CN113545734B - Magnetic control dual-drive medicine applying capsule robot - Google Patents
Magnetic control dual-drive medicine applying capsule robot Download PDFInfo
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- CN113545734B CN113545734B CN202111015525.9A CN202111015525A CN113545734B CN 113545734 B CN113545734 B CN 113545734B CN 202111015525 A CN202111015525 A CN 202111015525A CN 113545734 B CN113545734 B CN 113545734B
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- drug delivery
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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
- A61M31/002—Devices for releasing a drug at a continuous and controlled rate for a prolonged period of time
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
Abstract
The invention discloses a magnetic control dual-drive medicine application capsule robot, which comprises a capsule shell, and a magnetic drive device, an endoscope device and a medicine application device which are arranged in the capsule shell; the drug delivery device comprises a drug delivery microneedle, two triggering columns, two curing compression springs, two guide cylinders and a drug delivery window arranged outside a capsule shell; one end of each triggering column is abutted against or connected with the substrate of the drug delivery microneedle, the other end of each triggering column is respectively arranged in the two guide cylinders, a curing compression spring is arranged in each guide cylinder, a dissolving hole is formed in the cylinder wall, liquid enters the guide cylinders through the dissolving holes to dissolve curing materials, so that the compression springs are released, and the drug delivery microneedles are ejected out by the compression springs for drug delivery; the magnetic control capsule provided by the invention not only has the function of an endoscope, but also has the function of fixed-point medicine application; the doctor controls the capsule to move through the magnetic control capsule, observes the internal condition through the endoscope, and ejects the micro-needle at a fixed point to implement the function, thereby carrying out the treatment work of fixed-point medicine application.
Description
Technical Field
The invention belongs to the field of medical robots, relates to a medicine application technology of a miniature medical robot, and particularly relates to a magnetic control dual-drive medicine application capsule robot.
Background
The related technology of the micro-robot is rapidly developing, the application range of the micro-robot is continuously expanded, the application degree is continuously deepened, and the function of the micro-robot in the medical field is increasingly remarkable at present. In the medical field, when the traditional manual endoscope method adopted in the past is used for detection, if the moving amplitude of the endoscope in the gastrointestinal tract of a patient is large, the body of the patient can react to an instrument to be uncomfortable, and sometimes the instrument even has the possibility of damaging the body of the patient, so that the instrument is extremely important to be more suitable for the body of the patient; if the angle is controlled to be too small, the image quality may be degraded, and even the image of the desired area may not be obtained; meanwhile, the traditional artificial endoscope has low working efficiency and high treatment and drug application difficulty for doctors, and various defects enable medical institutions to gradually consider using a magnetic control capsule robot to replace manual work for image acquisition and drug application. Therefore, it is necessary to develop a micro medical robot which has a small volume and does not cause excessive burden to the body of a patient, some medical institutions put the micro capsule robot into the human body for detection and treatment, and the micro capsule robot has a small volume and small foreign body sensation of the patient. Currently in the field of micro medical robotics, scientists are working on developing techniques for detection and treatment of minor injuries. Nowadays, endoscope capsule robots in daily life can already realize the detection function of a common gastrointestinal endoscope, but cannot realize the function of medicine application at a specified position, and endoscope capsule robots with fixed-point medicine application functions are better developed in the field of micro medical robots.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a magnetically controlled dual-drive capsule robot for administering a drug at a fixed point at a target location, so that the capsule robot can perform not only the function of an endoscope, but also further tasks of diagnosis and fixed-point treatment.
In order to solve the technical problems, the invention adopts the technical scheme that:
a magnetic control dual-drive medicine application capsule robot is characterized in that: comprises a capsule shell, a magnetic drive device, an endoscope device and a drug delivery device, wherein the magnetic drive device, the endoscope device and the drug delivery device are arranged in the capsule shell; wherein the content of the first and second substances,
the magnetic driving device is used for matching with an external magnetic field to drive the whole drug delivery capsule to move;
the endoscope device is used for observing the detection and drug application environment;
the drug delivery device comprises a drug delivery micro-needle, a triggering column, a curing compression spring, a guide cylinder arranged in the capsule shell and a drug delivery window arranged outside the capsule shell;
the drug delivery micro-needle is positioned in the drug delivery window and comprises a substrate and a micro-needle array arranged on the substrate, and a film for protecting the drug delivery micro-needle is further arranged on the outer side of the drug delivery window;
the two guide cylinders are arranged on the inner wall of the capsule shell on the side opposite to the drug application window, the number of the trigger columns is two, one ends of the two trigger columns are abutted against or connected with the substrate of the drug application microneedle, the other ends of the two trigger columns are respectively arranged in the two guide cylinders, and the middle parts of the two trigger columns are transversely connected through a connecting plate; the two solidified compression springs are respectively arranged in the two guide cylinders and are positioned between the end parts of the corresponding trigger posts and the inner bottoms of the guide cylinders;
the solidified compression spring is a compression spring solidified by a solidified material which can be dissolved in body fluid, a dissolving hole communicated with the outside of the capsule shell is formed in the side wall of the guide cylinder in the area where the solidified compression spring is installed, when the medicine applying capsule is in a human body using environment, body fluid enters the guide cylinder through the dissolving hole to melt the solidified material which can be dissolved in the body fluid and is solidified in the compression spring, the compression spring is released, the medicine applying micro-needle is driven by the trigger column to extend outwards, and the micro-needle is contacted with a human body after a film is punctured to apply medicine to the micro-needle.
Further, the capsule shell is a cylindrical shell formed by combining a bearing shell and a medicine application shell, the guide cylinder is arranged on the inner wall of the bearing shell, and the medicine application window is arranged outside the medicine application shell.
Further, the endoscope device comprises an endoscope lens, a lens and a circuit board, wherein the endoscope lens is arranged at the front end of the advancing direction of the capsule shell.
Further, the solidified material soluble in body fluid comprises any one or more of gelatin, starch and sodium alginate.
Further, the film arranged on the drug application window is a latex film or a biological film, and the film can also be a nontoxic plastic film, a rubber film and the like.
Further, the drug-applying microneedle is a microneedle array patch manufactured by using a PDMS mold, and the microneedle contains the required drug.
Further, the microneedles are conical, and the diameter of the bottom surface of each microneedle is 200-400 μm.
Further, the two guide cylinders are arranged in parallel, the substrate of the microneedle array is an arc-shaped substrate, and each microneedle is perpendicular to the surface of the arc-shaped substrate.
Furthermore, the magnetic driving device is an annular permanent magnet which is coaxially arranged in the capsule shell.
Further, the guide cylinder is arranged at the tail part of the capsule shell, and the tail part of the capsule shell is provided with an open port for facilitating the body fluid to enter the dissolving hole.
Further, the microneedles are manufactured by using a process of manufacturing a microneedle array patch by using a PDMS mold, the microneedles contain drugs, the substrate does not contain drugs, the microneedles are conical, and the diameter of the bottom surface of each microneedle is only about 300 μm.
Further, the magnet is installed in the bearing shell, so that in the drug delivery process, the magnetic control dual-drive drug delivery capsule robot can move to a specified drug delivery area through magnetic control guidance.
Further, the endoscope lens is positioned at the top of the other side relative to the drug delivery device, and the endoscope device communicates with the outside and transmits data through wireless.
Further, the bearing shell and the pesticide applying shell are mutually interacted through the reverse buckle and the clasp and are firmly combined.
Furthermore, the endoscope and the endoscope circuit board are controlled by adopting a flexible wire, and the flexible wire is also used as a traction wire of the magnetic control capsule.
Furthermore, the whole capsule shell is of a cylinder structure, and the axial section is oval.
The invention has the beneficial effects that:
1. the capsule system is controlled by a miniature circuit board, so that the occupied space is small, the structure is more compact, and the stability of the capsule system is strong;
2. the invention has simple structure, high power transmission efficiency of the mechanism, no introduction of a complex mechanical structure and higher success rate of action operation.
2. The tail line control of the capsule robot can provide sufficient energy, and can execute tasks in vivo for a plurality of times for a long time;
3. can additionally meet the requirement of the capsule robot on the medicine application function.
4. According to the invention, after the curing compression spring is released by arranging the two triggering columns and the two guide cylinders, the pushing force can be uniformly applied to the drug-applying micro-needles, so that the drug application is uniform, the drug-applying micro-needles are prevented from being inclined, and the drug-applying micro-needles are partially contacted with human tissues and are not contacted, so that the drug-applying effect is reduced.
Drawings
FIG. 1 is a schematic diagram of the external structure of the magnetically controlled dual-drive drug delivery capsule robot of the present invention.
FIG. 2 is a schematic view of the magnetically controlled dual-drive capsule dispensing robot of the present invention with the film on the dispensing window removed.
Fig. 3 is a schematic diagram of the magnetically controlled dual-drive drug delivery capsule robot with the drug delivery shell removed and the internal structure of the microneedle.
Fig. 4 is a sectional view of the inner structure of the spring in a compressed state according to the present invention.
FIG. 5 is an enlarged view of the dispensing device of the present invention in the spring-return position.
Fig. 6 is a sectional view taken along line a-a in fig. 5.
The device comprises a bearing shell, a drug delivery micro-needle, a micro-needle 31, a micro-needle 32, a substrate, a trigger column 4, a compression spring 5, an endoscope lens 6, an annular permanent magnet 7, an endoscope circuit board 8, a dissolving hole 9, a clasp 10, an inverted buckle 11, a curing material 12, an open port 13, a film 14, a guide cylinder 15, a drug delivery window 16 and a connecting plate 17.
Detailed Description
The present invention will be described in detail with reference to the drawings and examples, which are provided for illustration and not for limitation of the present invention.
As shown in fig. 1 to 6, a magnetically controlled dual-drive drug delivery capsule robot comprises a capsule housing, and a magnetic drive device, an endoscope device and a drug delivery device mounted in the capsule housing; wherein, for the convenience of manufacturing and assembling, the capsule shell is a cylindrical shell formed by combining the bearing shell 1 and the administration shell 2, and the bearing shell 1 and the administration shell 2 are detachably connected through a clasp 10 and an inverted buckle 11.
The magnetic driving device is used for matching with an external magnetic field to drive the whole drug delivery capsule to move;
the endoscope device is used for observing the detection and drug application environment;
the drug delivery device comprises a drug delivery micro-needle 3, a trigger column 4, a curing compression spring, a guide cylinder 15 arranged in the capsule shell and a drug delivery window 16 arranged outside the capsule shell;
the drug delivery micro-needle 3 is positioned in the drug delivery window 16, the drug delivery micro-needle 3 comprises a substrate 32 and a micro-needle array which is arranged on the substrate 32 and consists of micro-needles 31, and a film 14 for protecting the drug delivery micro-needle 3 is further arranged outside the drug delivery window 16;
the two guide cylinders 15 are arranged on the inner wall of the capsule shell on the side opposite to the drug application window 16, the two trigger columns 4 are arranged, one ends of the two trigger columns 4 are abutted or connected with the substrate 32 of the drug application microneedle 3, the other ends of the two trigger columns are respectively arranged in the two guide cylinders 15, and the middle parts of the two trigger columns 4 are transversely connected through a connecting plate 17; two solidified compression springs are respectively arranged in the two guide cylinders 15 and are positioned between the end parts of the corresponding trigger posts 4 and the inner bottoms of the guide cylinders 15;
the solidified compression spring is a compression spring 5 solidified by a solidified material 12 soluble in body fluid, a dissolving hole 9 communicated with the outside of the capsule shell is formed in the side wall of a guide cylinder 15 provided with a solidified compression spring region, when the medicine application capsule is in a human body using environment, the body fluid enters the guide cylinder 15 through the dissolving hole 9 to melt the solidified material 12 soluble in the body fluid of the solidified compression spring, the compression spring 5 is released, the medicine application micro-needle 3 is driven to extend outwards by the trigger column 4, and the film 14 is contacted with the human body after being punctured, so that the micro-needle 31 applies medicine.
As shown in fig. 4 and 5, the trigger pin 4 is controlled by a dissolvable solidified compression spring to eject the microneedles 31 for puncture administration. The solidified compression spring is a compression spring 5 solidified by a solidified material 12 soluble in body fluid, and the specific manufacturing method is as follows: the spring is compressed, stored in a compressed state and placed in a cylindrical mold, then a solution containing 12 components of a curing material which can be dissolved in body fluid, such as gelatin, starch, sodium alginate and the like, is poured into the mold, and after the solution is dried in the air, the mold is removed to obtain the cured compression spring. The components such as gelatin, starch, sodium alginate and the like are dissolved in a specific solution or a human body environment, the solidification effect on the compression spring 5 is lost, the spring is stretched and released to generate the drug application power, the material type and the size of a cylindrical mold are selected, so that the material in the solidified state in the solidified compression spring can be dissolved by body fluid in 20-30 minutes, and the compression spring 5 is released, the time length is selected because the magnetic control micro-needle 31 can puncture the drug application capsule to move to any place which can be reached by the human body under the time length, and the compression spring 5 is released automatically after the material stays for reaching the dissolution time for a little time, so that the purpose of automatic drug application is achieved, and a complicated power mechanism is not required to be arranged in a magnetic control dual-drive drug application capsule robot, and actually, the micro-motor arranged in a tiny capsule is not only complicated in technology, but also high in cost and has no practicability, the invention can finish the pesticide application without using an ultra-micro motor through an ingenious structural design, greatly reduces the use and manufacturing cost, can be reused only by replacing the solidified compression spring after the microcapsule is taken out after the pesticide application is finished, achieves the aim of repeated use, and is low in cost and suitable for large-scale popularization and application because the solidified compression spring is a conventional material and a conventional process. The method of recovering the solidified compression spring includes, but is not limited to, gradually dissolving the liquid flowing through the dissolving hole 9. After the capsule moves to the target position, the solidified material 12 is automatically dissolved without external operation, and the method is simple and efficient.
According to the invention, after the solidified compression spring is released by arranging the two trigger columns 4 and the two guide cylinders 15, the pushing force can be uniformly applied to the drug applying micro-needles 3, so that the drug applying is uniform, the drug applying micro-needles 3 are prevented from being inclined, and a part of the micro-needles 31 are contacted with human tissues, while a part of the micro-needles 31 are not contacted, so that the drug applying effect is reduced.
As shown in fig. 3, the annular permanent magnet 7 is installed in the bearing housing 1, so that during the drug delivery process, the magnetically controlled dual-drive drug delivery capsule robot can move to a designated drug delivery area through magnetic control guidance for further operation.
As shown in fig. 3 and 4, the endoscope circuit board 8 of the present invention is fixed in the annular permanent magnet 7, the endoscope lens 6 is installed at the front end of the bearing housing 1, both the endoscope lens 6 and the endoscope circuit board 8 are controlled by flexible wire communication, and the flexible wire is also used as a pull wire of the magnetron capsule robot.
As shown in fig. 2, the microneedle 3 for drug administration is a microneedle array patch manufactured by using a PDMS mold, and when drug administration is performed, the surface of the tip of the needle contains a drug, the base 32 does not contain a drug, the microneedles 31 are conical, and the diameter of the bottom surface of each microneedle 31 is only about 300 μm. When the effectiveness of the drug delivery is tested, a fluorescent reagent can be used for replacing the drug, the pig intestine is tested, the effectiveness of the drug delivery is judged by observing fluorescent substances, and the specific manufacturing process of the drug delivery microneedle 3 can refer to the technology disclosed by the inventor's earlier research result CN 108837299B.
As shown in fig. 4, the endoscope lens 6 is located at the top of the capsule housing on the other side relative to the drug delivery device, the endoscope device communicates with the outside world and transmits data wirelessly, and the information transmission mode includes WIFI but is not limited to WIFI.
As shown in fig. 5 and fig. 6, the carrying case 1 and the dispensing case 2 are connected to each other by the reverse buckles 11 and the hooks 10, so as to ensure the fast detachable firm connection, specifically, the carrying case 1 is provided with two opposite grooves to form two reverse buckles 11, the dispensing case 2 is respectively provided with a protrusion of outside trimming along two sides of the axis to form two hooks 10, the distance between the outer parts of the two hooks 10 is slightly larger than the distance between the inner sides of the two reverse buckles 11, the dispensing case 2 has certain elasticity, when being installed, the two sides of the dispensing case 2 are pressed by external force to deform the dispensing case 2, the distance between the outer parts of the two hooks 10 is smaller than the distance between the inner sides of the two reverse buckles 11, then the two hooks 10 are installed between the two reverse buckles 11, the external force is released, and the two hooks 10 extend towards two sides under the condition that the dispensing case 2 recovers deformation, leaning on two back-off 11 inner walls to bearing casing 1 with the firm dismantlement of casing 2 of giving medicine to be fixed together, the dismantlement process is totally opposite, and the actual external force extrudees casing 2 of giving medicine to make its deformation can, it is need to notice that the required deflection of two clips 10 is not big, consequently, casing 2 of giving medicine to the poor free of charge adopts plastics or metal material to make and can both satisfy the requirement under the normal condition.
As shown in FIG. 2, the capsule shell has a cylindrical structure and an oval axial section.
It should be noted that the endoscope apparatus and other conventional structures of the magnetic control capsule of the present invention are not the key points of the present invention, and the parts of the present invention not disclosed in detail adopt the common knowledge, for example, in order to match with the image acquisition apparatus, the front end of the bearing housing 1 is provided with a shooting hole or the capsule housing is provided with a transparent cover.
The working principle of the invention is as follows:
the invention is characterized in that a ring permanent magnet 7 made of a magnetic mixed material is arranged in a bearing shell 1, can move and adjust the angle in a human body under the drive of an external magnetic field, and specifically refers to the magnetic control capsule technology in the prior art; the endoscope device can finish an image acquisition function, when the magnetic control dual-drive medicine application capsule robot moves, medicine application micro-needles are covered by a film and cannot be contacted with human tissues, after the medicine application micro-needles reach a designated position, the curing compression springs are only required to wait for the curing compression springs to be in vivo or in solution, the curing materials 12 are gradually dissolved, the compression springs 5 are restored, and therefore the micro-needles 31 containing the therapeutic medicines are ejected out of the trigger columns 4, and the medicine application function can be finished.
The endoscope device can record video of the recorded images in the whole process, and after the magnetic control capsule executes the task, a doctor pulls the capsule out of the body of a patient through a control line so as to carry out subsequent detection and treatment work.
The above embodiments are only for illustrating the present invention and are not to be construed as limiting the present invention. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that various combinations, modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the technical solution of the present invention, and the technical solution of the present invention is covered by the claims of the present invention.
Claims (8)
1. A magnetic control dual-drive medicine application capsule robot is characterized in that: comprises a capsule shell, a magnetic drive device, an endoscope device and a drug delivery device, wherein the magnetic drive device, the endoscope device and the drug delivery device are arranged in the capsule shell; wherein the content of the first and second substances,
the magnetic driving device is used for matching with an external magnetic field to drive the whole drug delivery capsule to move;
the endoscope device is used for observing the detection and drug application environment;
the drug delivery device comprises a drug delivery micro-needle, a triggering column, a curing compression spring, a guide cylinder arranged in the capsule shell and a drug delivery window arranged outside the capsule shell;
the drug delivery micro-needle is positioned in the drug delivery window and comprises a substrate and a micro-needle array arranged on the substrate, and a film for protecting the drug delivery micro-needle is further arranged on the outer side of the drug delivery window;
the two guide cylinders are arranged on the inner wall of the capsule shell on the side opposite to the drug application window, the number of the trigger columns is two, one ends of the two trigger columns are abutted against or connected with the substrate of the drug application microneedle, the other ends of the two trigger columns are respectively arranged in the two guide cylinders, and the middle parts of the two trigger columns are transversely connected through a connecting plate; the two solidified compression springs are respectively arranged in the two guide cylinders and are positioned between the end parts of the corresponding trigger posts and the inner bottoms of the guide cylinders;
the solidified compression spring is a compression spring solidified by a solidified material soluble in body fluid, a dissolving hole communicated with the outside of the capsule shell is formed in the side wall of the guide cylinder in the area where the solidified compression spring is installed, when the medicine application capsule is in a human body using environment, the body fluid enters the guide cylinder through the dissolving hole to melt the solidified material soluble in the body fluid of the solidified compression spring, the compression spring is released, the medicine application micro-needle is driven by the trigger column to extend outwards, and the micro-needle is contacted with a human body after a film is punctured, so that micro-needle medicine application is carried out;
the capsule shell is a cylindrical shell formed by combining a bearing shell and a pesticide application shell, the guide cylinder is arranged on the inner wall of the bearing shell, and the pesticide application window is arranged outside the pesticide application shell;
the solidified material soluble in body fluid comprises any one or more of gelatin, starch and sodium alginate.
2. The magnetically controlled dual drive drug delivery capsule robot of claim 1, wherein: the endoscope device comprises an endoscope lens, a lens and a circuit board, wherein the endoscope lens is arranged at the front end of the advancing direction of the capsule shell.
3. The magnetically controlled dual-drive drug delivery capsule robot according to claim 1, wherein: the film arranged on the pesticide application window is an emulsion film or a biological film.
4. The magnetically controlled dual drive drug delivery capsule robot of claim 1, wherein: the drug-applying micro-needle is a micro-needle array patch manufactured by using a PDMS mold, and the micro-needle contains the required drug.
5. The magnetically controlled dual drive drug delivery capsule robot of claim 4, wherein: the microneedles are conical, and the diameter of the bottom surface of each microneedle is 200-400 mu m.
6. The magnetically controlled dual drive drug delivery capsule robot of claim 4, wherein: the two guide cylinders are arranged in parallel, the substrate of the microneedle array is an arc-shaped substrate, and each microneedle is perpendicular to the surface of the arc-shaped substrate.
7. The magnetically controlled dual drive drug delivery capsule robot of claim 1, wherein: the magnetic driving device is an annular permanent magnet which is coaxially arranged in the capsule shell.
8. The magnetically controlled dual drive drug delivery capsule robot of claim 1, wherein: the guide cylinder is arranged at the tail part of the capsule shell, and the tail part of the capsule shell is provided with an open port which is convenient for body fluid to enter the dissolving hole.
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| CN202111015525.9A CN113545734B (en) | 2021-08-31 | 2021-08-31 | Magnetic control dual-drive medicine applying capsule robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4239040A (en) * | 1976-10-19 | 1980-12-16 | Kabushiki Kaisha Daini Seikosha | Capsule for medical use |
| US5217449A (en) * | 1990-12-11 | 1993-06-08 | Miyarisan Kabushiki Kaisha | Medical capsule and apparatus for activating the same |
| CN1304070C (en) * | 2004-09-29 | 2007-03-14 | 重庆大学 | Device for releasing medication for alimentary tract at fixed point |
| CN100482293C (en) * | 2006-12-19 | 2009-04-29 | 重庆大学 | Slow release type remote controlled electronic capsule |
| JP2009090047A (en) * | 2007-10-12 | 2009-04-30 | Hoya Corp | Action switching mechanism for swallow type medical device |
| CN101259301A (en) * | 2008-04-18 | 2008-09-10 | 重庆大学 | Digitalization pulsed-release electronic capsule |
| CN106474618A (en) * | 2015-09-01 | 2017-03-08 | 山东大学苏州研究院 | A kind of microrobot capsule |
| FR3052046B1 (en) * | 2016-06-07 | 2021-12-24 | Univ Grenoble Alpes | INTESTINAL SAMPLING DEVICE |
| CN105963855A (en) * | 2016-06-22 | 2016-09-28 | 成都市亿泰科技有限公司 | Microneedle drug delivery patch containing separable drug capsule |
| CN109330627B (en) * | 2018-10-09 | 2021-02-09 | 安翰科技(武汉)股份有限公司 | Capsule system capable of synchronously or asynchronously completing sampling and medicine release |
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