CN111760177B - Microcapsule injection type magnetic control robot for targeted drug delivery - Google Patents
Microcapsule injection type magnetic control robot for targeted drug delivery Download PDFInfo
- Publication number
- CN111760177B CN111760177B CN202010547734.7A CN202010547734A CN111760177B CN 111760177 B CN111760177 B CN 111760177B CN 202010547734 A CN202010547734 A CN 202010547734A CN 111760177 B CN111760177 B CN 111760177B
- Authority
- CN
- China
- Prior art keywords
- capsule
- capsule section
- energy
- piston
- drug delivery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- A61M31/002—Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K35/00—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit
- H02K35/04—Generators with reciprocating, oscillating or vibrating coil system, magnet, armature or other part of the magnetic circuit with moving coil systems and stationary magnets
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Hematology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medicinal Chemistry (AREA)
- Anesthesiology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Chemical & Material Sciences (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Power Engineering (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention discloses a microcapsule injection type magnetic control robot for targeted drug delivery and a control method thereof. The application of the magnetic field control technology in the aspect of targeted drug delivery is very deficient at present. The invention comprises an external energy transmitting device, an external LC resonance circuit, a capsule, an internal energy receiving device arranged in the capsule, a heating clapboard, a spring and a miniature tubular injector; the internal energy receiving device receives the energy of the oscillating magnetic field to generate electric heat energy, the temperature sensitive polymer gel receives the electric heat energy to expand, the micro tubular injector moves by virtue of thrust generated by the expansion of the temperature sensitive polymer gel, the oscillating magnetic field stops acting after the micro tubular injector moves in place, the temperature sensitive polymer gel retracts, and the piston retracts through the spring. The invention realizes accurate directional administration in human body, and can adjust the magnitude of generated current by adjusting the frequency of the oscillating magnetic field, thereby changing the speed of generating heat and realizing controllable administration speed.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a microcapsule injection type magnetic control robot for targeted drug delivery and a control method thereof.
Background
Targeted drug delivery technology refers to drug delivery technology that provides for the delivery of a carrier, ligand or antibody to selectively concentrate a drug in a targeted tissue, organ, cell or intracellular structure by local administration to the gastrointestinal tract, or systemic fluid circulation.
Magnetic field control technology, due to its non-contact and long-range action properties, is widely used in the engineering fields of transportation, machinery, metallurgy, materials, electricity and the like, the most extensive and mature application field is magnetic levitation train, and due to its advantages of rapid response, easy implementation, non-contact control and the like, it has also begun to be partially applied in the life science field in recent years.
However, the application of the magnetic field control technology in the aspect of targeted drug delivery is still very deficient at present.
Disclosure of Invention
The invention aims to provide a microcapsule injection type magnetic control robot for targeted drug delivery and a control method thereof, which are combined with a microcapsule and a tubular injector structure to realize fixed-point quantitative drug delivery. The internal energy receiving device of the invention receives the energy of the oscillating magnetic field to generate the electric heat energy, the temperature sensitive polymer gel receives the expansion of the electric heat energy, the miniature tubular injector injects the medicine by the thrust generated by the expansion of the temperature sensitive polymer gel, and the miniature tubular injector realizes the function of withdrawing the medicine by the spring after injecting the medicine. The invention is a magnetic control robot which is dragged by a gradient magnetic field and an alternating magnetic field to reach the designated position in the body; based on Faraday's law of electromagnetic induction, an internal receiving coil is stimulated by an external oscillating magnetic field to generate current for generating heat, so that temperature-sensitive polymer gel is stimulated to expand to generate thrust to realize quantitative dosing of the injector; the robot can adjust the frequency of an oscillating magnetic field and adjust the magnitude of generated current so as to change the speed of generating heat and realize controllable drug administration speed; is a multi-use robot which can release medicine quantitatively and can be recovered.
The invention relates to a microcapsule injection type magnetic control robot for targeted drug delivery, which comprises an external energy transmitting device, an external LC resonance circuit, a capsule, an internal energy receiving device arranged in the capsule, a heating partition plate, a spring and a miniature tubular injector, wherein the external energy transmitting device is connected with the external LC resonance circuit; the capsule comprises a first capsule section and a second capsule section which are connected through threads; the inner walls of the two ends of the capsule are both fixed with magnetic materials; the internal energy receiving device and the heating partition plate are fixed in the first capsule section, the heating partition plate is closer to the opening position of the first capsule section than the internal energy receiving device, and the heating partition plate and the first capsule section form a closed space in a surrounding mode; the heating clapboard comprises an electric heating wire made of alloy materials, a mica plate and a metal plate; the electric heating wire is arranged in a heating chamber surrounded by metal plates, and mica plates are arranged between the electric heating wire and each metal plate; the internal energy receiving device receives the magnetic field of the external energy emitting device, generates electric heat energy and heats the electric heating wire; the spring and the miniature tubular injector are both arranged in the capsule section II; the miniature tubular injector comprises a piston and an injection cylinder; two ends of the piston respectively form a sliding pair with the injection tube and the capsule section II, and sliding surfaces at two ends of the piston are provided with sealing grooves in which sealing rings are arranged; the injection port of the injection tube is opposite to the liquid outlet formed in the capsule section II; the end surface of the piston, which forms a sliding pair with the capsule section II, is connected with the heating partition plate through a spring; the space enclosed by the heating partition plate, the piston, the capsule section I and the capsule section II is internally provided with temperature sensitive polymer gel.
Preferably, three fan-shaped elastic pieces are uniformly distributed along the circumferential direction at the liquid outlet of the second capsule section, the arc part of each fan-shaped elastic piece is fixed with the second capsule section, and the three fan-shaped elastic pieces form a switch valve.
Preferably, the temperature-sensitive polymer gel is polyphosphazene hydrogel.
Preferably, the in-vivo energy receiving device comprises three receiving coils which are orthogonally arranged, and magnetic cores are embedded in the internal spaces of the three receiving coils; the three receiving coils are wound on the coil bracket; the coil bracket is fixed with the first capsule section; each one-dimensional receiving coil is connected with a resonance capacitor in series and then is connected with a full-bridge rectifying circuit for rectification, and the three full-bridge rectifying circuits are connected with a voltage stabilizing tube and a filter capacitor in parallel and then are connected with the heating wire through a DC-DC voltage conversion module.
Preferably, the extracorporeal energy transmission device comprises a helmholtz coil and a triaxial maxwell coil.
Preferably, the capsule is made of a material with heat insulation and insulating properties.
The control method of the microcapsule injection type magnetic control robot for targeted drug delivery specifically comprises the following steps:
the magnetic materials at the two ends of the capsule reach the appointed position under the action of the magnetic field generated by the external energy emitting device, and then the magnetic field generated by the external energy emitting device is adjusted to enable the capsule to stay at the appointed position; then, the internal energy receiving device receives the oscillating magnetic field of the external LC resonance circuit, so that the electric heating wire generates electric heating energy, the temperature-sensitive polymer gel absorbs the electric heating energy to expand, the generated thrust firstly pushes the piston of the miniature tubular injector to move together with the injection tube to jack the switch valve at the liquid outlet of the capsule section II, and the piston continues to move in the injection tube after the injection tube is blocked by the capsule section II to stop moving; after the piston moves in place, the external LC resonance circuit stops supplying power, the electric heating wire does not generate electric heating energy any more, the temperature of the temperature sensitive polymer gel drops back to realize contraction, and the piston of the miniature tubular injector retracts together with the restoring force of the spring of the injection tube.
Preferably, the speed of the heating wire generating heat is changed by adjusting the frequency of the oscillating magnetic field generated by the in-vitro LC resonance circuit to change the current magnitude of the in-vivo energy receiving device, so as to control the movement speed of the piston.
The invention has the following beneficial effects:
1. the invention is acted by an external alternating magnetic field and a three-dimensional uniform gradient magnetic field, and the interaction between the magnetic fields endows the invention with forward power, so that the invention can move freely under a controllable condition.
2. The invention can realize a brand-new medicine treatment mode, and for most medicines needing to act on the inside of a human body, the approaches of entering the inside of the human body can be roughly summarized into two major types of oral administration and injection, but in the process of medicine transportation, the two approaches often cause the problem of low medicine concentration near a wound due to early consumption of the medicines in the transportation process and the fact that the medicines cannot accurately reach an action point, and the invention can realize accurate directional administration in the human body.
3. The invention can adjust the current by adjusting the frequency of the oscillating magnetic field, thereby changing the speed of generating heat and realizing controllable drug administration speed.
4. The invention can realize recovery after injection and multiple utilization.
Drawings
Fig. 1 is a schematic structural outline of the present invention.
Fig. 2 is a structural sectional view of the present invention.
Fig. 3 is a perspective view of the capsule of the present invention with the second capsule segment removed.
Fig. 4 is a circuit diagram of the internal body energy receiving device of the present invention.
Fig. 5 is an assembled perspective view of three receiver coils in the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in fig. 1, 2 and 3, the microcapsule injection type magnetic control robot for targeted drug delivery comprises an external energy emitting device, an external LC resonance circuit, a capsule, an internal energy receiving device 1 arranged in the capsule, a heating partition plate 2, a spring 3 and a miniature tubular injector; the capsule comprises a first capsule section 4 and a second capsule section 5 which are connected through threads; the internal energy receiving device 1 and the heating partition plate 2 are both fixed in the first capsule section 4, the heating partition plate is closer to the opening position of the first capsule section than the internal energy receiving device, and the heating partition plate and the first capsule section form a closed space in a surrounding manner; the heating clapboard 2 comprises an electric heating wire made of alloy materials, a mica plate and a metal plate; the electric heating wire is arranged in a heating chamber surrounded by metal plates, and mica plates are arranged between the electric heating wire and each metal plate; the electric heating wire is used as a heating material, and the mica plate is used as an insulating material; the internal energy receiving device receives the oscillating magnetic field of the external energy transmitting device, generates electric heat energy and heats the electric heating wire; the spring 3 and the miniature tubular injector are both arranged in the capsule section II 5; the miniature tubular injector comprises a piston 6 and an injection cylinder 7; two ends of the piston 6 respectively form a sliding pair with the injection tube 7 and the capsule section II, and sliding surfaces at two ends of the piston are provided with sealing grooves in which sealing rings are arranged; the injection tube 7 is injected with medicine; the injection port of the injection tube 7 is over against the liquid outlet of the second capsule section; as a preferred embodiment, three fan-shaped elastic sheets are uniformly distributed along the circumferential direction at the liquid outlet of the second capsule section, the arc part of each fan-shaped elastic sheet is fixed with the second capsule section, and the three fan-shaped elastic sheets form a switch valve; the end surface of the piston, which forms a sliding pair with the capsule section II, is connected with the heating partition plate through a spring; a space surrounded by the heating partition plate, the piston, the capsule section I and the capsule section II is internally provided with temperature sensitive type polymer gel (as a preferred embodiment, polyphosphazene hydrogel is adopted, and the gel has good gel phase transition temperature), and the heating partition plate plays a role of an energy receiving device and the temperature sensitive type polymer gel in the isolation body.
As shown in fig. 4 and 5, as a preferred embodiment, the internal energy receiving device comprises three receiving coils which are orthogonally arranged, so that induced electromotive force is always generated in any posture; magnetic cores are embedded in the internal spaces of the three receiving coils; the three receiving coils are wound on the coil bracket; the coil bracket is fixed with the first capsule section; each one-dimensional receiving coil is connected with a resonance capacitor in series and then is connected with a full-bridge rectifying circuit for rectification, and the three full-bridge rectifying circuits are connected with a voltage stabilizing tube and a filter capacitor in parallel and then are connected with an electric heating wire (load) through a DC-DC voltage conversion module. Because the microcapsule injection type magnetic control robot moves in the alimentary canal, the posture of the microcapsule injection type magnetic control robot is changed constantly, for example, if a one-dimensional receiving coil structure in percutaneous energy transmission is adopted, in certain postures (the plane of the receiving coil is parallel to the direction of an electromagnetic field), the receiving power is smaller than the minimum power of the microcapsule injection type magnetic control robot, so that the microcapsule injection type magnetic control robot cannot work normally. In order to solve the problem of energy supply under the condition that the posture of the microcapsule injection type magnetic control robot is uncertain, 3 receiving coils which are orthogonally arranged are adopted, so that the energy generated by the 3 receiving coils can be maintained in a relatively stable state after being synthesized no matter how the posture of the microcapsule injection type magnetic control robot is changed. When the internal energy receiving device is placed in an alternating magnetic field, the coupling of a certain one-dimensional receiving coil is the largest, the generated induced electromotive force is also the largest, and the induced electromotive force forms a direct current loop through a full-bridge rectification circuit to supply energy to the heating wire; in addition, 2, the clamp of the diode in the full-bridge rectifier circuit causes the induced electromotive force, but the loop current cannot be formed, and therefore, the dimension forming the loop is not affected. When the position and the posture of the receiving coil are changed, another dimension may form a direct current loop, and the energy is output to supply energy to the heating wire. In addition, non-contact energy supply is carried out in an electromagnetic induction mode, and an external transmitting coil is used as a primary coil to generate a variable magnetic field; the in-vivo receiving coil is used as a secondary coil for receiving energy, the coupling degree is weak because a certain distance is reserved between the in-vivo coil and the external coil, and in order to improve the transmission efficiency, the primary coil and the secondary coil and a capacitor form an LC resonance circuit to form resonance coupling at the same frequency for transmitting energy. According to the existing research, the transmitting coil and the receiving coil both adopt series resonance circuits, have better load characteristics, and can output energy of low voltage and large current. Because the position between the transmitting coil and the receiving coil is relatively fixed, only skin tissues are separated, and the coupling area is large, the transmission efficiency is high, and the obtained energy is stable. Therefore, each dimension of the receiving coil is provided with a corresponding resonance capacitor to form an LC resonance circuit. Moreover, since the 3 paths of the output voltage are respectively rectified and then output in parallel, the voltage still has large fluctuation, further filtering and DC-DC voltage conversion are needed, and the output voltage is adjusted to the voltage value required by the micro-capsule injection type magnetic control robot to work.
As shown in fig. 4, the internal energy receiving device specifically includes a first receiving coil L1, a second receiving coil L2, a third receiving coil L3, a first resonant capacitor C1, a second resonant capacitor C2, a third resonant capacitor C3, a full-bridge rectifying circuit, a voltage regulator D5, a filter capacitor C4, and a DC-DC voltage conversion module; the full-bridge rectification circuit consists of diodes D1, D2, D3 and D4; after the receiving coil I L1 is connected with the resonant capacitor I C1 in series, after the receiving coil II L2 is connected with the resonant capacitor II C2 in series, and after the receiving coil III L3 is connected with the resonant capacitor III C3 in series, the receiving coil I L1 is connected with a full-bridge rectifying circuit in parallel; the three full-bridge rectifying circuits are connected with a voltage regulator tube D5 and a filter capacitor C4 in parallel and then connected with the heating wires through a DC-DC voltage conversion module.
The external energy transmitting device mainly has the function of converting electric energy into magnetic field energy, and as a preferred embodiment, the external energy transmitting device comprises a Helmholtz coil and a triaxial Maxwell coil because the position of the capsule in the alimentary canal of a human body is uncertain; the Helmholtz coil is composed of 2 parallel circular coils, the winding directions of the 2 circular coils are the same, and the distance between the 2 circular coils is the radius of the coils. When alternating current is passed through the helmholtz coil, a relatively uniform alternating magnetic field is generated over a relatively large area, so that the capsule can obtain the same energy in the same posture in this area. When the Maxwell coil is electrified with direct current, a uniform gradient magnetic field can be generated; the Helmholtz coil and the three-axis Maxwell coil are independently electrified or simultaneously electrified to control the microcapsule injection type magnetic control robot to freely move under a controllable condition, so that targeted drug delivery is realized.
In order to realize the motion control of the capsule, the inner walls of the two ends of the capsule are both fixed with magnetic materials, and the magnetic materials can reach the designated position in the body under the action of the alternating magnetic field and the three-dimensional uniform gradient magnetic field of the in-vitro energy emission device; and the capsule is made of a material with heat insulation and insulating properties, so that the influence of high temperature or electric leakage on a human body is avoided.
The control method of the microcapsule injection type magnetic control robot for targeted drug delivery specifically comprises the following steps:
1. the magnetic materials at the two ends of the capsule reach the designated position in the body under the action of the magnetic field generated by the external energy emitting device, and then the magnetic field generated by the external energy emitting device is adjusted to balance the capsule under the action of the magnetic field force of the external energy emitting device, the gastrointestinal tract peristalsis acting force and the friction force between the capsule and the stomach wall or intestinal folds, so that the capsule stays at the designated position in the body;
2. the internal energy receiving device receives the oscillating magnetic field of an external LC resonance circuit (can adopt the LC circuit in the prior art), so that the electric heating wire generates electric heating energy, the temperature-sensitive polymer gel absorbs the electric heating energy to expand (due to the hydrophilic and hydrophobic balance effect, the temperature-sensitive polymer gel has the sol-gel conversion process, so that the expansion and contraction of the temperature-sensitive polymer gel are realized, the expansion and contraction process depending on the temperature change is reversible, the expansion and contraction of the temperature-sensitive polymer gel can be used as the power of the miniature tubular injector, and the frequency of the oscillating magnetic field generated by the external LC resonance circuit is adjusted, so that the current of the internal energy receiving device is changed, the speed of the electric heating wire generating heat is changed, the drug administration speed is controlled, and the aim of being capable of being recovered and reused for many times is achieved), the generated thrust firstly pushes the piston of the miniature tubular injector to move together with the injection tube 7 to jack the switch valve at the liquid outlet of the capsule section II, and after the injection tube stops moving due to the blockage of the capsule section II, the piston continues to move in the injection tube 7 to inject the medicine in the injection tube 7 into the body. The specific process of the temperature sensitive polymer gel for absorbing the electric heating energy expansion is as follows: for polyphosphazene hydrogels, the solution turns into a transparent gel when the temperature exceeds 32 ℃, which is mainly due to the interaction of hydrophobic groups in the polyphosphazene hydrogel, resulting in an increase in the viscosity of the system; when the temperature is further increased to 37 ℃, the gel collapses and contracts, the water in the gel is extruded out, and the gel becomes turbid; when the temperature reaches 44 ℃, the hydrogen bonding of the polymer and water molecules is destroyed, and the polymer is completely precipitated to form turbid liquid.
3. After the injection of the medicine is finished, the external LC resonance circuit stops supplying power, the electric heating wire does not generate electric heating energy any more, the temperature of the temperature sensitive polymer gel drops back to realize the contraction, and the piston of the miniature tubular injector retracts together with the action of the restoring force of the spring of the injection tube 7.
The microcapsule injection type magnetic control robot for targeted drug delivery is recycled, and the magnetic control robot is guided out of a human body only by readjusting the magnetic field generated by the external energy emitting device.
Claims (4)
1. A microcapsule injection formula magnetic-control robot for targeted drug delivery, including the capsule, its characterized in that: the device also comprises an external energy transmitting device, an external LC resonance circuit, an internal energy receiving device arranged in the capsule, a heating clapboard, a spring and a miniature tubular injector; the capsule comprises a first capsule section and a second capsule section which are connected through threads; the inner walls of the two ends of the capsule are both fixed with magnetic materials; the internal energy receiving device and the heating partition plate are fixed in the first capsule section, the heating partition plate is closer to the opening position of the first capsule section than the internal energy receiving device, and the heating partition plate and the first capsule section form a closed space in a surrounding mode; the heating clapboard comprises an electric heating wire made of alloy materials, a mica plate and a metal plate; the electric heating wire is arranged in a heating chamber surrounded by metal plates, and mica plates are arranged between the electric heating wire and each metal plate; the internal energy receiving device receives the magnetic field of the external energy emitting device, generates electric heat energy and heats the electric heating wire; the spring and the miniature tubular injector are both arranged in the capsule section II; the miniature tubular injector comprises a piston and an injection cylinder; two ends of the piston respectively form a sliding pair with the injection tube and the capsule section II, and sliding surfaces at two ends of the piston are provided with sealing grooves in which sealing rings are arranged; the injection port of the injection tube is opposite to the liquid outlet formed in the capsule section II; the end surface of the piston, which forms a sliding pair with the capsule section II, is connected with the heating partition plate through a spring; a space surrounded by the heating partition plate, the piston, the capsule section I and the capsule section II is internally provided with temperature sensitive polymer gel which absorbs electric heat energy to expand, the generated thrust firstly pushes the piston of the miniature tubular injector to move together with the injection tube to jack the switch valve at the liquid outlet of the capsule section II, and after the injection tube stops moving due to the blockage of the capsule section II, the piston continues to move in the injection tube to inject the medicine in the injection tube into the body;
three fan-shaped elastic sheets are uniformly distributed along the circumferential direction at the liquid outlet of the second capsule section, the arc part of each fan-shaped elastic sheet is fixed with the second capsule section, and the three fan-shaped elastic sheets form a switch valve; the external energy transmitting device comprises a Helmholtz coil and a three-axis Maxwell coil.
2. The micro-capsule injection type magnetic control robot for targeted drug delivery according to claim 1, characterized in that: the temperature-sensitive polymer gel adopts polyphosphazene hydrogel.
3. The micro-capsule injection type magnetic control robot for targeted drug delivery according to claim 1, characterized in that: the in-vivo energy receiving device comprises three receiving coils which are orthogonally arranged, and magnetic cores are embedded in the internal spaces of the three receiving coils; the three receiving coils are wound on the coil bracket; the coil bracket is fixed with the first capsule section; each one-dimensional receiving coil is connected with a resonance capacitor in series and then is connected with a full-bridge rectifying circuit for rectification, and the three full-bridge rectifying circuits are connected with a voltage stabilizing tube and a filter capacitor in parallel and then are connected with the heating wire through a DC-DC voltage conversion module.
4. The micro-capsule injection type magnetic control robot for targeted drug delivery according to claim 1, characterized in that: the capsule is made of a material with heat insulation and insulating properties.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010547734.7A CN111760177B (en) | 2020-06-16 | 2020-06-16 | Microcapsule injection type magnetic control robot for targeted drug delivery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010547734.7A CN111760177B (en) | 2020-06-16 | 2020-06-16 | Microcapsule injection type magnetic control robot for targeted drug delivery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111760177A CN111760177A (en) | 2020-10-13 |
| CN111760177B true CN111760177B (en) | 2022-04-29 |
Family
ID=72722645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010547734.7A Active CN111760177B (en) | 2020-06-16 | 2020-06-16 | Microcapsule injection type magnetic control robot for targeted drug delivery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111760177B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112968532B (en) * | 2021-02-05 | 2022-09-27 | 浙江大学台州研究院 | Wireless magnetic resistance actuator based on magnetic resonance coupling |
| CN115089807A (en) * | 2022-06-22 | 2022-09-23 | 上海力声特医学科技有限公司 | Implantable drug delivery system |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1304070C (en) * | 2004-09-29 | 2007-03-14 | 重庆大学 | Device for releasing medication for alimentary tract at fixed point |
| JP2006334141A (en) * | 2005-06-02 | 2006-12-14 | Konica Minolta Medical & Graphic Inc | Capsule endoscope |
| CN100376299C (en) * | 2005-08-19 | 2008-03-26 | 华南理工大学 | Chemical reaction gas pressure type microcapsule medicine release method and apparatus thereof |
| CN103381282A (en) * | 2012-05-02 | 2013-11-06 | 姜韫英 | Intelligent module for measuring pH value in drug release capsule |
| CH711066A2 (en) * | 2015-05-13 | 2016-11-15 | Tecpharma Licensing Ag | Improved injection device. |
| CN107158552B (en) * | 2016-03-07 | 2020-09-08 | 上海理工大学 | Drug delivery capsule and drug delivery method |
| CN106730284A (en) * | 2016-11-24 | 2017-05-31 | 上海理工大学 | Microcapsules formula gastrointestinal drug discharges system |
| CN108619611B (en) * | 2018-05-04 | 2020-11-06 | 哈尔滨工业大学深圳研究生院 | Intestinal micro-capsule robot with multi-direction medicine application function |
| CN110354375A (en) * | 2019-07-26 | 2019-10-22 | 温州芳植生物科技有限公司 | A kind of magnetic control gastrointestinal tract drug release sampler |
-
2020
- 2020-06-16 CN CN202010547734.7A patent/CN111760177B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN111760177A (en) | 2020-10-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111760177B (en) | Microcapsule injection type magnetic control robot for targeted drug delivery | |
| Tang et al. | Intermediate range wireless power transfer with segmented coil transmitters for implantable heart pumps | |
| Jiang et al. | A low-frequency versatile wireless power transfer technology for biomedical implants | |
| Zhang et al. | In vitro and in vivo studies on wireless powering of medical sensors and implantable devices | |
| US9786432B2 (en) | Coplanar energy transfer | |
| US9248074B2 (en) | Device, system and method for compression treatment of a body part | |
| CN101980412B (en) | Percutaneous closed-loop control charging device for implantation type medical treatment instrument | |
| JP4706036B2 (en) | Non-contact power supply system and medical system using the same | |
| CN104487131A (en) | Methods, systems, and devices relating to wireless power transfer | |
| WO1993010829A1 (en) | Drive system for artificial hearts and left-ventricular assist devices | |
| CN1721012A (en) | Primary coil with ferrite core for transcutaneous energy transfer | |
| CN1374877A (en) | Flow control method and device | |
| CN110112839A (en) | A kind of adjustable wireless charging device in charged area and its method | |
| KR101230515B1 (en) | Apparatus and System for Wireless Power Transmission Using Dual Transmitter Coils | |
| CN201323473Y (en) | Internal micro electro-mechanical system wireless energy transmission device | |
| Zhuang et al. | Efficient power receiving coil with novel ferrite core structure for capsule robot | |
| US20230340971A1 (en) | Wireless actuators | |
| CN206910316U (en) | It is a kind of can swallowable capsule endoscope wireless charging system | |
| US20100179625A1 (en) | Implantable Heating Apparatus for a Living Being and Method for Charging the Same | |
| Yu et al. | The design and implementation of the wireless power transmission system of video capsule endoscopy | |
| CN205704147U (en) | Many ciliums magnetic force Micro-Robot and control system thereof | |
| Zhang et al. | Wireless energy delivery and data communication for biomedical sensors and implantable devices | |
| Li et al. | A method for improving the wireless power transmission efficiency of an endoscopic capsule based on electromagnetic localization and synthesis of magnetic field vector | |
| Unthan et al. | Design and evaluation of a fully implantable control unit for blood pumps | |
| Gao et al. | Design and Analysis of a Wireless Power Transmitting System for Capsule Robot Using Two-Dimensional Combined Solenoid Coils |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |