CN112402778A - Stress massage dialysis component for nephrology department - Google Patents
Stress massage dialysis component for nephrology department Download PDFInfo
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- CN112402778A CN112402778A CN202011325566.3A CN202011325566A CN112402778A CN 112402778 A CN112402778 A CN 112402778A CN 202011325566 A CN202011325566 A CN 202011325566A CN 112402778 A CN112402778 A CN 112402778A
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H21/00—Massage devices for cavities of the body, e.g. nose, ears and anus ; Vibration or percussion related aspects A61H23/00
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- 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
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1683—Surface of interface
- A61H2201/169—Physical characteristics of the surface, e.g. material, relief, texture or indicia
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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- 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
- A61M37/00—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin
- A61M2037/0007—Other apparatus for introducing media into the body; Percutany, i.e. introducing medicines into the body by diffusion through the skin having means for enhancing the permeation of substances through the epidermis, e.g. using suction or depression, electric or magnetic fields, sound waves or chemical agents
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- 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
- A61M2210/005—Anatomical parts of the body used as an access side to 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
- A61M2210/1064—Large intestine
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- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Hematology (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Anesthesiology (AREA)
- Reproductive Health (AREA)
- Medical Informatics (AREA)
- Otolaryngology (AREA)
- Dermatology (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Magnetic Treatment Devices (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Percussion Or Vibration Massage (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a stress massage dialysis member for nephrology department, which comprises a support frame, a soft sleeve filled with magnetorheological fluid and a magnetic body, wherein the soft sleeve filled with the magnetorheological fluid is arranged on the outer side of the support frame, a magnetic field around the magnetorheological fluid is changed through the magnetic body, so that the magnetorheological fluid can be converted between a liquid state and a solid-like state, intestines and stomach can be tightened when the intestines and stomach wriggle, and when the intestinal wall contacts the soft sleeve filled with the magnetorheological fluid in different forms, the intestinal wall can be subjected to different reaction forces, and the change of the force is beneficial to causing the intestinal wall to generate stress reaction, thereby achieving the massage effect and promoting the absorption of the intestinal peristalsis.
Description
Technical Field
The invention relates to the technical field of nephrology department, in particular to a stress massage dialysis component for nephrology department.
Background
The nephrology department is a clinical department set for diagnosing and treating kidney diseases in all levels of hospitals, common kidney replacement treatment modes comprise kidney transplantation, hemodialysis and peritoneal dialysis, and in the aspect of the internal treatment method, enema is a common method, and the enema refers to a treatment method of inserting a catheter into colon perfusion liquid from anus through rectum to achieve the effects of relaxing bowels and exhausting air, stimulating intestinal peristalsis, softening and removing excrement, and having the effects of reducing temperature, hastening parturition, diluting intestinal toxicants and reducing absorption. The dialysis tube used at present has poor stimulation effect on gastrointestinal peristalsis and is difficult to operate, for example, the invention patent with the patent number of 201710072756.0 and the name of 'an enema type osmotic treatment device for nephrology department' discloses a mode for stimulating gastrointestinal peristalsis, namely, an air flow is introduced into a fiber contraction trachea, so that a loose ball can move under the action of the air flow, the side wall of the fiber contraction trachea can continuously move, and the intestinal tract of a human body is stimulated to peristalsis.
Disclosure of Invention
The invention aims to provide a stress massage dialysis member for nephrology department, which can stimulate the peristalsis of intestinal tracts.
In order to achieve the purpose, the invention provides the following technical scheme: a nephrology stress massage dialysis member, comprising:
the supporting frame comprises a plurality of plastic rings and a spherical cap which are coaxially arranged at equal intervals, two adjacent plastic rings are connected through a plurality of plastic rods which are arranged in parallel, the plastic rods are perpendicular to the end surfaces of the plastic rings, and the plastic ring positioned at the topmost end is fixed with the lower edge of the spherical cap through the plurality of plastic rods which are arranged in parallel;
the two ends of the soft sleeve are respectively bonded on the outer side walls of the two adjacent plastic rings, the soft sleeve consists of an inner layer and an outer layer, the inner layer is in a vertical circular tube shape, the inner side wall of the inner layer is bonded on the outer side wall of the plastic rod, the outer layer is in a circular tube shape with the middle part protruding outwards, the upper edge of the outer layer is bonded with the upper edge of the inner layer, the lower edge of the outer layer is bonded with the lower edge of the inner layer, an accommodating cavity is defined between the inner layer and the outer layer, and the accommodating cavity is filled with magnetorheological fluid;
the two ends of the dialysis membrane are respectively bonded on the outer side walls of the two adjacent plastic rings;
the soft sleeves and the dialysis membrane are arranged at intervals, the heads and the tails of the adjacent soft sleeves and the dialysis membrane are mutually bonded, and the outer side wall of the support frame is enclosed into a closed catheter shape;
and the magnetic body reciprocates along the track of the dialysis member inserted into the intestinal tract at the groin outside the human body, and provides a magnetic field for converting the solid-liquid form for the magnetorheological fluid.
Preferably, the soft sleeve is made of elastic membrane material, and the thickness of the inner layer is larger than that of the outer layer.
Preferably, the thickness of the inner layer is twice the thickness of the outer layer.
Preferably, the plastic ring and the spherical cap are made of hard plastic, and the plastic rod is made of soft plastic.
The method for stimulating the gastrointestinal peristalsis by using the stress massage dialysis member in the nephrology department comprises the following steps:
the method comprises the following steps: inserting a hard rod into a support frame formed by the dialysis member, inserting the dialysis member into a colon from an anus through a rectum, filling a dialysis liquid, then pulling out the hard rod, filling the dialysis liquid into a tubular body formed by a soft sleeve and a dialysis membrane, and enabling an intestinal tract to absorb the dialysis liquid through the dialysis membrane;
step two: holding the magnetic body by hand, enabling the magnetic body to be attached to the skin close to the groin, then holding the magnetic body by hand to enable the magnetic body to reciprocate along the track of the dialysis member inserted into the intestinal tract, wherein the magnetorheological fluid in the soft sleeve is converted from a liquid state to a solid state under the action of a magnetic field, and the stronger the magnetic field is, the higher the conversion degree is;
step three: the intestinal tract can be tightened or opened when the intestinal tract per se wriggles, if the magnetorheological fluid at a position of a certain section of the intestinal tract is just converted into a solid state in the tightening process, the hardened magnetorheological fluid can outwards support the soft sleeve, meanwhile, the plastic ring and the plastic rod can support the soft sleeve, and when the intestinal wall shrinks and clings to the soft sleeve supported by the hardened magnetorheological fluid, a larger reaction force can be passively generated on the intestinal wall to generate stress reaction on the intestinal wall; if the magnetorheological fluid is in a liquid form, the contracted intestinal wall can inwards extrude the magnetorheological fluid in the soft sleeve, at the moment, the inner layer of the soft sleeve stretches towards the inside of the support frame, the soft sleeve can generate a small reaction force on the intestinal wall, and the change of the force helps to enable the intestinal wall to generate stress reaction, so that the effects of massaging the intestinal tract, improving the intestinal peristalsis capability and promoting the intestinal tract to absorb the dialysate are achieved.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the soft sleeve filled with the magnetorheological fluid is arranged on the outer side of the dialysis member, and the magnetic field around the magnetorheological fluid is changed by holding the magnetic body by hand, so that the magnetorheological fluid can be converted between a liquid state and a solid-like state, the intestines and the stomach can be tightened when the intestines and the stomach wriggle, and the intestinal wall can be subjected to different reaction forces when contacting the soft sleeve filled with the magnetorheological fluid in different forms, so that the change of the strength is beneficial to the generation of stress reaction on the intestinal wall, the massage effect is achieved, and the peristaltic absorption of the intestinal tract is promoted.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a front cross-sectional view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 2;
FIG. 5 is a cross-sectional view B-B of FIG. 2;
FIG. 6 is a schematic structural view of the stand according to the present invention;
in the figure: 1-plastic ring, 2-plastic rod, 3-spherical cap, 4-soft sleeve, 41-outer layer, 42-inner layer, 5-dialysis membrane, 6-magnetorheological fluid.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 6, the present invention provides a technical solution: a nephrology stress massage dialysis member, comprising: a support, a soft sleeve 4, a dialysis membrane 5 and a magnetic body.
The supporting frame comprises a plurality of plastic rings 1 and spherical caps 3 which are coaxial and arranged at equal intervals, two adjacent plastic rings 1 are connected through a plurality of plastic rods 2 which are arranged in parallel, the plastic rods 2 are perpendicular to the end surfaces of the plastic rings 1, and the plastic ring 1 positioned at the topmost end is fixed with the lower edge of the spherical cap 3 through the plurality of plastic rods 2 which are arranged in parallel;
wherein, plastic ring 1, spherical cap 3 are the hard plastic material, can play the supporting role to soft cover 4, and spherical cap 3 can reduce the resistance when this dialysis component inserts the intestinal, and plastics pole 2 is the soft plastic material, makes this component can buckle along with the condition of inserting the intestinal.
The two ends of the soft sleeve 4 are respectively bonded on the outer side walls of the two adjacent plastic rings 1, the soft sleeve 4 is composed of an inner layer 42 and an outer layer 41, the inner layer 42 is in a vertical circular tube shape, the inner side wall of the inner layer 42 is bonded on the outer side wall of the plastic rod 2, the outer layer 41 is in a circular tube shape with the middle part protruding outwards, the upper edge of the outer layer 41 is bonded with the upper edge of the inner layer 42, the lower edge of the outer layer 41 is bonded with the lower edge of the inner layer 42, an accommodating cavity is defined between the inner layer 42 and the outer layer 41, and the magnetorheological fluid 6 is filled in the accommodating cavity; two ends of the dialysis membrane 5 are respectively bonded on the outer side walls of two adjacent plastic rings 1; the soft sleeves 4 and the dialysis membranes 5 are arranged at intervals, the heads and the tails of the adjacent soft sleeves 4 and the dialysis membranes 5 are mutually bonded, and the outer side wall of the support frame is enclosed into a closed catheter shape; the magnetic body is held by hand at the groin outside the human body and reciprocates along the track of the dialysis component inserted into the intestinal tract, and provides a magnetic field for converting the solid-liquid form for the magnetorheological fluid 6.
The soft sleeve 4 is made of an elastic membrane material, has high elasticity, can change elasticity according to contraction or expansion of the intestinal wall, and the thickness of the inner layer 42 is larger than that of the outer layer 41, so that the elastic modulus of the outer layer 41 is larger than that of the inner layer 42, the outer layer 41 is easier to generate elastic deformation than the inner layer 42, and when the magnetorheological fluid 6 is filled in the soft sleeve 4, the inner layer 42 can expand the outer layer 41 outwards through the magnetorheological fluid 6, so that the outer layer 41 can be more easily contacted with the intestinal wall.
Specifically, inner layer 42 is twice as thick as outer layer 41.
A method of stimulating gastrointestinal motility using a nephrology stress massage dialysis member, comprising the steps of:
the method comprises the following steps: inserting a hard rod into a catheter formed by the dialysis member, inserting the dialysis member into the colon from the anus through the rectum and perfusing a dialysis liquid, then pulling out the hard rod, filling the dialysis member with the dialysis liquid, and enabling the intestinal tract to absorb the dialysis liquid through a dialysis membrane 5 on the surface of the dialysis member; the hard rod can be formed by a plurality of sections of connecting rods which are hinged, and is convenient to use. In actual use, a tubular body consisting of a soft sleeve and a dialysis membrane is filled with a dialysis solution, the dialysis solution is filled by connecting the tubular body with a dialysis solution pump through a catheter, and the dialysis solution is absorbed by the intestinal tract through the dialysis membrane.
Step two: holding the magnetic body by hand, enabling the magnetic body to be attached to the skin close to the groin, then holding the magnetic body by hand to enable the magnetic body to reciprocate along the track of the dialysis component inserted into the intestinal tract, converting the magnetorheological fluid 6 in the soft sleeve 4 from a liquid state to a solid state under the action of a magnetic field, wherein the stronger the magnetic field, the higher the conversion degree;
step three: the intestinal tract can be tightened or opened when the intestinal tract wriggles per se, if the magnetorheological fluid 6 at the position of the intestinal tract just in the tightening process is converted into a solid state, the hardened magnetorheological fluid 6 can outwards prop up the soft sleeve 4, meanwhile, the plastic ring 1 and the plastic rod 2 can play a supporting role on the soft sleeve 4, and when the intestinal wall shrinks and clings to the soft sleeve 4 propped up by the hardened magnetorheological fluid 6, a larger reaction force can be passively generated on the intestinal wall, and the intestinal wall generates a stress reaction; if the magnetorheological fluid 6 is in a liquid form, the contracted intestinal wall can extrude the magnetorheological fluid 6 in the soft sleeve 4 inwards, at the moment, the soft sleeve 4 can generate a smaller reaction force to the intestinal wall, and the change of the force helps to make the intestinal wall generate stress reaction, so that the effect of promoting the absorption of intestinal peristalsis is achieved.
The working principle is as follows: according to the invention, the soft sleeve 4 filled with the magnetorheological fluid 6 is arranged on the outer side of the dialysis member, the magnetic field around the magnetorheological fluid 6 is changed by holding the magnetic body by hand, so that the magnetorheological fluid 6 can be converted between a liquid state and a solid-like state, the intestines and the stomach can be tightened when the intestines and the stomach wriggle, when the intestinal wall contacts the soft sleeve 4 filled with the magnetorheological fluid 6 in different forms, the intestinal wall can be subjected to different reaction forces, the change of the strength is beneficial to generating stress reaction on the intestinal wall, the massage effect is achieved, and the peristaltic absorption of the intestinal tract is promoted.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. A stress massage dialysis member for nephrology department, comprising:
the supporting frame comprises a plurality of plastic rings (1) and spherical caps (3) which are coaxially arranged at equal intervals, two adjacent plastic rings (1) are connected through a plurality of plastic rods (2) which are arranged in parallel, the plastic rods (2) are perpendicular to the end faces of the plastic rings (1), and the plastic ring (1) positioned at the topmost end is fixed with the lower edge of the spherical cap (3) through the plurality of plastic rods (2) which are arranged in parallel;
the flexible sleeve (4) is characterized in that two ends of the flexible sleeve (4) are respectively bonded on the outer side walls of two adjacent plastic rings (1), the flexible sleeve (4) is composed of an inner layer (42) and an outer layer (41), the inner layer (42) is in a vertical circular tube shape, the inner side wall of the inner layer (42) is bonded on the outer side wall of the plastic rod (2), the outer layer (41) is in a circular tube shape with the middle part protruding outwards, the upper edge of the outer layer (41) is bonded with the upper edge of the inner layer (42), the lower edge of the outer layer (41) is bonded with the lower edge of the inner layer (42), an accommodating cavity is defined between the inner layer (42) and the outer layer (41), and magnetorheological fluid (6) is filled in the accommodating cavity;
the two ends of the dialysis membrane (5) are respectively bonded on the outer side walls of the two adjacent plastic rings (1);
the soft sleeves (4) and the dialysis membrane (5) are arranged at intervals, the heads and the tails of the adjacent soft sleeves (4) and the dialysis membrane (5) are mutually bonded, and the outer side wall of the support frame is enclosed into a closed catheter shape;
and the magnetic body reciprocates along the track of the dialysis component inserted into the intestinal tract at the groin outside the human body, so as to provide a magnetic field for converting the solid-liquid form for the magnetorheological fluid (6).
2. The stress massage dialysis member for nephrology department according to claim 1, wherein: the soft sleeve (4) is made of elastic membrane material, and the thickness of the inner layer (42) is larger than that of the outer layer (41).
3. The stress massage dialysis member for nephrology department according to claim 2, wherein: the thickness of the inner layer (42) is twice the thickness of the outer layer (41).
4. The stress massage dialysis member for nephrology department according to claim 1, wherein: the plastic ring (1) and the spherical cap (3) are made of hard plastic, and the plastic rod (2) is made of soft plastic.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011325566.3A CN112402778B (en) | 2020-11-24 | 2020-11-24 | Stress massage dialysis component for nephrology department |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011325566.3A CN112402778B (en) | 2020-11-24 | 2020-11-24 | Stress massage dialysis component for nephrology department |
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| CN112402778A true CN112402778A (en) | 2021-02-26 |
| CN112402778B CN112402778B (en) | 2022-02-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114053567A (en) * | 2021-11-29 | 2022-02-18 | 西安交通大学 | Method and device for fixed-point release of medicine based on magnetorheological fluid |
| CN114099926A (en) * | 2021-11-29 | 2022-03-01 | 西安交通大学 | Fixed-point magnetorheological fluid delivery method and device |
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| CN106620913A (en) * | 2017-02-10 | 2017-05-10 | 刘希会 | Nephrology department enteroclysis-type infiltration therapeutic system |
| CN206964838U (en) * | 2017-02-07 | 2018-02-06 | 辛克明 | A kind of Nephrology dept.'s dialysis catheter |
| EP3318312A1 (en) * | 2016-11-02 | 2018-05-09 | Spies, Ralf | Support basket assembly |
| CN110860026A (en) * | 2019-10-31 | 2020-03-06 | 郑州大学第一附属医院 | Feces softener for constipation patient and use method thereof |
| CN111568730A (en) * | 2020-05-20 | 2020-08-25 | 合肥工业大学 | Intestinal tract massage machine |
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2020
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060142631A1 (en) * | 2004-12-29 | 2006-06-29 | Attila Meretei | Systems and methods for occluding a blood vessel |
| US20090177151A1 (en) * | 2006-05-03 | 2009-07-09 | Koninklijke Philips Electronics N.V. | Surgical needle and method of guiding a surgical needle |
| EP3318312A1 (en) * | 2016-11-02 | 2018-05-09 | Spies, Ralf | Support basket assembly |
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| CN106620913A (en) * | 2017-02-10 | 2017-05-10 | 刘希会 | Nephrology department enteroclysis-type infiltration therapeutic system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114053567A (en) * | 2021-11-29 | 2022-02-18 | 西安交通大学 | Method and device for fixed-point release of medicine based on magnetorheological fluid |
| CN114099926A (en) * | 2021-11-29 | 2022-03-01 | 西安交通大学 | Fixed-point magnetorheological fluid delivery method and device |
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| CN112402778B (en) | 2022-02-18 |
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