magnetic field is weakened, and the magnetic attraction force is less than the gravity of the magnetic capsule robot 2 itself. At this time, the magnetic capsule robot 2 naturally separates from the insulin pump body and is naturally discharged from the body along with the intestinal tract.

[0043] Step S6: High-precision abdominal cavity insulin infusion.

[0044] After the drug storage cavity 17 is filled, the system enters the conventional infusion mode. The controller generates an infusion instruction according to the preset personalized infusion scheme or the closed-loop algorithm linked with the real-time continuous blood glucose monitoring system. The piezoelectric micropump 18 receives the instruction and pumps the insulin into the abdominal cavity. Abdominal administration is beneficial to rapid absorption of insulin and more consistent with the physiological process.

[0045] Step S7: Wireless energy management and system monitoring.

[0046] The patient uses the accompanying external charger regularly to charge the implanted device wirelessly. The power supply module manages the charging process and reports the battery state to the remote host. When the system is running, the sensor data is continuously monitored. Once an anomaly is found, the system will stop infusion and send an alarm to ensure treatment safety.

[0047] The above only describes the preferred embodiments of the present application and is not used to limit the present application. 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 fully implantable intraperitoneal insulin pump, characterized in that, It includes an implantable main body 1 and a magnetically controlled capsule robot 2 for carrying drugs; the implantable main body 1 includes a sealed outer shell 3, and a magnetic control module, a puncture module, a storage and delivery module, and a power supply module integrated inside the sealed outer shell 3.

2. The fully implantable intraperitoneal insulin pump according to claim 1, characterized in that, The magnetic control module and the puncture module share the same drive motor 4 and transmission shaft 7; the magnetic control module includes drive motor 4, coupling 5, set screw 6, transmission shaft 7, first sector gear 7-1, second sector gear 7-2, circular gear 8, electromagnetic coil 9, magnetic base 10, permanent magnet 11, and Hall sensor 12. The sector angles of the first sector gear 7-1 and the second sector gear 7-2 are both 200°, and they are mounted on the transmission shaft 7 with a fixed phase difference of 180°. The first sector gear 7-1 meshes with the circular gear 8. The drive motor 4 is bolted to the auxiliary plate 3-1 of the sealed housing 3; the upper end of the drive shaft 7 is connected to the output shaft of the drive motor 4 via a coupling 5 and is axially fixed by a set screw 6; a graphite sleeve is installed at the lower end of the drive shaft 7 as a bearing, and is also installed in the groove of the auxiliary plate 3-2 as a support; the magnetic base 10 is bolted to the auxiliary plate 3-3 of the sealed housing 3, with the groove area of ​​the magnetic base 10 facing the magnetically controlled capsule robot 2; the Hall sensor 12 is bonded to the magnetic base 10. The upper part is used to detect the magnetic field strength, and then to provide feedback on the magnitude and adsorption state of the magnetic control module's adsorption force on the magnetically controlled capsule robot; the permanent magnet 11 is wrapped with an electromagnetic coil 9; the upper end of the rotating shaft 8-1 has an integrally formed circular gear 8, the rotating shaft 8-1 passes through the permanent magnet 11 and drives the permanent magnet 11 and the circular gear 8 to rotate synchronously, the lower end of the rotating shaft 8-1 is installed with a graphite sleeve as a bearing, and they are placed together in the groove of the auxiliary plate 3-3 as support, the upper end of the circular gear 8 is also embedded in the groove of the auxiliary plate 3-4 with a graphite sleeve as a bearing; The puncture module includes a puncture needle housing 13, a rack 13-1, a puncture needle 14, and a guide bracket 3-7; the puncture module and the magnetic control module share the same drive motor 4 and transmission shaft 7. The puncture needle 14 is fixedly connected to the puncture needle housing 13, and a rack 13-1 is provided on one side of the puncture needle housing 13. The puncture needle housing 13 is movably mounted on the auxiliary plate 3-2 of the sealed housing 3 through three circular guide brackets 3-7 evenly arranged along a straight line. The axis of the puncture needle housing 13 is coaxial with the center line connecting the three circular guide brackets 3-7. The second sector gear 7-2 meshes with the rack 13-1 on one side of the puncture needle housing 13.

3. The fully implantable intraperitoneal insulin pump according to claim 2, characterized in that, The storage and transportation module includes a drive motor 15, a plunger rod 16, a drug storage chamber 17, a piezoelectric micropump 18, an inlet conduit 19, a connecting conduit 20, and an outlet conduit 21. The drive motor 15 is fixedly mounted on the auxiliary plate 3-6 of the sealed housing 3 by bolts; the plunger rod 16 is connected to the output shaft of the drive motor 15 by a flat key, and the lower end of the plunger rod 16 is machined with a precision external thread, which mates with the precision internal thread inside the drug storage chamber 17. A sealing ring is provided at the connection between the plunger rod 16 and the drug storage chamber 17; the lower end of the drug storage chamber 17 is fixed to the auxiliary plate 3-5 of the sealed housing 3 by bolts, and is connected to the puncture needle housing 13 through the connecting conduit 20. The two ends of the connecting conduit 20 are fixed and sealed by clamps; the piezoelectric micropump 18 is mounted on the auxiliary plate 3-4 of the sealed housing 3 by bolts, and the inlet of the piezoelectric micropump 18 is connected to the inlet conduit 19 through a clamp. The other end of the inlet conduit 19 is connected to the drug storage chamber 17, and the outlet is connected to the outlet conduit 21 through a clamp.

4. The fully implantable intraperitoneal insulin pump according to claim 1, characterized in that, The magnetically controlled capsule robot includes a shell 22, a docking magnetic ring 23, a camera 24, a wireless transmission module 25, and a drug chamber 26; The housing 22 has a sealed drug chamber 26 for containing insulin, which is sealed by a biocompatible sealing structure; the camera 24 and the wireless transmission module 25 are fixed in the mounting slot at the front end of the housing 22, and the axis of the camera 24 is coaxial with the central axis of the housing 22 during installation. The wireless transmission module 25 is integrated inside the camera 24 to provide visual feedback in the digestive tract to assist in docking. The docking magnetic ring 23 is embedded in the annular groove in the middle of the housing 22 and is sealed and fixed by adhesive.

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