CN216963281U - Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot - Google Patents
Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot Download PDFInfo
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Abstract
A gastrointestinal tract targeted drug delivery self-reconstruction capsule robot comprises a targeted drug delivery sub-module robot and an image acquisition sub-module robot, and separation and butt joint of the targeted drug delivery sub-module robot and the image acquisition sub-module robot are controlled by an external magnetic field. The doctor completes the drug delivery task through two sub-module robots of the modularized self-reconfigurable capsule robot in a cooperative control mode. The interior of the targeted medicine application submodule robot is connected with a permanent magnet magnetized in the radial direction through a cam structure, two motion modes of robot motion and medicine application are achieved, a medicine cylinder is assembled on each of two sides of the robot, the two sides of the robot can be divided into a plurality of groups of spaces to carry various medicines, and targeted medicine application is achieved through pushing of the cam structure. The image acquisition sub-module robot is internally composed of a permanent magnet and two miniature camera modules. The modularized self-reconfigurable capsule robot can realize basic motions such as advancing, retreating, fixed-point stopping, medicine application and the like and cooperative motions after butt joint and separation by controlling the modularized self-reconfigurable capsule robot through an external magnetic field, and lays a foundation for gastrointestinal diagnosis and treatment in the future.
Description
Technical Field
The utility model belongs to the technical field of automation engineering, and relates to a modular self-reconstruction capsule robot capable of wirelessly transmitting images and performing targeted drug delivery for human gastrointestinal tract treatment, namely a gastrointestinal tract targeted drug delivery self-reconstruction capsule robot.
Background
With the continuous acceleration of the working and living pace of modern society, the morbidity and mortality of gastrointestinal diseases are also increased year by year, however, if the gastrointestinal tract is inspected and treated at an early stage, the cure rate and the survival rate can be greatly improved. At present, the examination and sampling are still carried out by adopting a method of directly inserting a wired endoscope in the field of domestic gastrointestinal examination and treatment, and compared with the traditional wired endoscope, the magnetic control capsule robot has great potential in the aspects of safety, reliability and painless effect. Although many studies have verified the feasibility of the magnetron capsule robot by simulating the pipeline or the gastrointestinal tract of animals, there is still a need for improvement in the application reliability in clinical medicine.
Due to the fact that the defect of traditional endoscopy can be overcome, the wireless capsule robot quickly becomes a research hotspot in the field of medical engineering. The capsule robot enters the gastrointestinal tract of a human body by oral administration of a patient, realizes no-dead-angle inspection of the stomach and the intestinal tract by performing motion control on the capsule robot, and is noninvasive and painless in the inspection process. Various wireless capsule robots suitable for examination of gastrointestinal tract have been studied and developed by Given researches by Given in israel, Given by Olympus corporation, chongqing jinshan science (group) limited, and ann han science (wuhan) limited. However, even if the gastrointestinal tract examination is painless and noninvasive, once mild or moderate pathological changes are found, the surgery method is greatly damaged for patients, the oral medicament is easily affected by the digestive tract or gastric acid, the concentration of the medicament at the focus point is difficult to improve, the treatment effect is reduced, and how to realize accurate targeted medicament application becomes a difficult problem in research.
In order to solve this problem, many researchers have conducted related studies. S.H. Kim and K.Ishiya propose a new mechanism of targeted drug release based on active motion, the thrust directions of two spiral parts are switched by a magnetic field control robot, and when the robot reaches a focus, the rotational motion of the spiral parts is used for separating the robot body to release the drug. Yim, S, Goyal et al propose a magnetically driven multi-mode drug release mechanism for a soft capsule endoscope for the treatment of gastric disorders that can release the drug at specific local locations when the capsule is compressed by an external magnetic field. Li, Weihua, Sitti et al propose a method to optimize an external magnetic system made of arc-shaped permanent magnets that can activate a drug release module embedded in a capsule robot to drive a drug delivery system for drug delivery work by calculating optimal flux density and magnetic torque. Although these capsule robots can achieve the release of the drug, the image acquisition and the targeted drug delivery function in the actual drug delivery process need to be performed simultaneously. If the image acquisition unit and the drug release unit are integrated on one capsule robot, the problems that the capsule robot is large in size, difficult to swallow and even causes intestinal tract blockage can be caused, and the capsule robot is difficult to realize in clinical application.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a gastrointestinal tract targeted drug delivery self-reconstruction capsule robot, which is a modularized self-reconstruction capsule robot capable of wirelessly transmitting images and performing targeted drug delivery for human gastrointestinal tract treatment, and can be separated or butted by controlling an external magnetic field; after separation, the targeted drug delivery sub-module robot and the image acquisition sub-module robot can move independently and execute respective tasks; after docking, the test function can be carried out by moving the whole body in the intestinal tract, so that the examination and treatment of the specified position in the gastrointestinal tract are convenient.
The technical scheme of the utility model is as follows: a gastrointestinal tract targeted drug delivery self-reconstruction capsule robot comprises a targeted drug delivery sub-module robot and an image acquisition sub-module robot;
wherein, the screw thread structure shell of the targeted medicine application sub-module robot
The inner part is provided with a cam, a medicine pushing frame, a fixed rod, a permanent magnet I and a medicine cylinder; the permanent magnet I is embedded and fixed in the mounting groove of the cam and is mounted at the central position of the targeted pesticide application sub-module robot through a fixing rod; the fixed rod penetrates through the cam, the permanent magnet I and the medicine pushing frame, and two ends of the fixed rod and the threaded structure shell
Connecting; the medicine pushing frame is provided with a fixed rod mounting chute and a convex part mounting groove of the cam; a medicine cylinder is arranged at the end part of the medicine pushing frame; the I rotates along the radial direction of the permanent magnet to drive the cam to rotate, the bulge part of the cam pushes the medicine pushing frame, and the medicine cylinder at the end part of the medicine pushing frame finishes targeted medicine application; the I rotates along the axial direction of the robot to drive the shell with the thread structure
Rotation, moved by the reaction force of the fluid;
the permanent magnet II, the miniature camera module, the transparent camera outer cover with the waterproof function, the miniature camera energy module with the wireless transmission function and the camera integrated controller are sequentially arranged in the threaded structure shell II of the image acquisition sub-module robot from the inner center to the end part; the thread structure shell II and the permanent magnet II are fixed, and the permanent magnet II drives the thread structure shell II to rotate.
The convex part of the cam and the permanent magnet I have the same magnetization direction.
The permanent magnet I and the permanent magnet II are controlled to rotate by an external universal space rotating magnetic field.
The external universal space rotating magnetic field comprises a three-axis Helmholtz coil and a magnetic positioning device, the three-axis Helmholtz coil and the magnetic positioning device are installed on a patient inspection table and are connected with an external magnetic field controller and a monitoring table, and a doctor monitors in real time through the external magnetic field controller and the monitoring table.
The permanent magnet I and the permanent magnet II adopt annular radial permanent magnets.
The permanent magnet I and the permanent magnet II adopt NdFeB (neodymium iron boron) permanent magnets.
The medicine pushing frame is arranged on the fixing rod through a clamping piece.
The two ends of the medicine pushing frame are provided with medicine cylinders.
The thread structure shell
And the shell II with the thread structure adopts a single-turn thread structure.
And the two ends of the image acquisition submodule robot are respectively provided with a miniature camera module, a miniature camera module energy module, a camera integrated controller and a transparent camera outer cover.
The targeted drug delivery sub-module robot and the image acquisition sub-module robot are connected or separated through the magnetic acting force of the permanent magnet I and the permanent magnet II, the moment balance of the permanent magnet I and the permanent magnet II is controlled, the whole movement of the modular self-reconstruction capsule robot consisting of the targeted drug delivery sub-module robot and the image acquisition sub-module robot is completed, or the targeted drug delivery sub-module robot and the image acquisition sub-module robot are separated, and the targeted drug delivery sub-module robot or the image acquisition sub-module robot is independently controlled to execute respective tasks.
A working method of the gastrointestinal tract targeted drug delivery self-reconstruction capsule robot comprises the following steps:
(1) after the target medicine application sub-module robot and the image acquisition sub-module robot reach the initial position, the target medicine application sub-module robot and the image acquisition sub-module robot are butted to form a gastrointestinal tract target medicine application self-reconstruction capsule robot, then video signals are transmitted to an external control console in real time through the image acquisition sub-module robot, and a doctor controls the gastrointestinal tract target medicine application self-reconstruction capsule robot to move according to images;
(2) the gastrointestinal tract targeted drug delivery self-reconstruction capsule robot is separated into two sub-robots, namely a targeted drug delivery sub-module robot and an image acquisition sub-module robot after reaching an affected part, the image acquisition sub-module robot reaches a designated position to provide real-time monitoring, a doctor controls the targeted drug delivery sub-module robot to perform targeted drug delivery work, and the two sub-robots are cooperatively controlled to complete a drug delivery task;
(3) after the task is finished, the gastrointestinal tract targeted drug application self-reconstruction capsule robot discharges the drug along with waste.
The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot realizes fixed-point parking and rotary advancing of the gastrointestinal tract targeted drug delivery self-reconstruction capsule robot by a universal space rotating magnetic field and adopting an active and passive control mode.
The image acquisition submodule robot sends an image signal through a camera shooting function and a wireless transmission function, an image receiver is adopted outside the image acquisition submodule robot to receive the image signal, real-scene images of the gastrointestinal tract are displayed on a human-computer interface, and medical staff are assisted to observe whether the gastrointestinal tract is diseased or not and control the trend of the capsule robot.
The utility model has the beneficial effects that: 1. the target medicine application sub-module robot and the image acquisition sub-module robot of the modular self-reconfigurable capsule robot are connected through the magnetic acting force of the two permanent magnets, and the moment balance of the two sub-module capsule robots is controlled, so that the modular self-reconfigurable capsule robot consisting of the two sub-module capsule robots can be controlled to move integrally, the two sub-module capsule robots can be separated, and any one sub-module is controlled independently to execute respective tasks. 2. The modular self-reconfigurable capsule robot can realize basic motions such as advancing, retreating, fixed-point stopping, drug application and the like and cooperative motions after butt joint and separation by controlling the modular self-reconfigurable capsule robot through an external magnetic field, and lays a foundation for gastrointestinal diagnosis and treatment in the future. 3. The annular radial magnet, the cam structure and the medicine pushing frame of the targeted medicine application sub-module robot form an embedded structure, the structural rigidity and the integration level of the capsule robot are improved, the stability of the capsule robot in motion under a magnetic field environment is ensured, two motion modes of robot motion and medicine application are realized, and two ends of the targeted medicine application sub-module robot are respectively provided with a medicine cylinder which can be divided into a plurality of groups of spaces to carry various medicines. 4. The image acquisition submodule robot integrates the camera module and the control unit, has the functions of camera shooting and image wireless transmission, has stable shooting performance when in fixed-point posture adjustment, avoids the interference of transmission signals, ensures the image quality, is convenient for the inspection of specified positions in gastrointestinal tracts and the visual navigation of the capsule robot, and lays a solid foundation for controlling the capsule robot to execute medical tasks through a space universal rotating magnetic field in the future.
Drawings
Fig. 1 is a schematic structural diagram of a gastrointestinal tract targeted drug delivery self-reconstruction capsule robot related to the utility model.
Fig. 2 is a schematic diagram of a space universal rotating magnetic field driving device and a control system of a gastrointestinal tract targeted drug delivery self-reconstruction capsule robot according to the present invention.
Fig. 3 is a schematic structural diagram of a targeted drug delivery sub-module robot.
Fig. 4 is an exploded schematic view of a targeted drug delivery sub-module robot.
Fig. 5 is a cross-sectional view of a targeted drug delivery sub-module robot.
Fig. 6 is a schematic structural diagram of a cartridge of a targeted drug delivery sub-module robot.
Fig. 7 is a structural schematic diagram of a cam of the targeted drug delivery sub-module robot.
Fig. 8 is a schematic structural diagram of a card of the targeted drug delivery sub-module robot.
Fig. 9 is a schematic structural diagram of a fixing rod of the targeted drug delivery sub-module robot.
Fig. 10 is a structural schematic diagram of a medicine pushing rack of the targeted medicine application sub-module robot.
Fig. 11 is a structural schematic diagram of an annular radial permanent magnet of a targeted drug delivery sub-module robot.
Fig. 12 is a schematic structural diagram of the image acquisition sub-module robot.
Fig. 13 is an exploded schematic view of an image acquisition sub-module robot.
Fig. 14 is a sectional view of the image capturing sub-module robot.
Fig. 15 is a schematic structural diagram of a micro camera module integrator of the image acquisition sub-module robot.
Fig. 16 is a schematic structural diagram of the image acquisition sub-module robot micro camera module energy module.
Fig. 17 is a schematic structural diagram of the image acquisition submodule robot micro camera module.
Fig. 18 is a schematic structural diagram of an annular radial permanent magnet of the image acquisition sub-module robot.
In the figure, 1 is a targeted medicine application submodule robot, 2 is an image acquisition submodule robot, 3 is an external magnetic field controller, 4 is a monitoring table, 5 is a three-axis Helmholtz coil, 6 is a doctor, 7 is a patient inspection table, 8 is a magnetic positioning device, 1-1 is a medicine cylinder, 1-2 is a medicine pushing frame, 1-3 is a cam, 1-4 is a threaded structure shell
1-5 is a fixed rod, 1-6 is a card, 1-7 is a permanent magnet
2-1 is a transparent camera outer cover, 2-2 is a miniature camera module energy module, and 2-3 is a thread structure shell
2-4 is a micro camera module, 2-5 is a permanent magnet
And 2-6 are camera integrated controllers.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings of fig. 1-18.
A gastrointestinal tract targeted drug delivery self-reconstruction capsule robot comprises a targeted drug delivery sub-module robot 1 and an image acquisition sub-module robot 2;
wherein, the screw thread structure shell of the targeted pesticide application sub-module robot 1
1-4, a cam 1-3, a medicine pushing frame 1-2, a fixed rod 1-5, a permanent magnet I1-7 and a medicine cartridge 1-1 are arranged inside; the permanent magnet I1-7 is embedded and fixed in the mounting groove of the cam 1-3 and is mounted at the central position of the targeted drug delivery sub-module robot 1 through a fixing rod 1-5; the fixing rod 1-5 penetrates through1-3 parts of cam, I1-7 parts of permanent magnet, 1-2 parts of medicine pushing frame, and two ends of fixing rod 1-5 and shell with thread structure
1-4 connection; the medicine pushing frame 1-2 is provided with a fixed rod 1-5 mounting chute and a convex part mounting groove of the cam 1-3; a medicine cylinder 1-1 is arranged at the end part of the medicine pushing frame 1-2; the I1-7 rotates along the radial direction of the permanent magnet to drive the cam 1-3 to rotate, the bulge part of the cam 1-3 pushes the medicine pushing frame 1-2, and the medicine cartridge 1-1 at the end part of the medicine pushing frame finishes targeted medicine application; the I1-7 rotates along the axial direction of the robot to drive the shell with the thread structure
1-4 rotation, which is moved by the reaction force of the fluid;
the thread structure shell II2-3 of the image acquisition submodule robot is internally provided with a permanent magnet II2-5, a miniature camera module 2-4, a waterproof transparent camera cover 2-1, a wireless transmission miniature camera energy module 2-2 and a camera integrated controller 2-6 in sequence from the inner center to the end part; the thread structure shell II2-3 is fixed with the permanent magnet II2-5, and the permanent magnet II2-5 drives the thread structure shell II2-3 to rotate.
The convex part of the cam 1-3 and the permanent magnet I1-7 have the same magnetization direction.
The permanent magnet I1-7 and the permanent magnet II2-5 are controlled to rotate by an external universal space rotating magnetic field.
The external universal space rotating magnetic field comprises a three-axis Helmholtz coil 5 and a magnetic positioning device 8, the three-axis Helmholtz coil 5 and the magnetic positioning device 8 are installed on a patient examination table 7 and are connected with an external magnetic field controller 3 and a monitoring table 4, and a doctor 6 monitors in real time through the external magnetic field controller 3 and the monitoring table 4.
The permanent magnet I1-7 and the permanent magnet II2-5 are annular radial permanent magnets.
The permanent magnet I1-7 and the permanent magnet II2-5 are NdFeB (neodymium iron boron) permanent magnets.
The medicine pushing frame 1-2 is arranged on the fixing rod 1-5 through a card 1-6.
The two ends of the medicine pushing frame 1-2 are provided with medicine cylinders 1-1.
The thread structure shell
1-4 and the thread structure shell II2-3 adopt a single-turn thread structure.
And the two ends of the image acquisition submodule robot 2 are respectively provided with a micro camera module 2-4, a micro camera module energy module 2-2, a camera integrated controller 2-6 and a transparent camera outer cover 2-1.
The targeted drug delivery sub-module robot 1 and the image acquisition sub-module robot 2 are connected or separated through the magnetic acting force of the permanent magnet I1-7 and the permanent magnet II2-5, the moment balance of the permanent magnet I1-7 and the permanent magnet II2-5 is controlled, the whole movement of the modular self-reconfigurable capsule robot consisting of the targeted drug delivery sub-module robot 1 and the image acquisition sub-module robot 2 is completed, or the targeted drug delivery sub-module robot 1 and the image acquisition sub-module robot 2 are separated, and the targeted drug delivery sub-module robot 1 or the image acquisition sub-module robot 2 is controlled independently to execute respective tasks.
A working method of the gastrointestinal tract targeted drug delivery self-reconstruction capsule robot comprises the following steps:
(1) after the target medicine application sub-module robot 1 and the image acquisition sub-module robot 2 reach the initial positions, the target medicine application sub-module robot and the image acquisition sub-module robot are butted to form a gastrointestinal tract target medicine application self-reconstruction capsule robot, then video signals are transmitted to an external control console in real time through the image acquisition sub-module robot, and a doctor controls the gastrointestinal tract target medicine application self-reconstruction capsule robot to move according to images;
(2) after reaching an affected part, the gastrointestinal tract targeted drug delivery self-reconfigurable capsule robot is separated into two sub-robots, namely a targeted drug delivery sub-module robot 1 and an image acquisition sub-module robot 2, the image acquisition sub-module robot 2 reaches a specified position to provide real-time monitoring, a doctor controls the targeted drug delivery sub-module robot 1 to perform targeted drug delivery work, and cooperatively controls the two sub-robots to complete a drug delivery task;
(3) after the task is finished, the gastrointestinal tract targeted drug application self-reconstruction capsule robot discharges the drug along with waste.
The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot realizes fixed-point parking and rotary advancing of the gastrointestinal tract targeted drug delivery self-reconstruction capsule robot by a universal space rotating magnetic field and adopting an active and passive control mode.
The image acquisition submodule robot 2 sends an image signal through a camera shooting function and a wireless transmission function, an image receiver is adopted outside the image acquisition submodule robot to receive the image signal, real-scene images of the gastrointestinal tract are displayed on a human-computer interface, and medical staff are assisted to observe whether the gastrointestinal tract is diseased or not and control the trend of the capsule robot.
Although the embodiments of the present invention and the accompanying drawings are disclosed for illustrative purposes, those skilled in the art will appreciate that: various substitutions, changes and modifications are possible without departing from the spirit and scope of the utility model and appended claims, and therefore, the scope of the utility model is not limited to the disclosure of the embodiments and drawings.
Claims (8)
1. A gastrointestinal tract targeted drug delivery self-reconstruction capsule robot is characterized by comprising a targeted drug delivery sub-module robot (1) and an image acquisition sub-module robot (2);
wherein, the screw thread structure shell of the targeted pesticide application sub-module robot (1)
The inside of the (1-4) is provided with a cam (1-3), a medicine pushing frame (1-2), a fixed rod (1-5), a permanent magnet I (1-7) and a medicine cylinder (1-1); the permanent magnets I (1-7) are embedded and fixed in mounting grooves of the cams (1-3) and are mounted in the center of the targeted pesticide application sub-module robot (1) through fixing rods (1-5); the fixing rod (1-5) penetrates through the cam (1-3), the permanent magnet I (1-7) and the medicine pushing frame (1-2), and two ends of the fixing rod (1-5) and the shell of the threaded structure
(1-4) connecting; the push medicineThe frame (1-2) is provided with a fixed rod (1-5) mounting chute and a cam (1-3) boss mounting groove; a medicine cylinder (1-1) is arranged at the end part of the medicine pushing frame (1-2); the permanent magnet I (1-7) rotates along the radial direction of the permanent magnet to drive the cam (1-3) to rotate, the convex part of the cam (1-3) pushes the medicine pushing frame (1-2), and the medicine cylinder (1-1) at the end part of the medicine pushing frame finishes targeted medicine application; the permanent magnet I (1-7) is a shell which rotates along the axial direction of the robot to drive a thread structure
(1-4) rotating, moving by the reaction force of the fluid;
a permanent magnet II (2-5), a miniature camera module (2-4), a transparent camera outer cover (2-1) with a waterproof function, a miniature camera energy module (2-2) with a wireless transmission function and a camera integrated controller (2-6) are sequentially arranged from the inner center to the end part in a thread structure shell II (2-3) of the image acquisition submodule robot; the thread structure shell II (2-3) and the permanent magnet II (2-5) are fixed, and the permanent magnet II (2-5) drives the thread structure shell II (2-3) to rotate.
2. The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot as claimed in claim 1, wherein the thread structure housing
(1-4) and the thread structure shell II (2-3) rotate clockwise or anticlockwise to finish forward or backward movement.
3. The gastrointestinal tract targeted drug delivery self-reconstructing capsule robot according to claim 1, wherein the convex part of the cam (1-3) and the permanent magnet I (1-7) have the same magnetization direction.
4. The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot as claimed in claim 1, wherein the permanent magnets I (1-7) and II (2-5) are controlled to rotate by an external universal space rotating magnetic field.
5. The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot as claimed in claim 1, wherein the permanent magnets I (1-7) and II (2-5) are annular radial permanent magnets.
6. The gastrointestinal tract targeted drug delivery self-reconstitution capsule robot according to claim 1, wherein the drug pushing rack (1-2) is mounted on the fixing rod (1-5) through a card (1-6).
7. The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot as claimed in claim 1, wherein the drug pushing frame (1-2) is provided with a drug cartridge (1-1) at both ends; the two ends of the image acquisition submodule robot (2) are respectively provided with a micro camera module (2-4), a micro camera energy module (2-2), a camera integrated controller (2-6) and a transparent camera outer cover (2-1).
8. The gastrointestinal tract targeted drug delivery self-reconstruction capsule robot according to claim 1, wherein the targeted drug delivery sub-module robot (1) and the image acquisition sub-module robot (2) are connected or separated through magnetic forces of permanent magnets I (1-7) and permanent magnets II (2-5), and the moment balance of the permanent magnets I (1-7) and the permanent magnets II (2-5) is controlled to complete the overall movement of the modular self-reconstruction capsule robot consisting of the targeted drug delivery sub-module robot (1) and the image acquisition sub-module robot (2), or the targeted drug delivery sub-module robot (1) and the image acquisition sub-module robot (2) are separated, and the targeted drug delivery sub-module robot (1) or the image acquisition sub-module robot (2) is controlled independently to perform respective tasks.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113209460A (en) * | 2021-06-15 | 2021-08-06 | 天津理工大学 | Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot and working method thereof |
| CN115814247A (en) * | 2022-11-14 | 2023-03-21 | 南开大学深圳研究院 | Magnetic control type anti-interference targeted drug delivery capsule robot |
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2021
- 2021-06-15 CN CN202121324985.5U patent/CN216963281U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113209460A (en) * | 2021-06-15 | 2021-08-06 | 天津理工大学 | Gastrointestinal tract targeted drug delivery self-reconstruction capsule robot and working method thereof |
| CN115814247A (en) * | 2022-11-14 | 2023-03-21 | 南开大学深圳研究院 | Magnetic control type anti-interference targeted drug delivery capsule robot |
| CN115814247B (en) * | 2022-11-14 | 2023-11-10 | 南开大学深圳研究院 | Magnetic control type anti-interference targeted drug delivery capsule robot |
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