CN116785569A - Gastrointestinal tract magnetic driving spherical drug delivery capsule robot system and working method thereof - Google Patents
Gastrointestinal tract magnetic driving spherical drug delivery capsule robot system and working method thereof Download PDFInfo
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- CN116785569A CN116785569A CN202310556966.2A CN202310556966A CN116785569A CN 116785569 A CN116785569 A CN 116785569A CN 202310556966 A CN202310556966 A CN 202310556966A CN 116785569 A CN116785569 A CN 116785569A
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- 239000002775 capsule Substances 0.000 title claims abstract description 102
- 210000001035 gastrointestinal tract Anatomy 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims description 18
- 238000012377 drug delivery Methods 0.000 title claims description 16
- 239000003814 drug Substances 0.000 claims abstract description 128
- 229940079593 drug Drugs 0.000 claims abstract description 25
- 230000002496 gastric effect Effects 0.000 claims description 14
- 239000000575 pesticide Substances 0.000 claims description 12
- 238000005096 rolling process Methods 0.000 claims description 10
- 230000004888 barrier function Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 239000007921 spray Substances 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 3
- 230000005415 magnetization Effects 0.000 claims description 3
- 229910001172 neodymium magnet Inorganic materials 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims 1
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 229940126585 therapeutic drug Drugs 0.000 abstract 1
- 230000001012 protector Effects 0.000 description 4
- 208000018522 Gastrointestinal disease Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 235000006694 eating habits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000001788 irregular Effects 0.000 description 1
- PLYSCVSCYOQVRP-UHFFFAOYSA-N midazolam hydrochloride Chemical class Cl.C12=CC(Cl)=CC=C2N2C(C)=NC=C2CN=C1C1=CC=CC=C1F PLYSCVSCYOQVRP-UHFFFAOYSA-N 0.000 description 1
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- Medical Preparation Storing Or Oral Administration Devices (AREA)
Abstract
A magnetically-driven spherical drug-applying capsule robot system for gastrointestinal tract is composed of two radially magnetized permanent magnets for realizing two modes of capsule robot movement and drug application, and a cartridge unit for storing therapeutic drug. The spherical capsule robot can realize movement, fixed point, rotation and drug application through the control of an external magnetic field, can also cooperatively control with capsule robots with other functional modules, and lays a foundation for gastrointestinal tract diagnosis and accurate treatment in the future.
Description
(one) technical field:
the invention belongs to the technical field of automation, and relates to a magnetic driving spherical drug delivery capsule robot system for gastrointestinal tract fixed-point treatment and a working method thereof.
(II) background art:
the gastrointestinal diseases become the main factors affecting the health of people gradually due to the fast-paced life and irregular eating habits of people, and people suffering from the gastrointestinal diseases are growing each year, so that the people can be threatened if the people cannot be treated in time. The traditional treatment mode nowadays adopts an endoscope insertion mode, and the traditional endoscope has single function and has an image acquisition function, but the operation is examined, the pain and fear of a patient can be caused in the whole process, and even the patient can give up treatment. With the continuous development of artificial intelligence, the capsule robot has the advantages of overcoming the limitations of the traditional endoscope, improving the diagnosis accuracy, radically reducing the pain of patients, gradually replacing the traditional endoscope due to the characteristics of safety and painless, and becoming a research hotspot in the field of medical engineering.
The capsule robot enters the human body through the oral taking of a patient, and the movement of the capsule robot is controlled through an external magnetic field, so that the examination and treatment of the gastrointestinal tract are realized. The capsule robot has small volume, and can swallow a plurality of capsule robots at a time, thereby realizing various treatment requirements. The capsule robot is simple to operate, and can be discharged out of the body after detection and treatment are completed, so that cross infection is reduced to a certain extent.
At present, the existing capsule robots can realize the examination of gastrointestinal tracts, such as M2A, P I llCam path products developed by Gi ven mag I ng medical technology company, M I roCam series products developed by Korea I ntroMed I c company, and magnetic drug delivery capsule robots of American Van der Bil university, and the like, while some capsule robots can realize drug delivery, the capsule robots can rotationally spray drugs at focus positions, are easily influenced by gastrointestinal tract environments, reduce drug concentration, and how to improve the accurate drug delivery at focus positions becomes a research target.
(III) summary of the invention:
the invention aims to provide a gastrointestinal tract magnetic driving spherical drug delivery capsule robot system and a working method thereof, which can overcome the defects of the prior art, and is a magnetic driving spherical drug delivery capsule robot which has a simple structure, is easy to realize and convenient to operate, is suitable for the gastrointestinal tract of a human body and can improve the drug concentration at a focus.
The technical scheme of the invention is as follows: the gastrointestinal tract magnetic driving spherical medicine applying capsule robot system features that it includes spherical casing, medicine cartridge protector and magnetic lock; wherein, the spherical shell is of a hollow structure, one side of the inner side is provided with a drug release hole, and the other side is provided with a rotary column; the cartridge, the cartridge protection device and the magnetic lock are all arranged in the spherical shell and are positioned on the same axis with the drug release hole and the rotating column; the magnetic lock comprises two permanent magnets, namely a permanent magnet I and a permanent magnet II, wherein the permanent magnet I is fixed on one side of the spherical shell and is connected with the drug release hole; the permanent magnet II is fixed on the other side of the spherical shell, is connected with the rotating column and is opposite to the permanent magnet I, so that the magnetization directions of the permanent magnet II and the rotating column are the same; the cartridge is placed in a cartridge protection device.
The cartridge adopts an injection type push rod structure with a push rod; the push rod is positioned at the bottom of the cartridge and is connected with one side of the rotary column of the spherical shell in a contact way according to the piston, so as to stabilize the cartridge.
The cartridge protecting device is of a bottomless cylindrical hollow structure, and the top of the cartridge protecting device is provided with an annular barrier to prevent the annular permanent magnet I in the spherical shell from deforming and falling off in the process of drug application; the top of the medicine cartridge is provided with a medicine outlet hole which is fixed in an annular barrier at the top of the medicine cartridge protecting device; the push rod is positioned at the bottom of the medicine box and is used for pushing medicine in the medicine box to apply medicine to a patient part; the piston is positioned at the bottom of the cartridge protecting device to prevent the cartridge from falling off due to vibration during the movement process, and one side of the piston is connected with the push rod while the other side is connected with the rotating column.
The spherical shell is made of soft polyurethane elastic material, has good elasticity and toughness, and can be divided into a front hemispherical spherical shell and a rear hemispherical spherical shell; the inner side of the front hemispherical spherical shell is provided with a medicine release hole; the inner side of the rear hemispherical spherical shell is provided with a rotary column and at least 1 water outlet hole.
The magnetic lock consists of a permanent magnet I and a permanent magnet II of radial NdFeB; the permanent magnet I is fixed on the front hemispherical spherical shell of the spherical shell; the permanent magnet II is fixed on the rear hemispherical spherical shell of the spherical shell; when the magnetic poles of the permanent magnets I and II are in the same direction, repulsive force is generated, and the magnetic lock is in a closed state; when the directions of the magnetic poles of the permanent magnets I and II are opposite, suction force is generated, and the magnetic lock is in an open state.
The permanent magnet I is an annular fixed permanent magnet; the permanent magnet II is an annular rotary permanent magnet; when the two permanent magnet magnetic poles are the same, the magnetic lock is closed to keep spherical movement, and when the two permanent magnet magnetic poles are opposite, the magnetic lock is opened, and the spherical extrusion changes the shape, so that the medicine is released.
The periphery of the medicine release hole at the inner side of the front hemispherical spherical shell is provided with an annular clamping groove, and the permanent magnet I is placed in the annular clamping groove; the outer side of the bottom of the rotary column at the inner side of the rear hemispherical spherical shell is provided with a mounting groove; the permanent magnet II is sleeved on the rotating column of the rear hemispherical spherical shell and is placed in the mounting groove.
The gastrointestinal tract magnetic driving spherical medicine applying capsule robot is internally provided with an annular buckle connected with the medicine cartridge protecting device and used for fixedly protecting the medicine cartridge device.
The annular clamping buckle is provided with at least 1 mounting hole; the shell of the cartridge protecting device is provided with at least 1 columnar pin which is matched with the size of the mounting hole, and the height of the columnar pin is smaller than the thickness of the ring of the annular buckle; the connection between cartridge case protection device and the annular buckle realizes fixing through inserting the columnar pin into the mounting hole, and because the cartridge case is fixed in the annular separation at the top of the cartridge case protection device through the medicine outlet at the top of the cartridge case protection device, the push rod of the push rod is placed in the piston at the bottom of the cartridge case protection device, so that the hydraulic protection on medicines in the cartridge case is realized, and the medicine can not be spilled out due to shaking.
A working method of a gastrointestinal magnetic driving spherical drug delivery capsule robot system is characterized in that in a space universal magnetic field, the attractive force or the repulsive force of a magnetic lock formed by a permanent magnet I and a permanent magnet II is controlled, when the magnetic poles of the permanent magnet I and the permanent magnet II are in the same direction, the repulsive force is in a closed state in the magnetic lock; when the magnetic poles of the permanent magnet I and the permanent magnet II are opposite in direction, attractive force is generated between the permanent magnet I and the permanent magnet II, and the magnetic lock is in an open state; the size and the phase of the current input by the power supply to the coil are controlled so as to change the size and the direction of the magnetic field generated by the triaxial Helmholtz coil, thereby realizing two states of 'motion' and 'application' of the spherical capsule robot in the working environment; the method specifically comprises the following steps:
(1) The spherical medicine applying capsule robot reaches the initial position of the working environment, at the moment, the magnetic pole directions of the permanent magnet I and the permanent magnet II are the same, the magnetic lock is a repulsive force, and the spherical medicine applying capsule robot is in a closed state, at the moment, the spherical medicine applying capsule robot is in a 'moving' state; the spherical pesticide application capsule robot can realize free walking under the coupling drive of magnetic moments generated by the triaxial Helmholtz coil; when the spherical capsule robot contacts the edge of the working environment, the motion state is rolling walking, the magnetic torque becomes the rolling driving force contacting the working environment, and the rolling of the spherical capsule robot in the working environment is realized; when the capsule robot moves in the working environment to reach the target, the capsule robot stops at a fixed point under the control of an external magnetic field;
(2) When the spherical medicine applying capsule robot moves to a designated place, the direction of a magnetic field generated by the triaxial Helmholtz coil is changed, so that the change of the moving direction of the capsule robot is realized, the posture is adjusted, the position of a medicine releasing hole is adjusted, and the medicine applying capsule robot reaches the designated position and enters a medicine applying state;
(3) When the medicine is released, the direction of current in the coil is changed into the opposite direction to the original direction, namely the opposite magnetic field direction is generated, the permanent magnet II rotates on the rotary column, the original magnetic pole direction is changed, the magnetic poles of the permanent magnet II are opposite to those of the permanent magnet I, the magnetic locks generate suction force, the magnetic pole directions of the two permanent magnets are opposite, the magnetic locks are in an open state at the moment, the spherical medicine application capsule robot deforms, the rotary column pushes the bottom piston, simultaneously drives the medicine cartridge push rod, extrudes the medicine cartridge protecting device, and pushes the medicine cartridge to spray the medicine from the release hole to a patient;
(4) After the medicine is released, the current direction of the original coil is continuously changed, the permanent magnet II is transformed by a magnetic field to rotate, at the moment, the magnetic pole directions of the permanent magnet I and the permanent magnet II are the same again, repulsive force is generated in the magnetic lock, closing of the magnetic lock is completed, and the shell of the spherical medicine applying capsule robot is restored to be spherical;
(5) After the spherical pesticide application capsule robot finishes working, the spherical pesticide application capsule robot moves by changing the magnetic field direction generated by the triaxial Helmholtz coil, so that the spherical pesticide application capsule robot exits from the working environment.
The invention has the advantages that: the method has the advantages that the method is simple in result, easy to realize, and capable of improving the concentration and the accuracy of drug application at a focus, has a spherical shell for realizing two states of motion and drug application, can reduce the difficulty of operation of the spherical shell by rolling, and ensures stable motion in a magnetic field; the spherical robot shell made of the soft polyurethane elastic material has small structural rigidity, good elasticity and toughness, and the control of the double permanent magnets in the magnetic lock provides possibility for the deformation of the spherical capsule robot in the future, and lays a solid foundation for the deformed capsule robot to execute medical tasks. The advantages of the invention can be effectively supported in the technical proposal.
(IV) description of the drawings:
figure 1 is a schematic external structural view of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to the present invention.
Figure 2 is a schematic diagram of the spatial structure of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system in accordance with the present invention.
Figure 3 is a cross-sectional view of the overall structure of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system in accordance with the present invention.
Figure 4 is a schematic view of the spherical shell structure of a gastrointestinal magnetically-driven spherical capsule delivery robot system according to the present invention (wherein figure 4-a is a front hemispherical spherical shell and figure 4-b is a rear hemispherical spherical shell)
Figure 5 is a schematic view of the structure of an annular radial permanent magnet of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to the present invention.
Figure 6 is a schematic structural view of a cartridge protection device of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to the present invention.
Figure 7 is a schematic view of the annular clasp of the gastrointestinal magnetically-driven spherical dispensing capsule robotic system in accordance with the present invention.
Figure 8 is a schematic structural view of a cartridge of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to the present invention.
Figure 9 is a schematic diagram of the structure of a push rod of a gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to the present invention.
In the figure, 1 is a spherical shell, 1-1 is a drug release hole, 1-2 is a rotary column, 1-3 is a front hemispherical spherical shell, 1-4 is a rear hemispherical spherical shell, 1-5 is a front hemispherical spherical annular clamping groove, 1-6 is a rear hemispherical spherical mounting groove, 1-7 is a rear hemispherical water outlet hole, 2 is a magnetic lock, I2-1 and II 2-2 are annular permanent magnets, 3 is an annular buckle, 3-1 is an annular buckle inner side mounting hole, 4 is a cartridge protecting device, 4-1 is an annular barrier, 4-2 is a cylindrical pin outside the cartridge protecting device, 5 is a cartridge, 5-1 is a drug outlet hole, 6 is a cartridge push rod, and 7 is a bottom piston of the cartridge protecting device.
(V) the specific embodiment:
examples: a gastrointestinal tract magnetic driving spherical dispensing capsule robot system, as shown in figures 1, 2 and 3, is characterized by comprising a spherical shell 1, a cartridge 5, a cartridge protection device 4 and a magnetic lock 2; wherein, the spherical shell 1 is a hollow structure, one side of the inner side is provided with a drug release hole 1-1, and the other side is provided with a rotary column 1-2; the cartridge 5, the cartridge protection device 4 and the magnetic lock 2 are all arranged in the spherical shell 1 and are positioned on the same axis with the drug release hole 1-1 and the rotary column 1-2; the magnetic lock 2 comprises two permanent magnets, namely a permanent magnet I2-1 and a permanent magnet II 2-2, wherein the permanent magnet I2-1 is fixed on one side of the spherical shell 1 and is connected with the drug release hole 1-1; the permanent magnet II 2-2 is fixed on the other side of the spherical shell 1, is connected with the rotary column 1-2 and is opposite to the permanent magnet I2-1, so that the magnetization directions of the permanent magnet II 2-2 and the rotary column 1 are the same; the cartridge 5 is placed in a cartridge protection means 4.
The cartridge 5 adopts an injection type push rod structure and is provided with a push rod 6; the push rod 6 is positioned at the bottom of the cartridge 5, and is in contact connection with one side of the rotary column 1-2 of the spherical shell 1 according to the piston 7, so as to stabilize the cartridge.
The cartridge protecting device 4 is of a bottomless cylindrical hollow structure, the top of the cartridge protecting device is provided with an annular barrier 4-1, and the annular permanent magnet I2-1 in the spherical shell 1 is prevented from deforming and falling off in the process of drug application, as shown in figures 2, 3 and 7; the top of the medicine cartridge 5 is provided with a medicine outlet 5-1 which is fixed in an annular barrier 4-1 at the top of the medicine cartridge protecting device 4; the push rod 6 is positioned at the bottom of the medicine cartridge 5 and is used for pushing medicine in the medicine cartridge to apply medicine to a patient part; the piston 7 is positioned at the bottom of the cartridge protecting device 4 to prevent the cartridge 5 from falling off due to vibration during the movement, and one side of the piston is connected with the push rod 6, and the other side is connected with the rotary column 1-2.
The spherical shell 1 is made of soft polyurethane elastic material, has good elasticity and toughness, and the whole spherical shell 1 can be divided into two parts, namely a front hemispherical spherical shell 1-3 and a rear hemispherical spherical shell 1-4; the inner side of the front hemispherical spherical shell 1-3 is provided with a drug release hole 1-1; the inner side of the rear hemispherical spherical shell 1-4 is provided with a rotary column 1-2 and at least 1 water outlet holes 1-7, as shown in fig. 3 and 4, in the embodiment, the number of the water outlet holes 1-7 is 4.
The magnetic lock 2 consists of a permanent magnet I2-1 and a permanent magnet II 2-2 of radial NdFeB; the permanent magnet I2-1 is fixed on the front hemispherical spherical shell 1-3 of the spherical shell 1; the permanent magnet II 2-2 is fixed on the rear hemispherical spherical shell 1-4 of the spherical shell 1; when the magnetic poles of the permanent magnets I2-1 and II 2-2 are in the same direction, repulsive force is generated, and the magnetic lock 2 is in a closed state; when the magnetic poles of the permanent magnets I2-1 and II 2-2 are opposite, suction force is generated, and the magnetic lock 2 is in an open state as shown in figures 2, 3 and 5.
The permanent magnet I2-1 is an annular fixed permanent magnet; the permanent magnet II 2-2 is an annular rotary permanent magnet; when the two permanent magnet magnetic poles are the same, the magnetic lock 2 is closed to keep the spherical movement, and when the two permanent magnet magnetic poles are opposite, the magnetic lock 2 is opened, and the spherical extrusion changes the shape, so that the medicine is released.
The periphery of the medicine release hole 1-1 at the inner side of the front hemispherical spherical shell 1-3 is provided with an annular clamping groove 1-5, and the permanent magnet I2-1 is placed in the annular clamping groove 1-5; the outer side of the bottom of the rotary column 1-2 at the inner side of the rear hemispherical spherical shell 1-4 is provided with a mounting groove 1-6; the permanent magnet II 2-2 is sleeved on the rotating column 1-2 of the rear hemispherical spherical shell 1-4 and is placed in the mounting groove 1-6, as shown in figures 2, 3 and 4.
The gastrointestinal tract magnetic driving spherical medicine applying capsule robot is internally provided with an annular buckle 3 connected with a medicine cartridge protecting device 4 and used for fixedly protecting the medicine cartridge protecting device 4, as shown in figures 2, 3 and 7.
The annular buckle 3 is provided with at least 1 mounting holes 3-1 (4 mounting holes are taken as an example in the embodiment); the shell of the cartridge protecting device 4 is provided with at least 1 columnar pin 4-2 (4 in the embodiment as an example), which is matched with the size of the mounting hole 3-1, and the height of the columnar pin 4-2 is smaller than the thickness of the ring of the annular buckle 3; the connection between the cartridge protector 4 and the annular buckle 3 is realized by inserting the columnar pin 4-2 into the mounting hole 3-1, and as the cartridge 5 is fixed in the annular barrier 4-1 at the top of the cartridge protector 4 through the drug outlet hole 5-1 at the top of the cartridge 5, the push rod 6 of the push rod is placed in the piston 7 at the bottom of the cartridge protector 4, so that the hydraulic protection of the drug in the cartridge 5 is realized, and the drug is not spilled out due to shaking, as shown in fig. 2, 3, 6 and 7.
A working method of a gastrointestinal magnetic driving spherical drug delivery capsule robot system is characterized in that in a space universal magnetic field, the attractive force or the repulsive force of a magnetic lock 2 formed by a permanent magnet I2-1 and a permanent magnet II 2-2 is controlled, when the magnetic poles of the permanent magnets I2-1 and II 2-2 are in the same direction, the repulsive force is in a closed state in the magnetic lock; when the magnetic poles of the permanent magnets I2-1 and II 2-2 are opposite in direction, suction force is generated between the permanent magnets I2-1 and II 2-2, and the magnetic lock is in an open state; the size and the phase of the current input by the power supply to the coil are controlled so as to change the size and the direction of the magnetic field generated by the triaxial Helmholtz coil, thereby realizing two states of 'motion' and 'application' of the spherical capsule robot in the working environment; the method specifically comprises the following steps:
(2) The spherical medicine applying capsule robot reaches the initial position of the working environment, at the moment, the magnetic pole directions of the permanent magnet I2-1 and the permanent magnet II 2-2 are the same, the magnetic lock 2 is a repulsive force, and is in a closed state, and at the moment, the spherical medicine applying capsule robot is in a 'motion' state; the spherical pesticide application capsule robot can realize free walking under the coupling drive of magnetic moments generated by the triaxial Helmholtz coil; when the spherical capsule robot contacts the edge of the working environment, the motion state is rolling walking, the magnetic torque becomes the rolling driving force contacting the working environment, and the rolling of the spherical capsule robot in the working environment is realized; when the capsule robot moves in the working environment to reach the target, the capsule robot stops at a fixed point under the control of an external magnetic field;
(2) When the spherical medicine applying capsule robot moves to a designated place, the magnetic field direction generated by the triaxial Helmholtz coil is changed, for example, when the phase angle of input current is changed from 0 DEG to 90 DEG, the magnetic field direction is correspondingly changed by 90 DEG, so that the change of the moving direction of the capsule robot is realized, the posture is adjusted, the position of a medicine releasing hole 1-1 is adjusted, and the medicine reaches the designated position to enter a medicine applying state;
(3) When the medicine is released, the direction of current in the coil is changed into the opposite direction to the original direction, namely the opposite magnetic field direction is generated, the permanent magnet II 2-2 rotates on the rotary column 1-2, the original magnetic pole direction is changed, the magnetic poles of the permanent magnet II 2-1 are opposite, the magnetic force lock 2 generates suction force, the magnetic pole directions of the two permanent magnets are opposite, at the moment, the magnetic force lock is in an open state, the spherical medicine applying capsule robot is deformed, the rotary column 1-2 pushes the bottom piston 7, and meanwhile, the medicine cartridge push rod 6 is driven, the medicine cartridge protecting device 4 is extruded, and the medicine cartridge 5 is pushed to spray the medicine from the release hole 1-1 to a patient;
(4) After the medicine is released, the current direction of the original coil is continuously changed, the permanent magnet II 2-2 is transformed by a magnetic field to rotate, at the moment, the magnetic pole directions of the permanent magnets I2-1 and II 2-2 are the same again, repulsive force is generated in the magnetic lock, closing of the magnetic lock is completed, and the shell of the spherical medicine applying capsule robot is restored to be spherical;
(5) After the spherical pesticide application capsule robot finishes working, the spherical pesticide application capsule robot moves by changing the magnetic field direction generated by the triaxial Helmholtz coil, so that the spherical pesticide application capsule robot exits from the working environment.
The following detailed description of the invention refers to the accompanying drawings and the detailed description.
Referring to fig. 3-9, the magnetically driven spherical dispensing capsule robotic system is installed as follows:
the medicine is placed in an injection type medicine cartridge with a medicine pushing rod 6 combined with a medicine cartridge 5, a medicine cartridge protection device 4 is combined with an annular buckle 3, the medicine cartridge 5 filled with the medicine is clamped into the medicine cartridge protection device 4, two annular permanent magnets I2-1 and II 2-2 are respectively placed on clamping grooves 1-5 and 1-6 of a front hemispherical spherical shell and a rear hemispherical shell, the two magnets are guaranteed to have the same magnetic poles, and finally the hemispherical shells 1-3 and 1-4 are combined with the annular buckle 3 to form the magnetic driving spherical medicine dispensing capsule robot.
With reference to fig. 2-9, the method of using the magnetically driven spherical dispensing capsule robot is as follows:
step one: firstly, patients respectively swallow the magnetic driving spherical drug delivery capsule robot to reach the initial position, the magnetic poles between the permanent magnets I2-1 and II 2-2 are the same, and the magnetic force lock is in a repulsive force state at the moment, and the magnetic force lock is in a closed state. When a doctor controls the capsule robot to move in the intestinal tract to reach the affected part through an external magnetic field, the doctor stops at fixed points.
Step two: after the medicine reaches the affected part, the direction of the external magnetic field is changed, so that the movement direction of the magnetic driving spherical medicine applying capsule robot is changed, the positions of the medicine releasing holes 1-1 and the affected part are adjusted, the opening of the magnetic lock is completed through the external magnetic field, the magnetic pole directions of the permanent magnets of the magnetic lock are opposite, suction force is generated, the magnetic lock is in an open state, the spherical shell deforms, the internal protection medicine cartridge device 4 is extruded, the medicine cartridge 5 is pushed to release medicine, the magnetic field is controlled after the medicine is released, the permanent magnets II 2-2 are rotated, the magnetic pole directions of the permanent magnets I2-1 and II 2-2 are the same, repulsive force is generated, the closing of the magnetic lock is completed, and the magnetic lock is restored to be spherical.
Step three: after diagnosis and treatment is finished, the spherical medicine applying capsule robot is discharged out of the body along with waste by controlling the space universal magnetic field.
Although the embodiments of the present invention and the accompanying drawings have been 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 invention and the appended claims, and therefore the scope of the invention is not limited to the embodiments and the disclosure of the drawings.
Claims (10)
1. The gastrointestinal tract magnetic driving spherical capsule dispensing robot system is characterized by comprising a spherical shell (1), a cartridge (5), a cartridge protection device (4) and a magnetic lock (2); wherein, the spherical shell (1) is of a hollow structure, one side of the inner side is provided with a drug release hole (1-1), and the other side is provided with a rotary column (1-2); the medicine cartridge (5), the medicine cartridge protecting device (4) and the magnetic lock (2) are all arranged in the spherical shell (1) and are positioned on the same axis with the medicine release hole (1-1) and the rotary column (1-2); the magnetic lock (2) comprises two permanent magnets, namely a permanent magnet I (2-1) and a permanent magnet II (2-2), wherein the permanent magnet I (2-1) is fixed on one side of the spherical shell (1) and is connected with the drug release hole (1-1); the permanent magnet II (2-2) is fixed on the other side of the spherical shell (1), is connected with the rotary column (1-2) and is opposite to the permanent magnet I (2-1), so that the magnetization directions of the permanent magnet II and the rotary column are the same; the cartridge (5) is placed in a cartridge protection device (4).
2. The gastrointestinal tract magnetic drive spherical dispensing capsule robot system according to claim 1, characterized in that the cartridge (5) adopts an injection type push rod structure with a push rod (6); the push rod (6) is positioned at the bottom of the medicine cartridge (5), and is contacted and connected with one side of the rotary column (1-2) of the spherical shell (1) according to the piston (7) for stabilizing the medicine cartridge.
3. The gastrointestinal tract magnetic driving spherical drug delivery capsule robot system as claimed in claim 1, characterized in that the cartridge protecting device (4) is a bottomless cylindrical hollow structure, the top of which is provided with an annular barrier (4-1) for preventing the annular permanent magnet I (2-1) in the spherical shell (1) from deforming and falling off in the drug delivery process; the top of the medicine cartridge (5) is provided with a medicine outlet (5-1) which is fixed in an annular barrier (4-1) at the top of the medicine cartridge protecting device (4); the push rod (6) is positioned at the bottom of the medicine cartridge (5) and is used for pushing medicine in the medicine cartridge to apply medicine to a patient part; the piston (7) is positioned at the bottom of the cartridge protecting device (4), one side of the piston is connected with the push rod (6), and the other side of the piston is connected with the rotary column (1-2).
4. A gastrointestinal magnetically driven spherical dispensing capsule robotic system according to claim 3, characterized in that said spherical housing (1) is made of a soft polyurethane elastic material; the whole spherical shell (1) is divided into a front hemispherical spherical shell (1-3) and a rear hemispherical spherical shell (1-4); the inner side of the front hemispherical spherical shell (1-3) is provided with a medicine release hole (1-1); the inner side of the rear hemispherical spherical shell 1-4 is provided with a rotary column (1-2) and at least 1 water outlet hole (1-7).
5. The gastrointestinal tract magnetic driving spherical drug delivery capsule robot system as claimed in claim 1, characterized in that the magnetic lock (2) consists of a permanent magnet I (2-1) and a permanent magnet II (2-2) of radial NdFeB; the permanent magnet I (2-1) is fixed on the front hemispherical spherical shell (1-3) of the spherical shell (1); the permanent magnet II (2-2) is fixed on a rear hemispherical spherical shell (1-4) of the spherical shell (1); when the magnetic poles of the permanent magnets I (2-1) and II (2-2) are in the same direction, repulsive force is generated, and the magnetic lock (2) is in a closed state; when the magnetic pole directions of the permanent magnets I (2-1) and II (2-2) are opposite, suction force is generated, and the magnetic lock (2) is in an open state.
6. A gastrointestinal magnetically-driven spherical dispensing capsule robotic system according to claim 5, wherein said permanent magnet I (2-1) is an annular fixed permanent magnet; the permanent magnet II (2-2) is an annular rotary permanent magnet; when the two permanent magnet magnetic poles are the same, the magnetic lock (2) is closed to keep spherical movement, and when the two permanent magnet magnetic poles are opposite, the magnetic lock (2) is opened, and the spherical extrusion changes the shape, so that the medicine is released.
7. The gastrointestinal tract magnetic driving spherical drug delivery capsule robot system according to claim 5, characterized in that the periphery of a drug release hole (1-1) on the inner side of the front hemispherical spherical shell (1-3) is provided with an annular clamping groove (1-5), and the permanent magnet I (2-1) is placed in the annular clamping groove (1-5); the outer side of the bottom of the rotary column (1-2) at the inner side of the rear hemispherical spherical shell (1-4) is provided with a mounting groove (1-6); the permanent magnet II (2-2) is sleeved on the rotating column (1-2) of the rear hemispherical spherical shell (1-4) and is placed in the mounting groove (1-6).
8. The gastrointestinal tract magnetic driving spherical dispensing capsule robot system according to claim 1, wherein the gastrointestinal tract magnetic driving spherical dispensing capsule robot is internally provided with an annular buckle (3) connected with a cartridge protecting device (4) for fixing and protecting the cartridge protecting device (4).
9. The gastrointestinal tract magnetic driving spherical dispensing capsule robot system according to claim 8, characterized in that the annular buckle (3) is provided with at least 1 mounting hole (3-1); the shell of the cartridge protecting device (4) is provided with at least 1 columnar pin (4-2) which is matched with the size of the mounting hole (3-1), and the height of the columnar pin (4-2) is smaller than the thickness of the ring of the annular buckle (3); the connection between the cartridge protecting device (4) and the annular buckle (3) is realized by inserting the columnar pin (4-2) into the mounting hole (3-1), and as the cartridge (5) is fixed in the annular barrier (4-1) at the top of the cartridge protecting device (4) through the medicine outlet hole (5-1) at the top of the cartridge protecting device, the push rod (6) of the cartridge protecting device is placed in the piston (7) at the bottom of the cartridge protecting device (4).
10. A working method system of a gastrointestinal magnetic driving spherical drug delivery capsule robot is characterized in that in a space universal magnetic field, the attractive force or the repulsive force of a magnetic lock (2) formed by a permanent magnet I (2-1) and a permanent magnet II (2-2) is controlled, and when the magnetic pole directions of the permanent magnet I (2-1) and the permanent magnet II (2-2) are the same, the repulsive force is in a closed state in the magnetic lock; when the magnetic pole directions of the permanent magnet I (2-1) and the permanent magnet II (2-2) are opposite, suction force is generated between the permanent magnet I (2-1) and the permanent magnet II, and the magnetic lock is in an open state; the size and the phase of the current input by the power supply to the coil are controlled so as to change the size and the direction of the magnetic field generated by the triaxial Helmholtz coil, thereby realizing two states of 'motion' and 'application' of the spherical capsule robot in the working environment; the method specifically comprises the following steps:
(1) The spherical medicine applying capsule robot reaches the initial position of the working environment, at the moment, the magnetic pole directions of the permanent magnet I (2-1) and the permanent magnet II (2-2) are the same, the magnetic lock (2) is a repulsive force, and is in a closed state, and at the moment, the spherical medicine applying capsule robot is in a 'motion' state; the spherical pesticide application capsule robot can realize free walking under the coupling drive of magnetic moments generated by the triaxial Helmholtz coil; when the spherical capsule robot contacts the edge of the working environment, the motion state is rolling walking, the magnetic torque becomes the rolling driving force contacting the working environment, and the rolling of the spherical capsule robot in the working environment is realized; when the capsule robot moves in the working environment to reach the target, the capsule robot stops at a fixed point under the control of an external magnetic field;
(2) When the spherical medicine applying capsule robot moves to a designated place, the direction of a magnetic field generated by the triaxial Helmholtz coil is changed, so that the change of the moving direction of the capsule robot is realized, the posture is adjusted, the position of a medicine releasing hole (1-1) is adjusted, and the medicine applying capsule robot reaches the designated position and enters a medicine applying state;
(3) When the medicine is released, the direction of current in the coil is changed into the opposite direction to the original direction, namely the opposite magnetic field direction is generated, the permanent magnet II (2-2) rotates on the rotary column (1-2), the original magnetic pole direction is changed, the magnetic poles of the permanent magnet I (2-1) are opposite, the magnetic force lock (2) generates suction force, the magnetic pole directions of the two permanent magnets are opposite, at the moment, the magnetic force lock is in an opening state, the spherical medicine applying capsule robot generates deformation, the rotary column (1-2) pushes the bottom piston (7) and simultaneously drives the medicine cartridge pushing rod (6), the medicine cartridge protecting device (4) is extruded, and the medicine cartridge (5) is pushed to spray the medicine from the release hole (1-1) to a patient;
(4) After the medicine is released, the current direction of the original coil is continuously changed, the permanent magnet II (2-2) is transformed by a magnetic field to rotate, at the moment, the magnetic pole directions of the permanent magnet I (2-1) and the permanent magnet II (2-2) are the same again, repulsive force is generated in the magnetic lock, the closing of the magnetic lock is completed, and the shell of the spherical capsule dispensing robot is restored to be spherical;
(5) After the spherical pesticide application capsule robot finishes working, the spherical pesticide application capsule robot moves by changing the magnetic field direction generated by the triaxial Helmholtz coil, so that the spherical pesticide application capsule robot exits from the working environment.
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| CN202310556966.2A CN116785569A (en) | 2023-05-17 | 2023-05-17 | Gastrointestinal tract magnetic driving spherical drug delivery capsule robot system and working method thereof |
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