Experimental control platform and method for magnetic targeted drug delivery robot

Abstract

The invention belongs to the technical field of medical equipment, and particularly relates to an experiment control platform and method for a magnetic targeted drug delivery robot, and the platform comprises a drug delivery robot made of a magnetic hydrogel material, a three-dimensional coil, a coil power supply system, a robot channel container, a robot image collection module and a control module. The three-dimensional coil and the coil power supply system are electrically connected to control the internal magnetic field direction of the three-dimensional coil; the robot channel container is arranged in the three-dimensional coil and is used for providing a motion space for the drug delivery robot; the robot image acquisition module is used for monitoring real-time picture information of the drug delivery robot in the robot channel container; the control module is electrically connected with the coil power supply system and the robot image acquisition module and used for regulating and controlling the magnetic field direction according to the real-time position of the drug delivery robot and guiding the drug delivery robot to move along a planned path. According to the device, the drug delivery robot can be accurately controlled to enter a specified drug release position, experimental errors are reduced, and scientific research demonstration and teaching effects are improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, specifically relating to an experimental control platform and method for a magnetic targeted drug delivery robot. Background Technology

[0002] Targeted drug delivery is an important research direction in the biomedical field, enabling accurate treatment, improved efficacy, and reduced side effects. The core of targeted drug delivery lies in drug carriers, targeted control, and controlled drug release. Among numerous drug carriers, magnetic hydrogel microrobots are a key research focus for research institutions and educational departments due to their excellent biocompatibility, intravascular motion performance, remote control capabilities, and magnetocaloric properties. To better develop and study the performance of magnetic hydrogel microrobots, extensive experiments are needed on their targeted motion, drug release, and magnetocaloric properties.

[0003] The existing experimental setup involves placing a miniature drug delivery robot made of magnetic hydrogel on a carrier, then manually propelling the carrier to move the robot to a designated location, with the robot's position observed visually. Once the robot reaches the designated location, heating equipment is used, with controlled power and time. This process makes controlling the drug delivery position difficult, slow, and requires significant human intervention, leading to large experimental errors and poor demonstration and teaching effectiveness, failing to meet the requirements of both teaching and research. Summary of the Invention

[0004] To address the problems existing in the prior art, the purpose of this invention is to provide an experimental control platform and method for a magnetic targeted drug delivery robot, which can precisely control the drug delivery robot to enter the designated drug release position, reduce experimental errors, and improve the effectiveness of scientific research demonstration and teaching.

[0005] The technical solution of this invention is:

[0006] An experimental control platform and method for a magnetic targeted drug delivery robot includes an experimental platform body, a drug delivery robot made of magnetic hydrogel material, a robot propulsion mechanism, and a temperature regulation mechanism. The robot propulsion mechanism and temperature regulation mechanism are both mounted on the experimental platform body. The drug delivery robot is located at the output end of the robot propulsion mechanism. The robot propulsion mechanism drives the drug delivery robot to move along a planned path to a designated position. The temperature regulation mechanism heats the drug delivery robot when it reaches the designated position to release the drug. The robot propulsion mechanism includes:

[0007] A robot operating space is set on the experimental platform body. The robot operating space has a robot channel container, and the drug delivery robot is placed in the robot channel container. The robot operating space is used to provide guidance for the movement of the drug delivery robot.

[0008] The robot path correction unit includes a robot image acquisition module and a control module, which are electrically connected. The robot image acquisition module is located around the robot channel container and is used to acquire real-time image information of the drug delivery robot within the robot channel container. The control module is used to process the real-time image information of the drug delivery robot to obtain the real-time position of the drug delivery robot, compare and analyze it with the target position to obtain the position offset value, and guide the drug delivery robot to move along the planned path within the machine's operating space by correcting the position offset value.

[0009] Preferably, the robot operating space includes a three-dimensional coil, a coil power system, and a robot channel container. The three-dimensional coil is fixedly installed on the experimental platform body, and the robot channel container is installed inside the three-dimensional coil. The coil power system is electrically connected to the three-dimensional coil and to the control module. The coil power system is used to provide magnetic field force within the three-dimensional coil to guide the drug delivery robot to move within the robot channel container.

[0010] Preferably, the three-dimensional coil includes multiple X coils, Y coils, and Z coils, all of which are circular ring structures. The axes of any X coil, Y coil, and Z coil are perpendicular to each other. Multiple X coils are coaxially arranged to form a first coil channel, multiple Y coils are coaxially arranged to form a second coil channel, and the second coil channel is inserted into the first coil channel. Multiple Z coils are coaxially arranged to form a third coil channel, and the third coil channel is inserted into the second coil channel. A robot container tray is fixedly installed inside the robot channel container, and the robot channel container is mounted on the robot container tray. The X coils, Y coils, and Z coils are electrically connected to the coil power system, the X coils are fixedly connected to the experimental platform body, and the Y coils and Z coils are both fixedly connected to the experimental platform body through brackets.

[0011] Preferably, the number of X coils, Y coils and Z coils is even, and the spacing between two adjacent X coils, the spacing between two adjacent Y coils and the spacing between two adjacent Z coils are all equal.

[0012] Preferably, the robot image acquisition module includes at least two cameras, which are located around the periphery of the three-dimensional coil and are fixed to the outside of the X coil by a bracket. One camera is located on the side perpendicular to the Z coil axis, and the other camera is located on the side parallel to the Z coil axis. The cameras are electrically connected to the control module.

[0013] Preferably, a temperature regulating mechanism is also provided on one side of the three-dimensional coil. The temperature regulating mechanism includes a detection component and a heating component. The detection component is disposed on the three-dimensional coil and is used to monitor the temperature around the robot channel container. The heating component is disposed on one side of the three-dimensional coil and its output end is disposed inside the robot channel container for heating the inside of the robot channel container. Both the detection component and the heating component are electrically connected to the control module.

[0014] Preferably, the detection component includes at least three infrared temperature sensors, all of which are fixedly mounted on the X coil. One of the infrared temperature sensors is located on the side perpendicular to the axis of the Y coil, and the other two infrared temperature sensors are located on the sides parallel to the axis of the Z coil. The infrared temperature sensors are electrically connected to the control module.

[0015] Preferably, the heating assembly includes a support base, a heating power platform, a Y-axis drive motor, a Z-axis drive motor, and a high-frequency induction heater. The Y-axis drive motor is fixedly connected to the experimental platform body, the Z-axis drive motor is installed at the output end of the Y-axis drive motor, the heating power platform is installed at the output end of the Z-axis drive motor, the support base is fixedly connected to the heating power platform, and a high-frequency induction heater is provided on the support base. The high-frequency induction heater is electrically connected to the heater power supply, and the high-frequency induction heater has a high-frequency heating head. The end of the high-frequency heating head away from the high-frequency induction heater extends to the robot channel container for temperature regulation inside the robot channel container.

[0016] Based on the design of the experimental control platform for the aforementioned magnetic targeted drug delivery robot, its experimental operation control method includes the following steps:

[0017] Step 1: Import the path planning map of the drug delivery robot into the control module, turn on the coil power system of the three-dimensional coil, so that a magnetic field is generated inside the three-dimensional coil;

[0018] Step 2: Drug delivery robot path calibration. Set the target position for drug release and set the temperature threshold for tissue structure destruction in the control module. Then, use a camera to collect real-time image information of the drug delivery robot in the robot channel container. The camera transmits the real-time image information to the control module. The control module uses the real-time image information of the drug delivery robot to obtain the real-time position of the drug delivery robot. Then, compare the real-time position of the drug delivery robot with the initially set target position to obtain the position offset value of the drug delivery robot. Adjust the current output of the coil power system by adjusting the position offset value to control the direction of the magnetic field and guide the drug delivery robot to move along the planned path.

[0019] Step 3: After the drug delivery robot moves to the designated position along the planned path, the coil power system is turned off, and the position of the support is adjusted to correct the position of the high-frequency heating head so that the high-frequency heating head reaches a position that is compatible with the drug delivery robot.

[0020] Step 4: Turn on the power of the high-frequency induction heater and adjust its power. Use an infrared temperature sensor to monitor the temperature information of the robot channel container in real time. Make the temperature inside the robot channel container greater than the temperature threshold for the destruction of the drug delivery robot's tissue structure. The shape of the drug delivery robot will shrink and its tissue structure will be destroyed. The drug will break free from the constraints of the hydrogel three-dimensional network structure and escape from the outside of the drug delivery robot, thus achieving the purpose of controlled drug release.

[0021] Compared with the prior art, the experimental control platform and method for a magnetic targeted drug delivery robot of the present invention have the following advantages:

[0022] 1. In targeted drug delivery experiments, this device places a robotic channel container within a three-dimensional magnetic field space created by a three-dimensional coil. A miniature drug delivery robot made of magnetic hydrogel material is then placed inside the container. A current is supplied to the three-dimensional magnetic field space using the coil power system, creating a magnetic force. Driven by this force, the drug delivery robot moves. A robot image acquisition module then captures real-time images of the drug delivery robot within the container. This real-time image information is provided to the control module, which processes the received images to determine the robot's real-time position and the target location. Comparative analysis yields the deviation between the real-time position and the target position of the drug delivery robot. This deviation is used to adjust the current in the coil power system for different magnetic field directions, thereby changing the magnetic field direction and guiding the drug delivery robot along the planned path. Once the robot reaches the designated position, a temperature control mechanism heats the robot's channel container to a specified temperature. As the temperature rises, the robot's shape shrinks and its structure is disrupted, allowing the drug to escape from the hydrogel's three-dimensional network structure and escape from the robot's body. This achieves the goal of controllable drug release. In this way, the drug delivery robot can be precisely controlled to enter the designated drug release position, reducing experimental errors and improving the effectiveness of scientific research demonstrations and teaching.

[0023] 2. The use of dual cameras can accurately capture the three-dimensional coordinates of the micro-robot and transmit the status of the micro-robot to the display port of the control module in real time for data storage and student learning analysis.

[0024] 3. Easy to operate. Based on the real-time position of the drug delivery robot obtained by the camera, the direction of the three-dimensional magnetic field can be automatically controlled to drive the drug delivery robot to move along a predetermined path. Alternatively, the direction of the three-dimensional magnetic field can be manually controlled to achieve path following control of the micro robot.

[0025] 4. After the drug delivery robot reaches the target position, the high-frequency induction heater can be automatically or manually controlled. The power of the induction heater can be adjusted in real time according to the infrared temperature tester to achieve controllable drug release and precise magnetothermal therapy.

[0026] 5. The experimental control method of this device can also be used to conduct experiments on the motion performance of drug delivery robots, drug release performance, magnetocaloric performance, artificial intelligence algorithms, machine vision and automatic control. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure from a first perspective in an embodiment of the present invention;

[0028] Figure 2 This is a schematic diagram of the overall structure from a second perspective in an embodiment of the present invention;

[0029] Figure 3 This is a schematic diagram of the overall structure from a third-view perspective in an embodiment of the present invention;

[0030] Figure 4 This is a schematic diagram of the distribution of magnetic force in an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram illustrating changes in drug release in an embodiment of the present invention.

[0032] Explanation of reference numerals in the attached figures:

[0033] 1. Base; 2. Bracket; 3. 3D coil; 31. X coil; 32. Y coil; 33. Z coil; 4. Support; 5. Camera; 6. Infrared temperature sensor; 7. High-frequency induction heating head; 8. High-frequency induction heater; 9. Heating power platform; 10. Y-axis drive motor; 11. Z-axis drive motor; 12. Robot container tray; 13. Robot channel container; 14. Drug delivery robot; 15. Planned motion trajectory; 16. Magnetic nanoparticles; 17. Drug; 18. Hydrogel. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0035] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this invention.

[0036] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0037] See Figures 1 to 3As shown, in order to accurately control the drug delivery robot 14 to enter the designated drug release position 17, reduce experimental errors, and improve the effectiveness of scientific research demonstration and teaching, this embodiment provides an experimental control platform and method for a magnetic targeted drug delivery robot. The platform includes an experimental stage, a drug delivery robot 14 made of magnetic hydrogel material, and a robot propulsion mechanism. Specifically, the robot propulsion mechanism includes a robot operating space and a robot path correction unit. The robot operating space includes a three-dimensional coil 3, a coil power system, and a robot channel container 13. The robot path correction unit includes a robot image acquisition module and a control module. The three-dimensional coil 3, the coil power system, and the robot channel container 13 together form the robot operating space, controlling the robot's movement within the designated space and providing guidance for the movement of the drug delivery robot 14. The three-dimensional coil 3 and the coil power system are electrically connected, and both are mounted on the test bench body. The coil power system is mounted on the test bench body and electrically connected to the three-dimensional coil 3 to provide magnetic force in the three-dimensional magnetic field space. The robot channel container 13 is preferably a tubular structure and is mounted on the robot container tray 12 inside the three-dimensional coil 3. The robot channel container 13 is used to provide movement space for the drug delivery robot 14. The robot image acquisition module is mounted on the three-dimensional coil 3 to acquire real-time image information of the drug delivery robot 14 in the robot channel container 13. The control module is electrically connected to the coil power system and the robot image acquisition module. The control module is used to process the received real-time image information of the drug delivery robot 14 to obtain the real-time position of the drug delivery robot 14 and compare it with the target position to obtain the offset value of the drug delivery robot 14. The offset value is used to adjust the coil power system to change the direction of the magnetic field and guide the drug delivery robot 14 to move along the planned path. The temperature adjustment mechanism is mounted on one side of the three-dimensional coil 3. The high-frequency heating head of the temperature adjustment mechanism is placed inside the robot channel container 13 to heat the robot channel container 13. Preferably, depending on the experimental requirements, the robot channel container 13 can be a hollow tubular structure, a pipe filled with liquid, or a container of other shapes filled with liquid that allows the drug delivery robot 14 to move, so that the drug delivery robot 14 is suspended in the liquid.

[0038] Specifically, during targeted drug delivery experiments, a robot channel container 13 is installed within a three-dimensional magnetic field space formed by a three-dimensional coil 3. A micro-drug delivery robot 14 made of magnetic hydrogel material is placed inside the robot channel container 13. A current is then supplied to the three-dimensional magnetic field space using a coil power system, creating a magnetic force within the space. Driven by this magnetic force, the drug delivery robot 14 moves. A robot image acquisition module then collects real-time images of the drug delivery robot 14 within the robot channel container 13. These images are provided to a control module, which processes the received real-time images to obtain the real-time position information of the drug delivery robot 14 and compares it with the target position. Analysis yields the deviation between the real-time position of the drug delivery robot 14 and the target position. This deviation is used to adjust the current in the coil power system for different magnetic field directions, thereby changing the magnetic field direction and guiding the drug delivery robot 14 along the planned path. Once the drug delivery robot 14 reaches the designated position, the temperature regulating mechanism heats the robot channel container 13 to the specified temperature. As the temperature rises, the robot's shape shrinks and its structure is disrupted, allowing the drug 17 to escape from the three-dimensional network structure of the hydrogel 18 and escape from the drug delivery robot 14, achieving the purpose of controllable release of the drug 17. In this way, the drug delivery robot 14 can be precisely controlled to enter the designated drug release position, reducing experimental errors and improving the effectiveness of scientific research demonstration and teaching.

[0039] See Figure 1 and Figure 2 As shown, the three-dimensional coil 3 further includes multiple X coils 31, Y coils 32, and Z coils 33, and the number of X coils 31, Y coils 32, and Z coils 33 is even. The axes of any X coil 31, Y coil 32, and Z coil 33 are perpendicular to each other. The multiple X coils 31 are coaxial and equally spaced, forming a first coil channel. The multiple Y coils 32 are coaxial and equally spaced within the first coil channel, forming a second coil channel. The multiple Z coils 33 are coaxial and equally spaced within the second coil channel, forming a third coil channel. The robot channel container 13 is placed in the robot container tray 12 within the third coil channel. The distance between two adjacent X coils 31, the distance between two adjacent Y coils 32, and the distance between two adjacent Z coils 33 are all equal. The X coils 31 are fixedly connected to the experimental platform body, and the Y coils 32 and Z coils 33 are fixedly connected to the experimental platform body through the bracket 2.

[0040] See Figure 1As shown, the robot image acquisition module further includes at least two cameras 5, which are located around the three-dimensional coil 3 and are fixed to the outside of the X coil 31 by a bracket 4. One camera 5 is located on the side perpendicular to the axis of the Z coil 33, and the other camera 5 is located on the side parallel to the axis of the Z coil 33.

[0041] See Figure 1 As shown, the control module further includes an automatic control system and a manual control system; the automatic control system includes a controller and an input device, which are electrically connected, and the controller is also electrically connected to the coil power supply system; the manual control system includes an X coil power switch, a Y coil power switch, and a Z coil power switch, which are respectively electrically connected to the coil power supply system.

[0042] See Figure 1 As shown, the temperature regulation mechanism includes a detection component and a heating component. The detection component is mounted on the three-dimensional coil 3 and is used to monitor the temperature around the robot channel container 13. The heating component is mounted on one side of the three-dimensional coil 3, and its output end is located inside the robot channel container 13 for heating the interior of the robot channel container 13. Both the detection component and the heating component are electrically connected to the control module. The detection component includes at least three infrared temperature sensors 6, all of which are fixedly mounted on the X coil 31. One infrared temperature sensor 6 is located on a side perpendicular to the axis of the Y coil 32, and the other two infrared temperature sensors 6 are located on opposite sides parallel to the axis of the Z coil 33. The infrared temperature sensors 6 are electrically connected to the control module.

[0043] See Figure 1 and Figure 3 As shown, the heating assembly includes a support base, a heating power platform 9, a Y-axis drive motor 10, a Z-axis drive motor 11, and a high-frequency induction heater 8. The Y-axis drive motor 10 is fixedly connected to the experimental platform body. The Z-axis drive motor 11 is installed at the output end of the Y-axis drive motor 10. The heating power platform 9 is installed at the output end of the Z-axis drive motor 11. The support base is fixedly connected to the heating power platform 9. The high-frequency induction heater 8 is provided on the support base. The high-frequency induction heater 8 is electrically connected to the heater power supply. The high-frequency induction heater 8 has a high-frequency heating head. The end of the high-frequency heating head away from the high-frequency induction heater 8 extends to the robot channel container 13 for temperature regulation inside the robot channel container 13.

[0044] See Figures 1 to 3 As shown, based on the design of the experimental control platform for the magnetic targeted drug delivery robot 14, the experimental operation procedure and method for robot drug delivery include the following steps:

[0045] Step 1: Assemble the experimental platform. In the three-dimensional coil 3, X coil 31, Y coil 32 and Z coil 33 are connected in parallel to the coil power system using power cables. The control module is connected to the coil power system, X coil power switch, Y coil power switch, Z coil power switch, camera 5, infrared temperature sensor 6, heater power supply and high frequency induction heater 8 using data cables.

[0046] Step 2: Place the drug delivery robot 14 into the robot's channel container;

[0047] Step 3: Import the path planning map of the drug delivery robot 14 into the control module, turn on the coil power system of the three-dimensional coil 3, so that the magnetic field force is generated inside the three-dimensional coil 3, providing the operating conditions for the drug delivery robot 14. The drug delivery robot 14 is suspended in the robot channel container 13 by the magnetic field force of the three-dimensional coil 3 and begins to move.

[0048] Step 4: Path calibration of drug delivery robot 14. The target position for drug release 17 is set, and the temperature threshold that causes tissue damage to drug delivery robot 14 is set in the control module. Then, the camera 5 is used to collect real-time image information of drug delivery robot 14 in robot channel container 13. The camera 5 transmits the real-time image information to the control module. The control module uses the real-time image information of drug delivery robot 14 to obtain the real-time position of drug delivery robot 14. Then, the real-time position of drug delivery robot 14 is compared with the initially set target position to obtain the position offset value of drug delivery robot 14. The current output of coil power system is adjusted by adjusting the position offset value to control the magnetic field direction and guide drug delivery robot 14 to move along the planned path.

[0049] Step 5: After the drug delivery robot 14 moves to the designated position along the planned path, the coil power system is turned off, and the position of the bracket 4 is adjusted to correct the position of the high-frequency heating head so that the high-frequency heating head reaches the position that is compatible with the drug delivery robot 14.

[0050] Step 6: Turn on the power of the high-frequency induction heater 8 and adjust its power. Use the infrared temperature sensor 6 to monitor the temperature of the robot channel container 13 in real time, ensuring the temperature inside the container exceeds the temperature threshold for tissue damage caused by the drug delivery robot 14. This achieves accurate temperature control of the target area. The drug delivery robot 14 is made of magnetic hydrogel 18, formed from hydrogel 18 and magnetic nanoparticles 16. The magnetic nanoparticles allow the drug delivery robot to move under the influence of a magnetic field. Since the hydrogel 18 has a three-dimensional network structure, such as... Figure 5As shown in (a), drug 17 and magnetic nanoparticles 16 are bound within a three-dimensional network structure at low temperatures. When the drug delivery robot 14 is heated above a threshold temperature by the high-frequency induction heater 8, the robot's shape shrinks and its tissue structure is disrupted, as... Figure 5 As shown in (b), the drug 17 escapes from the three-dimensional network structure of the hydrogel 18 and is released outside the drug delivery robot 14, thus achieving the purpose of controlled release of the drug 17.

[0051] Furthermore, in the experimental operation control method of the experimental control platform for the magnetic targeted drug delivery robot 14, the path calibration of the drug delivery robot 14 includes automatic calibration and manual calibration.

[0052] Automatic calibration is performed by selecting the automatic control system mode on the control module and setting the target position for drug 17 release. An infrared temperature sensor 6 is installed on the three-dimensional coil 3 and a temperature threshold is set in the control module. Then, the camera 5 captures real-time image information of the drug delivery robot 14 in the robot channel container 13. The control module then uses the real-time image information of the drug delivery robot 14 to calculate the offset value between the real-time position of the drug delivery robot 14 and the target position. The current output of the coil power system is adjusted by the offset value to control the direction of the magnetic field, guiding the drug delivery robot 14 to move along the planned path and reach the predetermined target.

[0053] Manual calibration is performed by selecting the manual control system mode on the control module and setting the target position for drug 17 release. An infrared temperature sensor 6 is installed on the three-dimensional coil 3 and a temperature threshold is set in the control module. The position of the drug delivery robot 14 is observed in real time through multiple high-definition cameras 5. The X coil power switch, Y coil power switch and Z coil power switch are manually operated to adjust the direction of the magnetic field of the three-dimensional coil 3, so as to guide the drug delivery robot 14 to move along the planned path and reach the predetermined target.

[0054] The built-in algorithm of the control module for planning, calibrating, and adjusting the motion path of the drug delivery robot 14 is as follows:

[0055] If automatic path-following control and drug release function are used, select the "automatic mode" of the control system, and set the target position, temperature detection point, and temperature threshold. The experimental platform will capture the robot's three-dimensional coordinates through camera 5, calculate the deviation between the robot's actual position and the target position through the built-in algorithm of the control system, and control the magnetic field direction by controlling the coil power system of the three-dimensional coil 3. The drug delivery robot 14 moves along the planned motion trajectory 15 under the traction of magnetic force or magnetic torque. The drug delivery robot 14 does not require other motion structures. The experimental platform provides two path calculation methods for the experimenter to choose from for the movement of the magnetic hydrogel 18 miniature drug delivery robot 14 driven by the magnetic field:

[0056] The first method is driven by magnetic force Fm, such as... Figure 4 As shown in (a), the magnetic field generated by the three-dimensional coil 3 and the magnetic hydrogel miniature drug delivery robot 14 produce a combined magnetic force Fm, which is composed of three components: Fmx, Fmy, and Fmz (as shown in Figure 14). Figure 4 (b) shows that their calculation formulas are as shown in equation (1):

[0057]

[0058] In the formula, θ is the angle between the direction of the magnetic force Fm and its projection onto the XY plane, and ψ is the angle between the projection of the magnetic force Fm onto the XY plane and the X-axis (e.g., ...). Figure 4 (b) is shown.

[0059] Simultaneously, it is determined by the gradient magnetic field of each axial magnetic field, and the gradient magnetic field of each axial field is determined by the coil current of that axial field, as shown in equation (2):

[0060]

[0061] In the formula, fmx, fmy, and fmy are the coefficients for calculating the magnetic force in each axis, which are related to the shape and size of the drug delivery robot 14; Bx, By, and By are the magnetic fields generated by the coils in the X, Y, and Z axes, respectively; Kx, Ky, and Ky are the coefficients for calculating the magnetic field of the coils in each axis, which are related to the size and number of turns of the collar, respectively; Ix, Iy, and Iy are the currents of the coils in the X, Y, and Z axes, respectively.

[0062] Therefore, the control system adjusts the magnitude and direction of the comprehensive magnetic field Fm by controlling the current in each axis of the coil power system (Ix, Iy, Iz), and finally drives the drug delivery robot 14 to move along the planned motion trajectory 15 of the drug delivery robot 14.

[0063] The second method is driven by magnetic field torque Tm, such as... Figure 4As shown in (c), the magnetic field generated by the three-dimensional coil 3 interacts with the magnetic hydrogel miniature drug delivery robot 14, producing a magnetic torque Tm that rotates at an angular velocity ω. Tm = VM × B, where V is the volume of the drug delivery robot 14, M is the magnetization of the drug delivery robot 14, and B is the magnetic field strength generated by the three-dimensional coil; while B = KI, where K is the correlation coefficient (related to the shape, size, and number of turns of the coil), and I is the current modulus (set by the controller). The magnetic torque Tm drives the drug delivery robot 14 to rotate synchronously, thereby driving the drug delivery robot 14 to move at a velocity v (e.g., ...). Figure 4 As shown in (c), the current control in each axial direction is as shown in equation (3):

[0064]

[0065] In the formula, Ix, Iy, and Iy represent the currents of the coils in the X, Y, and Z axes, respectively; I is the current modulus; ω is the torque Tm generated by the magnetic field on the drug delivery robot 14; t is time; and θ is the angle between the robot's velocity v direction and its projection onto the XY plane (e.g., ...). Figure 4 (d) is shown.

[0066] Furthermore, in the experimental operation control method of the experimental control platform of the magnetic targeted drug delivery robot 14, the internal temperature of the robot channel container 13 is regulated, including automatic adjustment and manual adjustment.

[0067] Automatic adjustment: The control module obtains the coordinates of the drug delivery robot 14 through the camera 5 and determines that the drug delivery robot 14 has reached the target position. Then, it sequentially starts the Y-axis drive motor 10 and the Z-axis drive motor 11 to automatically adjust the position of the bracket 4 to find the position of the high-frequency heating head. Then, it turns on the power of the high-frequency induction heater 8 and changes the power of the high-frequency induction heater 8 in real time according to the temperature obtained by the infrared temperature sensor 6, so as to achieve the purpose of accurately controlling the temperature of the target area.

[0068] Manual adjustment: Based on the data transmitted back by camera 5, the operator determines that after the micro-robot has reached the target area, and corrects the position of the high-frequency heating head by manually moving the position of the support base. The operator also manually turns on the heating power of the high-frequency induction heater 8, sets the power percentage in the control module, observes the temperature value measured by the infrared temperature sensor 6, and manually adjusts the power of the high-frequency induction heater 8 at any time.

[0069] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An experimental control platform for a magnetic targeted drug delivery robot, comprising an experimental platform body, a drug delivery robot (14) made of magnetic hydrogel material, a robot propulsion mechanism, and a temperature regulation mechanism, wherein the robot propulsion mechanism and the temperature regulation mechanism are both disposed on the experimental platform body, the drug delivery robot (14) is disposed at the output end of the robot propulsion mechanism, the robot propulsion mechanism is used to drive the drug delivery robot (14) to move along a planned path to a designated position, and the temperature regulation mechanism is used to heat the drug delivery robot (14) when it reaches the designated position to release the drug, characterized in that, The robot propulsion mechanism includes: The robot operating space is set on the experimental platform body. The robot operating space has a robot channel container (13). The drug delivery robot (14) is placed in the robot channel container (13). The robot operating space is used to provide guidance for the movement of the drug delivery robot (14). The robot path correction unit includes a robot image acquisition module and a control module, which are electrically connected. The robot image acquisition module is located around the robot channel container (13) and is used to acquire real-time image information of the drug delivery robot (14) in the robot channel container (13). The control module is used to process the real-time image information of the drug delivery robot (14) to obtain the real-time position of the drug delivery robot (14), compare and analyze it with the target position to obtain the position offset value, and guide the drug delivery robot (14) to move along the planned path in the machine operating space by correcting the position offset value.

2. The experimental control platform for a magnetic targeted drug delivery robot according to claim 1, characterized in that, The robot operating space includes a three-dimensional coil (3), a coil power system, and a robot channel container (13). The three-dimensional coil (3) is fixedly installed on the experimental platform body. The robot channel container (13) is installed inside the three-dimensional coil (3). The coil power system is electrically connected to the three-dimensional coil (3) and to the control module. The coil power system is used to provide magnetic field force to the three-dimensional coil (3) to guide the drug delivery robot (14) to move inside the robot channel container (13).

3. The experimental control platform for a magnetic targeted drug delivery robot according to claim 2, characterized in that, The three-dimensional coil (3) includes multiple X coils (31), Y coils (32), and Z coils (33). Each of the X coils (31), Y coils (32), and Z coils (33) is a ring structure. The axes of any one of the X coils (31), Y coils (32), and Z coils (33) are perpendicular to each other. Multiple X coils (31) are coaxially arranged to form a first coil channel, and multiple Y coils (32) are coaxially arranged to form a second coil channel. The second coil channel is inserted into the first coil channel. Multiple Z coils... (33) A third coil channel is formed by coaxial arrangement. The third coil channel is inserted into the second coil channel. A robot container tray (12) is fixedly installed in the third coil channel. The robot channel container (13) is installed on the robot container tray (12). The X coil (31), Y coil (32) and Z coil (33) are electrically connected to the coil power system respectively. The X coil (31) is fixedly connected to the experimental platform body. The Y coil (32) and Z coil (33) are both fixedly connected to the experimental platform body through bracket (2).

4. The experimental control platform for a magnetic targeted drug delivery robot according to claim 3, characterized in that, The number of X coils (31), Y coils (32) and Z coils (33) is even, and the distance between two adjacent X coils (31), the distance between two adjacent Y coils (32) and the distance between two adjacent Z coils (33) are all equal.

5. The experimental control platform for a magnetic targeted drug delivery robot according to claim 4, characterized in that, The robot image acquisition module includes at least two cameras (5). The two cameras (5) are located around the three-dimensional coil (3), and the cameras (5) are fixed to the outside of the X coil (31) by a bracket (4). One camera (5) is located on the side perpendicular to the axis of the Z coil (33), and the other camera (5) is located on the side parallel to the axis of the Z coil (33). The cameras (5) are electrically connected to the control module.

6. The experimental control platform for a magnetic targeted drug delivery robot according to claim 5, characterized in that, The temperature regulation mechanism includes a detection component and a heating component. The detection component is disposed on the three-dimensional coil (3) and is used to monitor the temperature around the robot channel container (13). The heating component is disposed on one side of the three-dimensional coil (3) and the output end of the heating component is disposed inside the robot channel container (13) for heating the inside of the robot channel container (13). Both the detection component and the heating component are electrically connected to the control module.

7. The experimental control platform for a magnetic targeted drug delivery robot according to claim 6, characterized in that, The detection assembly includes at least three infrared temperature sensors (6), all of which are fixedly mounted on the X coil (31). One of the infrared temperature sensors (6) is located on the side perpendicular to the axis of the Y coil (32), and the other two infrared temperature sensors (6) are located on the sides parallel to the axis of the Z coil (33). The infrared temperature sensors (6) are electrically connected to the control module.

8. The experimental control platform for a magnetic targeted drug delivery robot according to claim 7, characterized in that, The heating assembly includes a support base, a heating power platform (9), a Y-axis drive motor (10), a Z-axis drive motor (11), and a high-frequency induction heater (8). The Y-axis drive motor (10) is fixedly connected to the experimental platform body. The Z-axis drive motor (11) is installed at the output end of the Y-axis drive motor (10). The heating power platform (9) is installed at the output end of the Z-axis drive motor (11). The support base is fixedly connected to the heating power platform (9). The support base is provided with a high-frequency induction heater (8). The high-frequency induction heater (8) is electrically connected to the heater power supply. The high-frequency induction heater (8) has a high-frequency heating head. The end of the high-frequency heating head away from the high-frequency induction heater (8) extends to the robot channel container (13) for temperature regulation inside the robot channel container (13).

9. The experimental operation control method for the experimental control platform of a magnetic targeted drug delivery robot according to claim 8, characterized in that, Includes the following steps: Step 1: Import the path planning map of the drug delivery robot (14) into the control module, turn on the coil power system of the three-dimensional coil (3) to generate a magnetic field inside the three-dimensional coil (3); Step 2: Path calibration of drug delivery robot (14), setting the target position for drug (17) release, and setting the temperature threshold that causes tissue structure damage of drug delivery robot (14) in the control module. Then, the camera (5) is used to collect real-time image information of drug delivery robot (14) in robot channel container (13). The camera (5) transmits the real-time image information to the control module. The control module uses the real-time image information of drug delivery robot (14) to obtain the real-time position of drug delivery robot (14). Then, the real-time position of drug delivery robot (14) is compared with the initially set target position to obtain the position offset value of drug delivery robot (14). The current output of the coil power system is adjusted by adjusting the position offset value to control the magnetic field direction and guide drug delivery robot (14) to move along the planned path. Step 3: After the drug delivery robot (14) moves to the designated position along the planned path, the coil power system is turned off, and the position of the bracket (4) is adjusted to correct the position of the high-frequency heating head so that the high-frequency heating head reaches the position that is compatible with the drug delivery robot (14). Step 4: Turn on the power of the high-frequency induction heater (8), adjust the power of the high-frequency induction heater (8), and use the infrared temperature sensor (6) to monitor the temperature information of the robot channel container (13) in real time, so that the temperature inside the robot channel container (13) is greater than the temperature threshold that causes the tissue structure of the drug delivery robot (14) to be destroyed. The shape of the drug delivery robot (14) shrinks and the tissue structure is destroyed. The drug (17) gets rid of the three-dimensional network structure of the hydrogel (18) and escapes to the outside of the drug delivery robot (14), thus achieving the purpose of controlled release of the drug (17).

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