CN113545734A - Magnetic control dual-drive medicine applying capsule robot - Google Patents

Abstract

The invention discloses a magnetically controlled dual-drive medicine-dispensing capsule robot, comprising a capsule shell, a magnetic drive device, an endoscope device and a medicine-dispensing device installed in the capsule casing; the medicine-dispensing device comprises medicine-dispensing microneedles, Two trigger columns, two curing compression springs, two guide cylinders and a drug application window provided outside the capsule shell; one end of the two trigger columns abuts or is connected to the base of the drug dispensing microneedle, and the other ends are respectively installed on the two trigger columns. In the guide cylinder, each guide cylinder is provided with a curing compression spring, and the wall of the cylinder is provided with a dissolution hole. The liquid enters the guide cylinder through the dissolution hole to dissolve the curing material, thereby releasing the compression spring, and the compression spring will apply the microneedle. The magnetic control capsule provided by the present invention not only has the function of an endoscope, but also increases the function of fixed-point application; the doctor controls the movement of the capsule through the magnetic control capsule, observes the internal situation through the endoscope, and fixes the top of the capsule. Micro-needle implementation function, in order to carry out the treatment of fixed-point drug delivery.

Description

A magnetically controlled dual-drive drug-dispensing capsule robot

technical field

The invention belongs to the field of medical robots, relates to a medicine application technology of a micro medical robot, and in particular relates to a magnetic control dual-drive medicine application capsule robot.

Background technique

The technology related to micro-robots is developing rapidly, and its application scope is continuously expanding, and the application degree is also deepening. At present, the role of micro-robots in the medical field is becoming increasingly significant. In the medical field, when the traditional artificial endoscope method has been used for testing, if the endoscope moves in the patient's gastrointestinal tract to a large extent, the patient's body will react to the instrument with discomfort, and sometimes the instrument may even have a negative effect. The possibility of damage to the patient's body, so it is extremely important to make it more suitable for the patient's body; if the angle is controlled too small, the image quality may be degraded, and the desired area may not be obtained. Due to the low working efficiency of endoscopes and the high difficulty for doctors to treat and apply medicines, medical institutions have gradually begun to consider using magnetic-controlled capsule robots to replace manual image acquisition and medicine application. Therefore, it is very necessary to develop micro-medical robots that are small enough in size and will not cause too much burden on the patient's body. Some medical institutions put micro-capsule robots into the human body for detection and treatment. Small. In the field of tiny medical robots, scientists are currently working to develop technologies for detection and treatment of minor injuries. Nowadays, the endoscopic capsule robot in life can realize the detection function of ordinary gastrointestinal endoscopy, but it has not been able to realize the function of dispensing medicine in designated parts. Speculum capsule robot.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is a magnetically controlled dual-drive drug-dispensing capsule robot, which has the function of fixed-point dispensing at a target position, so that the capsule robot can not only complete the function of an endoscope, but also further diagnosis and fixed-point treatment tasks.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A magnetically controlled dual-drive medicine-dispensing capsule robot is characterized by comprising a capsule shell, a magnetic drive device, an endoscope device and a medicine-dispensing device installed in the capsule shell; wherein,

The magnetic drive device is used to cooperate with the external magnetic field to drive the movement of the entire medicine dispensing capsule;

The endoscope device is used for inspection and drug application environment observation;

The drug application device includes drug application micro-needles, trigger columns, curing compression springs, guide cylinders provided in the capsule shell, and drug application windows provided outside the capsule shell;

The spraying microneedles are located in the spraying window, the spraying microneedles include a base and a microneedle array arranged on the base, and a layer of film to protect the spraying microneedles is provided outside the spraying window;

There are two guide cylinders, the two guide cylinders are arranged on the inner wall of the capsule shell on the opposite side of the drug application window, there are two trigger columns, and one end of the two trigger columns abuts against the base of the drug application microneedle Or connected, the other ends are installed in the two guide cylinders respectively, and the middle parts of the two trigger columns are connected horizontally through the connecting plate; there are two solidified compression springs, which are respectively installed in the two guide cylinders and located at the ends of the corresponding trigger columns. between the inner bottom of the guide cylinder and the inner bottom of the guide cylinder;

The curing compression spring is a compression spring that is cured by a curing material soluble in body fluids. The side wall of the guide cylinder in the region where the curing compression spring is installed is provided with a dissolving hole that communicates with the outside of the capsule shell. , the body fluid enters the guide cylinder through the dissolution hole to melt the solidified material soluble in body fluids that solidifies the compression spring, the compression spring is released, and the micro-needles are driven by the trigger column to protrude outwards. Needle application.

Further, the capsule shell is a cylindrical shell formed by a combination of a bearing shell and an application shell, the guide cylinder is arranged on the inner wall of the bearing shell, and the medicine application window is arranged outside the medicine application shell.

Further, the endoscope device includes an endoscope lens, a lens and a circuit board, wherein the endoscope lens is arranged at the front end of the capsule housing in the forward direction.

Further, the body fluid-soluble solidifying material includes any one or more of gelatin, starch and sodium alginate.

Further, the film disposed on the drug application window is a latex film or a biological film, and the film can also be a non-toxic plastic film, a rubber film, or the like.

Further, the drug-applying microneedle is a microneedle array patch manufactured by using a PDMS mold, and the microneedle contains the desired drug.

Further, the microneedles are conical, and the diameter of the bottom surface of each microneedle is 200-400 μm.

Further, two guide cylinders are arranged in parallel, the base of the microneedle array is an arc base, and each microneedle is perpendicular to the surface of the arc base.

Further, the magnetic drive device is a ring-shaped permanent magnet arranged coaxially in the capsule shell.

Further, the guide cylinder is arranged with the tail of the capsule shell, and the tail of the capsule shell is arranged as an open port for the body fluid to enter the dissolution hole.

Further, the microneedles are made by the process of using a microneedle array patch manufactured by a PDMS mold. The needles contain drugs and the base does not contain drugs. The microneedles are conical, and the diameter of the bottom surface of each microneedle is only about 300 μm. .

Further, the magnet is installed in the carrying shell, so that during the drug application process, the magnetic control dual-drive drug application capsule robot can be guided to move to the designated drug application area by the magnetic control.

Further, the endoscope lens is located on the top of the other side relative to the drug application device, and the endoscope device communicates with the outside world and transmits data through wireless.

Further, the bearing shell and the drug application shell are firmly combined through the interaction of undercuts and clasps.

Further, both the endoscope and the endoscope circuit board are controlled by a flexible wire, and the flexible wire also serves as a pulling wire of the magnetron capsule.

Further, the capsule shell has a cylindrical structure as a whole, and the axial section is elliptical.

The beneficial effects of the present invention are:

1. It is controlled by a micro circuit board, which occupies less space, has a more compact structure, and has strong stability of the capsule system;

2. The present invention has the advantages of simple structure, high mechanism power transmission efficiency, no introduction of complex mechanical structure, and high operation success rate.

2. The tail wire control of the capsule robot can provide sufficient energy and can perform tasks in the body for many times for a long time;

3. It can additionally meet the functional requirements of the capsule robot.

4. In the present invention, by setting two trigger columns and two guide cylinders, after the curing compression spring is released, it can apply a pushing force to the spraying microneedle uniformly, so as to make the spraying uniform and prevent the tip of the spraying microneedle from being crooked, resulting in Some of the microneedles are in contact with human tissue, while some of the microneedles do not, which reduces the effect of drug delivery.

Description of drawings

FIG. 1 is a schematic diagram of the external structure of the magnetically controlled dual-drive medicine-dispensing capsule robot of the present invention.

Fig. 2 is a schematic diagram of the magnetic control dual-drive drug applicator capsule robot of the present invention removing the film on the drug applicator window.

Fig. 3 is a schematic diagram showing the inner structure of the magnetic control dual-drive drug-applying capsule robot of the present invention to remove the drug-applying shell and the micro-needle.

FIG. 4 is a cross-sectional view of the internal structure of the spring in the compressed state of the present invention.

Fig. 5 is an enlarged schematic view of the applicator in the spring reset state of the present invention.

FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5 .

Among them, 1-bearing housing, 2-applying housing, 3-applying microneedle, 31-microneedle, 32-base, 4-triggering post, 5-compression spring, 6-endoscope lens, 7- Ring Permanent Magnet, 8-Endoscope Circuit Board, 9-Dissolving Hole, 10-Hook, 11-Invert, 12-Cure Material, 13-Open Port, 14-Film, 15-Guide Barrel, 16-Apply Medicine window, 17-connection board.

Detailed ways

The following is a detailed description of a magnetically controlled dual-drive medicine-dispensing capsule robot provided by the present invention in conjunction with the accompanying drawings and embodiments, which are to explain rather than limit the present invention.

As shown in Figures 1 to 6, a magnetically controlled dual-drive medicine-dispensing capsule robot includes a capsule housing and a magnetic drive device, an endoscope device and a medicine-dispensing device installed in the capsule housing; wherein, in order to facilitate manufacturing and Assembled, the capsule shell is a cylindrical shell formed by the combination of the bearing shell 1 and the drug application shell 2, and the bearing shell 1 and the drug application shell 2 are detachably connected by the hook 10 and the inverted buckle 11 .

The magnetic drive device is used to cooperate with the external magnetic field to drive the movement of the entire medicine dispensing capsule;

The endoscope device is used for inspection and drug application environment observation;

The spraying device includes spraying microneedles 3, triggering posts 4, curing compression springs, guide cylinders 15 provided in the capsule shell, and drug dispensing windows 16 provided outside the capsule shell;

The spraying microneedles 3 are located in the spraying window 16 , the spraying microneedles 3 include a base 32 and a microneedle array composed of microneedles 31 provided on the base 32 , and a layer of the spraying window 16 is also provided outside the spraying window 16 . the film 14 protecting the application microneedles 3;

There are two guide cylinders 15, and the two guide cylinders 15 are arranged on the inner wall of the capsule shell on the opposite side of the drug application window 16. There are two trigger columns 4, and one end of the two trigger columns 4 is connected to the drug dispenser. The base 32 of the needle 3 abuts or is connected, the other ends are respectively installed in the two guide cylinders 15, and the middle parts of the two trigger columns 4 are connected horizontally through the connecting plate 17; there are two curing compression springs, which are respectively installed in the two guide cylinders. inside the cylinder 15, and between the end of the corresponding trigger column 4 and the inner bottom of the guide cylinder 15;

The curing compression spring is a compression spring 5 cured by a curing material 12 soluble in body fluids. The side wall of the guide cylinder 15 where the curing compression spring is installed is provided with a dissolution hole 9 that communicates with the outside of the capsule shell. When the human body is used in the environment, the body fluid enters the guide cylinder 15 through the dissolving hole 9 to melt the body-fluid-soluble solidifying material 12 that solidifies the compression spring, the compression spring 5 is released, and the micro-needle 3 is driven by the trigger column 4 to extend outwards, After the membrane 14 is pierced, it is in contact with the human body, and the microneedle 31 is used to apply medicine.

As shown in FIG. 4 and FIG. 5 , puncture and application are realized by controlling the trigger column 4 to eject the microneedle 31 by means of a dissolvable curing compression spring. The solidified compression spring is a compression spring 5 solidified by a solidified material 12 soluble in body fluids. The specific manufacturing method is as follows: the spring is compressed and stored in a compressed state and placed in a cylindrical mold, and then poured into the mold containing but not only Limited to gelatin, starch, sodium alginate, etc. soluble in body fluids and other solidifying materials 12 components of the solution, after the solution is air-dried, demolding to obtain a solidified compression spring. The dissolution of gelatin, starch, sodium alginate and other components in a specific solution or human body environment will lose the solidification effect on the compression spring 5, the spring will be stretched and released, and the application power will be generated. The material in the solidified state in the spring can be dissolved by the body fluid in 20-30 minutes, thereby releasing the compression spring 5. The time length is selected because the time length is enough to make the magnetically controlled microneedle 31 pierce the drug delivery capsule and move to any part of the human body. The place that can be reached, and after staying for a while to reach the dissolution time, the compression spring 5 will release itself to achieve the purpose of automatic spraying, and there is no need to set up a complex power mechanism in the magnetic control dual-drive spraying capsule robot. The micro-motor provided in the capsule is not only technically complex, but also expensive and unpractical. However, the present invention, through the ingenious structural design, can complete the application without using an ultra-micro motor, greatly reducing the use and manufacturing costs. After taking out the microcapsules, you only need to replace the solidified compression spring and then use it again to achieve the purpose of repeated use. The solidified compression spring is a conventional material and process in terms of manufacturing process and material, with low cost and suitable for large-scale promotion and application. The recovery method of the solidified compression spring includes, but is not limited to, the method of gradually dissolving the liquid through the dissolving hole 9 . After the capsule moves to the target position, the curing material 12 is automatically dissolved without external operation, which is simple and efficient.

In the present invention, two trigger columns 4 and two guide cylinders 15 are arranged so that after the curing compression spring is released, a pushing force can be applied to the application microneedles 3 uniformly, so that the application is uniform and the tip of the application microneedles 3 is prevented from being skewed. , causing some of the microneedles 31 to come into contact with human tissue, while some of the microneedles 31 do not, which reduces the effect of drug application.

As shown in FIG. 3 , the ring-shaped permanent magnet 7 is installed in the carrying case 1, so that during the drug application process, the magnetron dual-drive drug applicator capsule robot can be guided to move to the designated drug application by the magnetic control. area for further operations.

As shown in FIG. 3 and FIG. 4 , the endoscope circuit board 8 of the present invention is fixed in the annular permanent magnet 7 , the endoscope lens 6 is installed on the front end of the carrying case 1 , the endoscope lens 6 and the The endoscope circuit board 8 is controlled by flexible wire communication, and the flexible wire also serves as the traction wire of the magnetron capsule robot.

As shown in FIG. 2 , the microneedle 3 for drug application is a microneedle array patch manufactured by using a PDMS mold. During drug application, the surface of the needle tip contains drugs, and the base 32 does not contain drugs. The microneedles 31 are conical. The diameter of the bottom surface of the microneedle 31 is only about 300 μm. When testing the effectiveness of the application, a fluorescent reagent can be used instead of the medicine, and the pig intestines can be tested to observe the fluorescent substance to judge the effectiveness of the application. disclosed technology.

As shown in FIG. 4 , the endoscope lens 6 is located on the top of the capsule housing on the other side of the drug application device. The endoscope device communicates with the outside world and data transmission through wireless. The information transmission method includes WIFI but Not only WIFI.

As shown in FIG. 5 and FIG. 6 , the bearing housing 1 and the medicine applicator housing 2 are connected with each other through the buckle 11 and the hook 10, so as to ensure a firm combination that can be quickly disassembled. Specifically, The bearing shell 1 is provided with two opposite grooves to form two undercuts 11 , and the drug application shell 2 is provided with an outer edge-cut protrusion along both sides of the axis to form two hooks 10 . The distance between the outside of each hook 10 is slightly larger than the distance between the inner sides of the two undercuts 11, and the spraying shell 2 itself has a certain elasticity. The body 2 is deformed, the distance between the outside of the two buckles 10 is smaller than the distance between the inner sides of the two undercuts 11, and then the two buckles 10 are installed between the two undercuts 11, the external force is released, and the two buckles 10 are When the applicator shell 2 is restored and deformed, it stretches to both sides and abuts against the inner walls of the two inverted buckles 11, so as to firmly and detachably fix the bearing shell 1 and the drug applicator shell 2 together. The disassembly process On the contrary, the actual external force can squeeze the applicator shell 2 to deform it. It should be noted that the required deformation of the two clasps 10 is not large. Therefore, under normal circumstances, the drug applicator shell 2 is made of plastic or metal material. Made to meet the requirements.

As shown in FIG. 2 , the capsule shell has a cylindrical structure as a whole, and the axial section is elliptical.

It should be noted that other conventional structures of the endoscope device and the magnetron capsule of the present invention are not the key inventions of the present invention, and common knowledge may be used for the parts that are not disclosed in detail in the present invention. A shooting hole is opened or the capsule shell is set as a transparent cover.

The working principle of the present invention:

The bearing housing 1 of the present invention is provided with a ring-shaped permanent magnet 7 made of a magnetic mixed material, which can move and adjust the angle in the human body under the drive of an external magnetic field. For details, refer to the magnetron capsule technology in the prior art; The endoscope device can complete the image acquisition function. When the magnetically controlled dual-drive drug application capsule robot moves, the drug application micro-needles are covered by a film and will not contact human tissue. After reaching the designated position, it only needs to wait for the curing and compression When the spring is in the body or in a solution, the curing material 12 is gradually dissolved, and the compression spring 5 is restored, so that the microneedle 31 containing the therapeutic drug and the triggering column 4 are ejected, and the drug application function can be completed.

The endoscopic device described in the present invention can record and record images and videos in the whole process. When the magnetron capsule performs the task, the doctor pulls the capsule out of the patient through the control line, so as to carry out the subsequent detection and treatment work.

The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those of ordinary skill in the art should understand that various combinations, modifications or equivalent replacements to the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and should cover within the scope of the claims of the present invention.

Claims (10)

1. A magnetic control dual-drive medicine application capsule robot is characterized in that: comprises a capsule shell, a magnetic drive device, an endoscope device and a drug delivery device, wherein the magnetic drive device, the endoscope device and the drug delivery device are arranged in the capsule shell; wherein,

the magnetic driving device is used for matching with an external magnetic field to drive the whole drug delivery capsule to move;

the endoscope device is used for observing the detection and drug application environment;

the drug delivery device comprises a drug delivery micro-needle, a triggering column, a curing compression spring, a guide cylinder arranged in the capsule shell and a drug delivery window arranged outside the capsule shell;

the drug delivery micro-needle is positioned in the drug delivery window and comprises a substrate and a micro-needle array arranged on the substrate, and a film for protecting the drug delivery micro-needle is further arranged on the outer side of the drug delivery window;

the two guide cylinders are arranged on the inner wall of the capsule shell on the side opposite to the drug application window, the number of the trigger columns is two, one ends of the two trigger columns are abutted against or connected with the substrate of the drug application microneedle, the other ends of the two trigger columns are respectively arranged in the two guide cylinders, and the middle parts of the two trigger columns are transversely connected through a connecting plate; the two solidified compression springs are respectively arranged in the two guide cylinders and are positioned between the end parts of the corresponding trigger posts and the inner bottoms of the guide cylinders;

the solidified compression spring is a compression spring solidified by a solidified material soluble in body fluid, a dissolving hole communicated with the outside of the capsule shell is formed in the side wall of the guide cylinder in the area where the solidified compression spring is installed, when the medicine applying capsule is in a human body using environment, the body fluid enters the guide cylinder through the dissolving hole to melt the solidified material soluble in the body fluid of the solidified compression spring, the compression spring is released, the medicine applying micro-needle is driven by the trigger column to extend outwards, and the micro-needle is contacted with a human body after a film is punctured, so that micro-needle medicine application is performed.

2. The magnetically controlled dual drive drug delivery capsule robot of claim 1, wherein: the capsule shell is a cylindrical shell formed by combining a bearing shell and a pesticide application shell, the guide cylinder is arranged on the inner wall of the bearing shell, and the pesticide application window is arranged outside the pesticide application shell.

3. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the endoscope device comprises an endoscope lens, a lens and a circuit board, wherein the endoscope lens is arranged at the front end of the advancing direction of the capsule shell.

4. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the solidified material soluble in body fluid comprises any one or more of gelatin, starch and sodium alginate.

5. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the film arranged on the drug application window is an emulsion film or a biological film.

6. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the drug-applying micro-needle is a micro-needle array patch manufactured by using a PDMS mold, and the micro-needle contains the required drug.

7. The magnetically controlled dual drive drug delivery capsule robot of claim 6, wherein: the microneedles are conical, and the diameter of the bottom surface of each microneedle is 200-400 mu m.

8. The magnetically controlled dual drive drug delivery capsule robot of claim 6, wherein: the two guide cylinders are arranged in parallel, the substrate of the microneedle array is an arc-shaped substrate, and each microneedle is perpendicular to the surface of the arc-shaped substrate.

9. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the magnetic driving device is an annular permanent magnet which is coaxially arranged in the capsule shell.

10. The magnetically controlled dual drive drug delivery capsule robot of claim 2, wherein: the guide cylinder is arranged at the tail part of the capsule shell, and the tail part of the capsule shell is provided with an open port which is convenient for body fluid to enter the dissolving hole.

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