CN114587243B - Drug delivery device for intestinal capsule robot - Google Patents
Drug delivery device for intestinal capsule robot Download PDFInfo
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- CN114587243B CN114587243B CN202210354778.7A CN202210354778A CN114587243B CN 114587243 B CN114587243 B CN 114587243B CN 202210354778 A CN202210354778 A CN 202210354778A CN 114587243 B CN114587243 B CN 114587243B
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- receiving coil
- magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/10—Trunk
- A61M2210/1042—Alimentary tract
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biophysics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
一种用于肠道胶囊机器人的给药装置，包括：依次相连的储药盖、支撑基座和机器人外壳，以及设置于储药盖和支撑基座之间的磁性仓门和复位弹簧、设置于机器人外壳内部的带有磁芯的接收线圈，其中：储药盖和磁性仓门形成储药空腔，磁性仓门在储药盖内壁和支撑基座的限制下只能沿轴向运动，当接收线圈感应到外部匀强磁场时，磁芯与磁性仓门共同磁化，磁性仓门在外部匀强磁场和接收线圈的磁芯的共同作用下发生运动，打开储药盖实现给药；当接收线圈感应到外部交变磁场时，磁性仓门不发生运动，接收线圈产生感应电能。本发明实现对无线供能系统中发射线圈和接收线圈的功能复用，合理利用已有的功能部件，有利于系统的简单化和小型化和给药速度可控。
A drug delivery device for an intestinal capsule robot comprises: a drug storage cover, a support base and a robot housing connected in sequence, a magnetic compartment door and a reset spring arranged between the drug storage cover and the support base, and a receiving coil with a magnetic core arranged inside the robot housing, wherein: the drug storage cover and the magnetic compartment door form a drug storage cavity, the magnetic compartment door can only move axially under the restriction of the inner wall of the drug storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic compartment door are magnetized together, the magnetic compartment door moves under the joint action of the external uniform magnetic field and the magnetic core of the receiving coil, and the drug storage cover is opened to achieve drug delivery; when the receiving coil senses an external alternating magnetic field, the magnetic compartment door does not move, and the receiving coil generates induced electric energy. The present invention realizes the functional reuse of the transmitting coil and the receiving coil in the wireless energy supply system, reasonably utilizes the existing functional components, and is conducive to the simplification and miniaturization of the system and the controllable drug delivery speed.
Description
Technical Field
The invention relates to a technology in the field of medical micro robots, in particular to a drug delivery device for an intestinal capsule robot.
Background
The micro intestinal capsule robot can realize autonomous movement in intestinal tracts and has the capability of expanding and residing, and the movement is often realized by a driving source such as a motor, so that a battery cannot provide enough energy. The wireless energy supply technology is adopted, so that the problem of insufficient energy supply of a battery can be effectively solved. However, there are still some drawbacks. First, to ensure sufficient energy, the receive coil is often provided with a magnetic core to enhance coupling with the transmit coil, and thus the size of the coil is typically large, especially a three-dimensional solid receive coil with multi-dimensional energy receiving capability. The limited volume inside the wireless energy-supplied robot is fully occupied by a motor, a speed reducer, an expansion and movement mechanism, a receiving coil, an image module and a circuit, and can not accommodate more functional modules to realize the drug delivery function, so that the function is single. Secondly, the existing robot with the drug delivery function is generally arranged in the robot and cannot realize modularization due to the structural design, and the robot has no portability. Furthermore, the realization of the drug delivery function requires the assistance of additional devices such as a motor, an SMA heating device and the like, has a complex design and occupies a large amount of internal space.
Disclosure of Invention
Aiming at the defects that the existing implantable drug delivery device cannot realize the quantitative and timing release and the adjustment of the release speed for many times, has single function, can be used as a drug delivery device, has larger volume and the like, the invention provides the drug delivery device for the enteric capsule robot, which is driven by an external magnetic field without consuming the energy of the enteric capsule robot, realizes the function multiplexing of a transmitting coil and a receiving coil in a wireless energy supply system, reasonably utilizes the existing functional parts, is beneficial to the simplification and miniaturization of the system, and realizes the change of the size of a drug port by adjusting the external driving magnetic field, thereby realizing the controllable drug delivery speed.
The invention is realized by the following technical scheme:
The invention relates to a drug delivery device for an intestinal capsule robot, which comprises a drug storage cover, a support base, a robot shell, a magnetic bin gate, a reset spring and a receiving coil, wherein the drug storage cover, the support base and the robot shell are sequentially connected, the magnetic bin gate and the reset spring are arranged between the drug storage cover and the support base, the receiving coil is arranged in the robot shell and is provided with a magnetic core, the drug storage cover and the magnetic bin gate form a drug storage cavity, the magnetic bin gate can only move along the axial direction under the limitation of the inner wall of the drug storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic bin gate are magnetized together, the magnetic bin gate moves under the combined action of the external uniform magnetic field and the magnetic core of the receiving coil, and when the receiving coil senses the external alternating magnetic field, the magnetic bin gate does not move, and the receiving coil generates induction electric energy.
The invention relates to a control method for the drug delivery device, in an initial state, a magnetic bin gate and a drug storage cover form a tight space for storing drugs under the elasticity of a reset spring, when a given drug delivery position is reached, an oriented constant uniform magnetic field is externally applied, a magnetic core is pulled to be directionally magnetized at the moment, the magnetic core moves axially and further compresses the spring under the common pulling action of the external magnetic field and the magnetic core of a receiving coil, a drug outlet is opened, when the elasticity of the spring is balanced with the traction force of the magnetic core, the drug outlet is not opened any more, and because the elasticity of the spring is in linear relation with the compression length, the opening amplitude of the drug outlet can be controlled by the magnitude of the applied external magnetic field, so that the drug release speed and the drug release quantity are controlled. After the drug administration is finished, the external magnetic field is switched to be a high-frequency alternating magnetic field, at the moment, the magnetic core is magnetized alternately at high frequency and is not provided with external force by the magnetic field, the magnetic core bin gate recovers the initial position under the elasticity of the spring, and meanwhile, the receiving coil induces energy under the action of the alternating magnetic field to supply energy to a load. The external magnetic field is converted to realize the separate control of drug administration and energy supply.
Technical effects
Compared with the prior art, the capsule robot realizes different functions by switching and applying the uniform magnetic field and the high-frequency alternating magnetic field, repeatedly utilizes the magnetic core of the receiving coil in the existing capsule robot, and realizes that the bin gate is opened and stopped at a specific position by balancing the attractive force generated by the magnetization of the magnetic core and the linear elastic force of the micro spring. The device can be used for releasing liquid, granular and powdery medicines, can realize that the bin gate is opened and stopped at a specific position, so that the medicine feeding speed and the medicine feeding amount are controllable, realize the function multiplexing of the magnetic core of the receiving coil, be beneficial to miniaturization, and simultaneously draw the introduction of the magnetic core and increase the efficiency of the receiving coil for receiving energy originally.
Drawings
FIG. 1 is a view of the present invention;
FIG. 2 is an exploded view of the structure of the present invention;
FIG. 3 is a cross-sectional view showing a closed state of a medicine outlet of the present invention;
FIG. 4 is a cross-sectional view showing an opened state of a medicine outlet of the present invention;
FIG. 5 is a graph showing the relationship between the opening amplitude of the drug outlet and the current.
Fig. 6 is a schematic diagram showing the energy receiving efficiency of the receiving coil and the change of the load receiving power before and after the traction magnetic core is introduced.
Detailed Description
As shown in fig. 1-4, this embodiment relates to a drug delivery device for an enteric capsule robot, which comprises a drug storage cover 1, a support base 4, a robot housing 7, a magnetic bin gate 2 and a return spring 3, wherein the drug storage cover 1, the support base 4 and the robot housing 7 are sequentially connected to form a cavity, and a receiving coil 5 with a magnetic core 6 is arranged inside the robot housing 7, wherein the magnetic bin gate 2 can only move along the axial direction under the limitation of the inner wall of the drug storage cover 1 and the support base 4, and when the receiving coil 5 senses an external magnetic field, magnetic attraction is generated to attract the magnetic bin gate 2 to the direction of the robot housing 7, so that the drug delivery cover 1 is opened to realize drug delivery.
Preferably, three medicine outlets 101 are uniformly distributed on the medicine storage cover 1.
The magnetic bin gate 2 comprises a traction magnetic core 201, a movable cover plate 202 and a bin gate baffle 203, wherein the outer diameter of the movable cover plate 202 is slightly smaller than the inner diameter of the medicine storage cover 1, and contacts with the inner wall of the medicine storage cover 1 through a silica gel layer and lubricating grease, under the control of the traction magnetic core 201 and a reset spring 3, the opening and closing of the medicine outlet 101 are realized,
The traction core 201 and the coil core 6 of the receiving coil are preferably both high permeability manganese zinc ferrite cores.
The outer diameter of the supporting base 4 is equal to that of the robot shell 7, the supporting base 4 comprises a supporting piece 401 and a spring base 402, wherein the medicine storage cover 1 and the supporting piece 401 are fixed through bolts and glued, one end of the reset spring 3 is fixed in the spring base 402 through glue dispensing, and the other end is always contacted with the surface of the movable cover plate 202.
The number of the return springs 3 and the spring bases 402 is the same as that of the medicine outlets.
As shown in fig. 3, when the enteric capsule robot with the drug delivery device enters the intestinal tract, in an initial state, the external magnetic field is a high-frequency alternating magnetic field generated by the transmitting coil and used for wireless energy supply, at the moment, no attractive force exists between the magnetic core 6 of the receiving coil and the traction magnetic core 201, and the coupling between the transmitting coil and the receiving coil 5 is enhanced by utilizing the high magnetic conductivity and magnetism collecting characteristics of the magnetic core, so that the wireless energy transmission efficiency is improved, and the robot stably operates. At this time, the return spring 3 is in a compressed state, and the medicine outlet 101 is closed.
As shown in fig. 4, when the administration operation is required, the magnetic field of the external transmitting coil is switched to a constant magnetic field, the magnetic core 6 of the receiving coil and the traction magnetic core 201 are magnetized, and attractive force is generated, so that the magnetic door 2 moves toward the support base 4, the medicine outlet 101 is gradually opened, and the return spring 3 is further compressed.
When the attractive force between the magnetic core 6 of the receiving coil and the traction magnetic core 201 is balanced with the spring force of the return spring 3 or the magnetic door 2 moves to the maximum position, the magnetic door 2 stops moving and the medicine outlet 101 is held. Thus, the speed of administration can be varied by controlling the magnitude of the external driving magnetic field.
When the administration operation is completed, the magnetic field of the external transmitting coil is switched into an alternating magnetic field, and the magnetic bin gate 2 moves reversely under the action of the spring force of the return spring 3 until the medicine outlet 101 is completely closed.
Through specific practical experiments in a constant magnetic field generated by a Helmholtz coil pair, different driving currents are introduced into the coil to generate uniform magnetic fields with different intensities, the relation between the opening amplitude of the magnetic bin gate and the driving currents is shown as a graph in fig. 5, and the result shows that the administration speed and the administration amount of the administration device can be adjusted by the magnitude of an external magnetic field.
Through specific practical experiments in an alternating magnetic field generated by a Helmholtz coil pair, a receiving coil adopts a single-dimensional receiving coil, and the size of the receiving coil is as followsThe 90-turn 12-strand AWG44 litz wire is used for winding, the magnetic core material is manganese zinc ferrite R10K, the resonant frequency of the transmitting coil and the receiving coil is set to be 218kHz, the load resistance is 30 omega, the load on the central axis of the transmitting coil before and after the traction magnetic core is introduced is driven by 2A current, the receiving power and the efficiency are shown in figure 6, and the result shows that the traction magnetic core can improve the receiving power and the energy transmission efficiency.
The foregoing embodiments may be partially modified in numerous ways by those skilled in the art without departing from the principles and spirit of the invention, the scope of which is defined in the claims and not by the foregoing embodiments, and all such implementations are within the scope of the invention.
Claims (6)
1. A drug delivery device for an enteric capsule robot, comprising: the drug storage cover and the magnetic bin gate form a drug storage cavity, the magnetic bin gate can only move along the axial direction under the limit of the inner wall of the drug storage cover and the support base, when the receiving coil senses an external uniform magnetic field, the magnetic core and the magnetic bin gate are magnetized together, the magnetic bin gate moves under the combined action of the external uniform magnetic field and the magnetic core of the receiving coil, and the drug storage cover is opened to realize drug delivery; when the receiving coil senses an external alternating magnetic field, the magnetic bin gate does not move, and the receiving coil generates induction electric energy;
The magnetic bin gate comprises a traction magnetic core, a movable cover plate and a bin gate baffle plate, wherein the outer diameter of the movable cover plate is slightly smaller than the inner diameter of the medicine storage cover, and the movable cover plate is contacted with the inner wall of the medicine storage cover through a silica gel layer and lubricating grease, so that the medicine outlet is opened and closed under the control of the traction magnetic core and a reset spring.
2. The drug delivery device for the enteric capsule robot of claim 1, wherein three drug outlets are uniformly distributed on the drug storage cover.
3. The drug delivery device for an enteric capsule robot of claim 1, wherein the traction core and the core of the receiving coil are both high permeability manganese zinc ferrite cores.
4. The drug delivery device for an enteric capsule robot of claim 1, wherein the outer diameter of the support base is equal to that of the outer diameter of the robot housing, the support base comprises a support member and a spring base, wherein the drug storage cover and the support member are fixed by bolts and glued by glue, one end of the return spring is fixed in the spring base by glue dispensing, and the other end is always in contact with the surface of the movable cover plate.
5. The drug delivery device for an enteric capsule robot of claim 2, wherein the number of the return springs and the spring bases is the same as the number of the drug outlets.
6. The control method based on the drug delivery device of any one of claims 1-5, wherein in an initial state, a closed space for storing the drug is formed by the magnetic bin gate and the drug storage cover under the elasticity of the reset spring, when a given drug delivery position is reached, an oriented constant uniform magnetic field is externally applied, the magnetic core is pulled to be directionally magnetized, the magnetic core moves axially under the combined pulling action of the external magnetic field and the magnetic core of the receiving coil, the drug outlet is opened, when the elasticity of the spring is balanced with the traction force of the magnetic core, the drug outlet is not opened any more, and because the elasticity of the spring is in a linear relation with the compression length, the opening amplitude of the drug outlet can be controlled by applying the magnitude of the external magnetic field, so that the drug release speed and the release amount are controlled, after drug delivery is completed, the external magnetic field is switched to be a high-frequency alternating magnetic field, at this time, the magnetic core is not provided with external force by the magnetic field, the magnetic core is restored to the initial position under the elasticity of the spring, the receiving coil is simultaneously induced with energy under the action of the alternating magnetic field, the action of the receiving coil, the energy is supplied to the load, and the separate control of drug delivery and energy supply is realized by the conversion of the external magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210354778.7A CN114587243B (en) | 2022-04-06 | 2022-04-06 | Drug delivery device for intestinal capsule robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210354778.7A CN114587243B (en) | 2022-04-06 | 2022-04-06 | Drug delivery device for intestinal capsule robot |
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| Publication Number | Publication Date |
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| CN114587243A CN114587243A (en) | 2022-06-07 |
| CN114587243B true CN114587243B (en) | 2024-12-10 |
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| CN202210354778.7A Active CN114587243B (en) | 2022-04-06 | 2022-04-06 | Drug delivery device for intestinal capsule robot |
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Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113080811A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4823665B2 (en) * | 2005-12-02 | 2011-11-24 | オリンパスメディカルシステムズ株式会社 | Capsule type medical device and its guidance system |
| JP5916031B2 (en) * | 2011-09-05 | 2016-05-11 | 株式会社ミュー | Medical equipment |
| CN104888340B (en) * | 2015-05-12 | 2016-05-25 | 太原科技大学 | A kind of wireless and passive drug targeting delivery device |
| CN106214107A (en) * | 2016-07-14 | 2016-12-14 | 上海交通大学 | Active exercise unit for electromagnetic drive type intestinal microrobot |
| CN111760177B (en) * | 2020-06-16 | 2022-04-29 | 杭州电子科技大学 | Microcapsule injection magnetron robot for targeted drug delivery |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113080811A (en) * | 2021-04-09 | 2021-07-09 | 哈尔滨工业大学（深圳） | A magnetic control shell of giving medicine to poor free of charge for capsule endoscope robot |
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