WO2022021989A1 - Automatic drug delivery system and method - Google Patents

Automatic drug delivery system and method Download PDF

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Publication number
WO2022021989A1
WO2022021989A1 PCT/CN2021/092006 CN2021092006W WO2022021989A1 WO 2022021989 A1 WO2022021989 A1 WO 2022021989A1 CN 2021092006 W CN2021092006 W CN 2021092006W WO 2022021989 A1 WO2022021989 A1 WO 2022021989A1
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Prior art keywords
drug
gauss meter
drug delivery
carrying device
automatic
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PCT/CN2021/092006
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French (fr)
Chinese (zh)
Inventor
胡松钰
胡家荣
张景波
贺永
傅建中
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浙江大学
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Publication of WO2022021989A1 publication Critical patent/WO2022021989A1/en

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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

Definitions

  • the invention relates to the technical field of implantable drug delivery, in particular to an automatic drug delivery system and method.
  • Implantable drug delivery system refers to a drug delivery system composed of drugs and auxiliary materials. Implanted drug delivery is usually surgically implanted in the area where the drug needs to be implanted, or introduced with a customized syringe. It is a new drug delivery method developed on the basis of arterial interventional therapy.
  • the drug can be continuously released in the body to achieve local administration, thereby eliminating the uneven dosing caused by intermittent dosing and uneven dosage, and can continuously release the drug at a constant rate at the implant site, so that the dosing concentration is basically stay the same. In this way, smaller doses can achieve efficacy, thereby reducing patient pain and reducing side effects.
  • the existing drug-carrying equipment basically integrates power supply and sensors inside the equipment. After such equipment is implanted into the body, it is difficult to continuously supply power for a long time, and silicon and metal are easily toxic, which will cause great harm to the human body.
  • the patent specification with publication number CN 101797322 A discloses nano-magnetic guided drug administration for external treatment of neurodermatitis, using nano-selenium and zinc element traditional Chinese medicine particles to be adsorbed in the pores of medical stone nanoparticles, under the action of an external magnetic field, through wheat
  • the magnetic orientation of the elemental traditional Chinese medicine nano-magnetic particles in the nano-holes of the fan stone makes the nano-medicine element molecules pinned in the range of the diseased part, so as to achieve the purpose of treatment with high specificity.
  • the patented technology cannot realize automatic administration, timed and quantitative administration, etc., and impurity magnetic particles need to be mixed into the medicine.
  • WO2015131644A1 discloses a targeted drug delivery device for anti-tumor magnetic nanoparticle drugs, including an infusion container for containing anti-tumor magnetic nano-particle drugs and a delivery anti-tumor magnetic nano-particles connected to the infusion container.
  • Drug delivery device for particle drugs A magnetic field generating device capable of magnetically adsorbing anti-tumor magnetic nanoparticle drugs and a bioelectric sensor for sensing the response of living tissue in the tumor area to magnetic stimulation are arranged outside the body surface corresponding to the tumor area.
  • the targeted drug delivery device is provided with a control unit that accepts and analyzes the bioelectrical sensor signal and generally controls the required magnetic field strength, infusion speed and liquid flow according to the bioelectrical sensor signal.
  • a magnetic field control device for controlling the intensity of the magnetic field is connected to the magnetic field generating device.
  • a flow rate controller is connected to the liquid medicine delivery device to control its flow rate.
  • the control unit is respectively connected with the bioelectric sensor, the magnetic field control device and the flow rate controller.
  • the present invention provides an automatic drug delivery system.
  • the system realizes automatic control of drug delivery through structural design, in vitro position and attitude sensing of the drug-loading device, and driving of the robotic arm to grasp the permanent magnet.
  • the drug-loading device does not contain any electronic components, and the production material is hydrogel material, which has good performance.
  • the biocompatibility of implantable devices provides a solution for automatic drug delivery and on-demand dosing of implantable devices.
  • An automatic drug delivery system comprising:
  • the medicine-carrying equipment includes a medicine storage room for storing and releasing medicines, a medicine-releasing hole is arranged at the bottom of the medicine storage room, and a movable driven magnetic block is arranged inside; Drug mode, in which the drug release hole is open for the drug to flow out, and in the drug withdrawal mode, the driven magnet is located above the drug release hole and blocks the drug release hole;
  • a magnetic drive module comprising a permanent magnet for driving the driven magnet block to move along the bottom surface of the medicine storage chamber
  • a motion grabbing module including a robotic arm with a gripper, for grabbing and moving the probe of the Gauss meter and the permanent magnet;
  • An in vitro pose sensing module comprising a Gauss meter for collecting the magnetic field distribution around the drug-carrying device, a computer for calculating and outputting the position of the drug-carrying device according to the position and attitude of the robotic arm and data collected by the Gauss meter, and A data line for transmitting the pose of the robotic arm and the data collected by the Gauss meter to the computer.
  • a position sensing device is also fixed in the medicine storage room, and the gauss meter positions the medicine-carrying device by scanning the position sensing device.
  • the position sensing device is provided with at least three non-collinear magnetic positioning points for determining the position of the drug-carrying device.
  • the drug-carrying device is made by a light-curing 3D printer, and the material is hydrogel; the driven magnetic block and the magnetic positioning point are magnetic iron oxide nanoparticles dispersed in the hydrogel, and then use light to disperse the magnetic iron oxide nanoparticles into the hydrogel.
  • the hydrogel can be a hydrogel material such as GelMA (gelatin anhydride methacrylate), PEGDA (polyethylene glycol diacrylate), HAMA (hyaluronic acid), PVAMA (polyvinyl alcohol maleic anhydride).
  • the drug release hole is circular with a diameter of 0.1-2 mm.
  • An automatic drug delivery method using the automatic drug delivery system, the automatic drug delivery method comprises the steps:
  • the robotic arm grabs and moves the probe of the gauss meter to collect the magnetic field distribution around the drug-carrying device.
  • the collected magnetic field strength data and the corresponding robotic arm pose are transmitted to the computer for processing, and the field intensity distribution of the drug-carrying device is output.
  • step (1) when the magnetic field distribution around the drug-carrying device is collected, the probe of the Gauss meter is located 0.5-2 cm above the drug-carrying device, and the collection range is 1.5-2 cm of the size of the drug-carrying device. 3 times.
  • the frequency of the administration mode is 1-20 times/min, and the duration of each time is 0.5-3 s.
  • the present invention can realize the automatic drug delivery of the implantable drug-carrying device; the positioning of the drug-carrying device in the body can be realized by using external position and posture sensing; Dosage and dosing rate; drug-loaded devices are biocompatible.
  • Fig. 1 is the overall schematic diagram of the automatic drug delivery system of the embodiment, in the figure: 1-Gauss meter probe, 2- Desktop Gauss meter, 3-Data transmission line, 4-Robot control line, 5-Computer, 6-Robot arm, 7- - permanent magnets, 8 - drug-carrying equipment;
  • Figures 2 and 3 are schematic top-view structural diagrams of the drug-carrying device of the embodiment in the administration mode and the drug withdrawal mode, respectively, in the figure: 9-shell, 10-medicine storage room, 11-position sensing device, 12-driven Magnetic block, 13-drug release hole, 14-positioning magnet;
  • FIG. 4 is a schematic flow chart of the automatic drug delivery method of the embodiment.
  • the automatic drug delivery system of this embodiment includes a drug-carrying device 8 , a magnetic drive module, a motion grasping module, and an external posture sensing module.
  • the magnetic driving module includes a permanent magnet 7 for driving the driven magnet block 12 to move along the bottom surface of the medicine storage chamber 10 .
  • the motion grabbing module includes a robotic arm 6 with gripping jaws for grabbing and moving the probe 1 and the permanent magnet 7 of the table-top gauss meter 2 .
  • the in vitro pose sensing module includes a desktop Gauss meter 2 for collecting the magnetic field distribution around the drug-carrying device 8, a computer 5 for calculating and outputting the position of the drug-carrying device 8 according to the pose of the robotic arm 6 and the data collected by the Gauss meter probe 1, and a computer 5 for outputting the position of the drug-carrying device 8.
  • the robot control line 4 and the data transmission line 3 are used to transmit the data collected by the robot arm 6 pose and the gauss meter probe 1 to the computer 5 .
  • the medicine-carrying device 8 includes a casing 9 and a medicine storage room 10 surrounded by the casing 9 for storing and releasing medicines.
  • a medicine release hole 13 is opened at the bottom of the medicine storage chamber 10 , and a movable driven magnetic block 12 is arranged inside.
  • the drug loading device 8 has an administration mode (as shown in FIG. 2 ) and a drug withdrawal mode (as shown in FIG. 3 ), in which the drug release hole 13 is open for the liquid drug in the drug storage chamber 10 to flow out , in the drug withdrawal mode, the driven magnetic block 12 is located above the drug release hole 13 and blocks the drug release hole 13 to prevent the drug from flowing out.
  • a position sensing device 11 is also fixed in the drug storage room 10 , and the gauss meter probe 1 positions the drug-carrying device 8 by scanning the position sensing device 11 .
  • the position sensing device 11 is provided with three non-collinear positioning magnets 14 (magnetic positioning points) for determining the position of the drug-loading device 8 .
  • the robotic arm, computer system, Gauss meter, etc. are all initialized. At this time, the manipulator is at the zero point of the working coordinate system, the gripper is in the open state, and the Gauss meter probe and the permanent magnet are both in the initialization position.
  • the robotic arm moves to the storage point of the gauss meter probe, the gripper is closed, and the gauss meter probe is clamped, and then the robotic arm moves with the gauss meter probe to the set point above the drug-carrying device to prepare for magnetic field scanning.
  • the robotic arm carries a gauss meter probe to scan the magnetic field at a fixed height above the drug-carrying equipment. While moving, the collected magnetic field data is transmitted to the computer through the RS-232 standard interface, and the mechanical force corresponding to each magnetic field strength is automatically recorded. Arm pose, and then the robotic arm returns to the Gauss meter storage point.
  • the gripper of the robotic arm is released, and the gauss meter probe is placed at the storage point, and then the robotic arm moves to the storage point of the permanent magnet, the gripper is closed, and the permanent magnet is clamped.
  • the robotic arm moves to the driven position of the drug-carrying device, and performs linear, circular or other reciprocating motions according to the motion form of the driven magnet block of the drug-carrying device to drive the drug-carrying device to administer medicine.
  • the dosing system can set the dosing target in advance, adjust the exercise frequency and the total number of exercises, and adjust the dosing parameters such as the dosing amount and the dosing gradient.
  • the drug-carrying device is made by a light-curing 3D printer, and the material is GelMA hydrogel.
  • the method of making the driven magnetic block and the magnetic positioning point is to disperse magnetic iron oxide nanoparticles into the GelMA hydrogel, and then use it Made by light curing 3D printer. After the production is completed, the liquid medicine is put into the medicine storage room, and finally the medicine-carrying equipment is obtained by encapsulation.
  • the prepared drug-loading device is implanted subcutaneously.
  • the robotic arm carries the gauss meter probe to perform the magnetic field scanning movement 03 at a height of 1 cm above the drug-carrying device.
  • the scanning range is twice the size of the drug-carrying device itself.
  • 232 standard interface is transmitted to the computer to complete the data acquisition 04 operation.
  • the robot arm pose corresponding to each magnetic field strength is automatically recorded, and the field strength distribution of the drug-loading device is calculated by processing the field strength and the robot arm pose data, so as to obtain the positioning point and the driven device in the drug-loading device.
  • the specific pose of the module in the working coordinate system completes the operation of calculating the driving point 05.
  • the manipulator first returns to the storage point of the Gauss meter, the jaws are opened by 60%, put the Gauss meter down, and then return to the initial position to complete the operation of returning to the initial point 06, and then the manipulator moves to the storage point of the Gauss meter, and the jaws Close 40%, clamp the permanent magnet (iron tetroxide), and complete the operation of the integrated drive device 07.
  • the robotic arm moves to the driven position of the drug-carrying device, performs linear reciprocating motion according to the movement form of the drug-carrying device, drives the drug-carrying device to give medicine, and completes the operation of driving the drug-carrying device 08, wherein the diameter of the circular drug release hole is 1mm .
  • the dosing system sets the dosing target: the dosing frequency is 10 times/min, the drug release time is 2s each time, and the drive setting 10 operations are completed. Dosing was discontinued when the dosing goal was achieved.

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Abstract

An automatic drug delivery system and method. The system comprises: a drug loading device (8) comprising a drug storage chamber (10) used for storing and releasing drugs, a drug release hole (13) being formed in the bottom of the drug storage chamber (10), a movable driven magnetic block (12) being provided in the drug storage chamber (10), the drug loading device (8) having a drug delivery mode and a drug stop mode, in the drug delivery mode, the drug release hole (13) being opened to allow drugs to flow out, and in the drug stop mode, the driven magnetic block (12) being located above the drug release hole (13) to block the drug release hole (13); a magnetic driving module comprising a permanent magnet (7) used for driving the driven magnetic block (12) to move along the bottom surface of the drug storage chamber (10); a moving grab module comprising a mechanical arm (6) provided with a clamping jaw and used for grabbing and moving a gauss meter probe (1) and the permanent magnet (7); and an external pose sensing module comprising a desktop gauss meter (2) used for collecting magnetic field distribution around the drug loading device (8), a computer (5) used for calculating and outputting the position of the drug loading device (8) according to the pose of the mechanical arm (6) and data collected by the gauss meter probe (1), and a robot control line (4) and a data transmission line (3) used for transmitting to the computer (5) the pose of the mechanical arm (6) and the data collected by the gauss meter probe (1).

Description

一种自动给药***及方法An automatic drug delivery system and method 技术领域technical field
本发明涉及植入式给药技术领域，具体涉及一种自动给药***及方法。The invention relates to the technical field of implantable drug delivery, in particular to an automatic drug delivery system and method.
背景技术Background technique
植入给药***是指药物与辅助材料一起组成的给药***。植入给药通常在需要将药物植入的区域手术将药物植入，或用定制的注射器导入，是在动脉介入治疗的基础上发展出来的新型给药方式。Implantable drug delivery system refers to a drug delivery system composed of drugs and auxiliary materials. Implanted drug delivery is usually surgically implanted in the area where the drug needs to be implanted, or introduced with a customized syringe. It is a new drug delivery method developed on the basis of arterial interventional therapy.
药物可在体内可持续释放实现局部给药，从而消除因间歇给药和药量不均匀而产生的给药不均匀现象，能够在植入部位以恒定的速率持续释药，使给药浓度基本维持不变。这样，较小的剂量便可以达到疗效，从而减轻病人痛苦和降低副作用。The drug can be continuously released in the body to achieve local administration, thereby eliminating the uneven dosing caused by intermittent dosing and uneven dosage, and can continuously release the drug at a constant rate at the implant site, so that the dosing concentration is basically stay the same. In this way, smaller doses can achieve efficacy, thereby reducing patient pain and reducing side effects.
然而，现有的载药设备基本是在设备内部集成电源和传感器，这样的设备植入到体内后由于电源难以长时间持续供电、硅和金属容易产生毒性，对人体有很大伤害。However, the existing drug-carrying equipment basically integrates power supply and sensors inside the equipment. After such equipment is implanted into the body, it is difficult to continuously supply power for a long time, and silicon and metal are easily toxic, which will cause great harm to the human body.
公开号为CN 101797322 A的专利说明书公开了纳米磁性导向性给药外治神经性皮炎，利用纳米硒、锌元素中药微粒吸附在麦饭石纳米粒的孔穴中，在外磁场的作用下，通过麦饭石纳米孔穴中元素中药纳米磁性粒子的磁性导向性的作用，使其纳米药物元素分子销定在病变部位范围内，从而达到高特效的治疗目的。该专利技术无法实现自动给药、定时定量给药等，且药物中需要混入杂质磁性粒子。The patent specification with publication number CN 101797322 A discloses nano-magnetic guided drug administration for external treatment of neurodermatitis, using nano-selenium and zinc element traditional Chinese medicine particles to be adsorbed in the pores of medical stone nanoparticles, under the action of an external magnetic field, through wheat The magnetic orientation of the elemental traditional Chinese medicine nano-magnetic particles in the nano-holes of the fan stone makes the nano-medicine element molecules pinned in the range of the diseased part, so as to achieve the purpose of treatment with high specificity. The patented technology cannot realize automatic administration, timed and quantitative administration, etc., and impurity magnetic particles need to be mixed into the medicine.
公开号为WO2015131644A1的专利说明书公开了一种抗肿瘤磁性纳米粒子药物的靶向给药装置，包括用于盛装有抗肿瘤磁性纳米粒子药物的输液容器及与输液容器相连接的输送抗肿瘤磁性纳米粒子药物的药液输送装置。在对应于肿瘤区域的体表外设有能将抗肿瘤磁性纳米粒子药物产生磁吸附作用的磁场发生装置和感应肿瘤区域活体组织对磁力刺激反应的生物电感应器。靶向给药装置设有接受和分析生物电感应器信号以及依据生物电感应器信号总控所需磁场强度、输液速度和液体流量的控制单元。磁场发生装置上连接有控制磁场强度的磁场控制装置。药液输送装置上连接有控制其 流速的流速控制器。所述控制单元分别与生物电感应器、磁场控制装置和流速控制器对应连接。该专利技术体内传感模块不能长时间供电，且金属元器件容易产生毒性，生物兼容性不好。The patent specification with publication number WO2015131644A1 discloses a targeted drug delivery device for anti-tumor magnetic nanoparticle drugs, including an infusion container for containing anti-tumor magnetic nano-particle drugs and a delivery anti-tumor magnetic nano-particles connected to the infusion container. Drug delivery device for particle drugs. A magnetic field generating device capable of magnetically adsorbing anti-tumor magnetic nanoparticle drugs and a bioelectric sensor for sensing the response of living tissue in the tumor area to magnetic stimulation are arranged outside the body surface corresponding to the tumor area. The targeted drug delivery device is provided with a control unit that accepts and analyzes the bioelectrical sensor signal and generally controls the required magnetic field strength, infusion speed and liquid flow according to the bioelectrical sensor signal. A magnetic field control device for controlling the intensity of the magnetic field is connected to the magnetic field generating device. A flow rate controller is connected to the liquid medicine delivery device to control its flow rate. The control unit is respectively connected with the bioelectric sensor, the magnetic field control device and the flow rate controller. The patented technology in vivo sensing module cannot be powered for a long time, and metal components are prone to toxicity and poor biological compatibility.
发明内容SUMMARY OF THE INVENTION
针对本领域存在的不足之处，本发明提供了一种自动给药***。该***通过结构设计、载药设备的体外位姿传感及机械臂抓取永磁体驱动实现自动控制给药，且载药设备不含有任何电子元器件、制作材料为水凝胶材料，具有良好的生物兼容性，为植入式设备自动给药、按需定量给药提供了解决方案。In view of the deficiencies in the art, the present invention provides an automatic drug delivery system. The system realizes automatic control of drug delivery through structural design, in vitro position and attitude sensing of the drug-loading device, and driving of the robotic arm to grasp the permanent magnet. The drug-loading device does not contain any electronic components, and the production material is hydrogel material, which has good performance. The biocompatibility of implantable devices provides a solution for automatic drug delivery and on-demand dosing of implantable devices.
一种自动给药***，包括：An automatic drug delivery system comprising:
载药设备，包括用于储藏、释放药物的药物储藏室，所述药物储藏室底部设有药物释放孔，内部设有可移动的被驱动磁块；所述载药设备具有给药模式和停药模式，在所述给药模式下，所述药物释放孔开放供所述药物流出，在所述停药模式下，所述被驱动磁块位于所述药物释放孔上方并封堵所述药物释放孔；The medicine-carrying equipment includes a medicine storage room for storing and releasing medicines, a medicine-releasing hole is arranged at the bottom of the medicine storage room, and a movable driven magnetic block is arranged inside; Drug mode, in which the drug release hole is open for the drug to flow out, and in the drug withdrawal mode, the driven magnet is located above the drug release hole and blocks the drug release hole;
磁力驱动模块，包括用于驱动所述被驱动磁块沿所述药物储藏室底面移动的永磁体；a magnetic drive module, comprising a permanent magnet for driving the driven magnet block to move along the bottom surface of the medicine storage chamber;
运动抓取模块，包括带有夹爪的机械臂，用于抓取、移动高斯计的探头和所述永磁体；A motion grabbing module, including a robotic arm with a gripper, for grabbing and moving the probe of the Gauss meter and the permanent magnet;
体外位姿传感模块，包括用于采集所述载药设备周围磁场分布的高斯计、根据所述机械臂位姿和所述高斯计采集的数据计算并输出所述载药设备位置的计算机以及用于将所述机械臂位姿和所述高斯计采集的数据传输给所述计算机的数据线。An in vitro pose sensing module, comprising a Gauss meter for collecting the magnetic field distribution around the drug-carrying device, a computer for calculating and outputting the position of the drug-carrying device according to the position and attitude of the robotic arm and data collected by the Gauss meter, and A data line for transmitting the pose of the robotic arm and the data collected by the Gauss meter to the computer.
作为优选，所述药物储藏室内还固设有位置传感装置，所述高斯计通过扫描所述位置传感装置对所述载药设备进行定位。Preferably, a position sensing device is also fixed in the medicine storage room, and the gauss meter positions the medicine-carrying device by scanning the position sensing device.
进一步优选，所述位置传感装置内设有至少三个不共线的磁定位点，用于确定所述载药设备的位置。Further preferably, the position sensing device is provided with at least three non-collinear magnetic positioning points for determining the position of the drug-carrying device.
再进一步优选，所述载药设备采用光固化3D打印机制作，材料为水凝胶；所述被驱动磁块和磁定位点是将磁性氧化铁纳米粒子分散到水凝胶，再将其利用光固化3D打印机制作得到。所述水凝胶可以是GelMA(甲基丙烯酸酐化明胶)、PEGDA(聚乙 二醇二丙烯酸酯)、HAMA(透明质酸)、PVAMA(聚乙烯醇马来酸酐)等水凝胶材料。Still further preferably, the drug-carrying device is made by a light-curing 3D printer, and the material is hydrogel; the driven magnetic block and the magnetic positioning point are magnetic iron oxide nanoparticles dispersed in the hydrogel, and then use light to disperse the magnetic iron oxide nanoparticles into the hydrogel. Made by curing 3D printer. The hydrogel can be a hydrogel material such as GelMA (gelatin anhydride methacrylate), PEGDA (polyethylene glycol diacrylate), HAMA (hyaluronic acid), PVAMA (polyvinyl alcohol maleic anhydride).
作为优选，所述药物释放孔为圆形，直径为0.1～2mm。Preferably, the drug release hole is circular with a diameter of 0.1-2 mm.
一种自动给药方法，使用所述的自动给药***，所述自动给药方法包括步骤：An automatic drug delivery method, using the automatic drug delivery system, the automatic drug delivery method comprises the steps:
(1)机械臂抓取、移动高斯计的探头采集载药设备周围磁场分布，采集到的磁场强度数据和对应的机械臂位姿均传输给计算机处理，输出载药设备的场强分布，并得到载药设备中三个定位磁体以及被驱动磁块的位姿；(1) The robotic arm grabs and moves the probe of the gauss meter to collect the magnetic field distribution around the drug-carrying device. The collected magnetic field strength data and the corresponding robotic arm pose are transmitted to the computer for processing, and the field intensity distribution of the drug-carrying device is output. Obtain the poses of the three positioning magnets and the driven magnet blocks in the drug-loading equipment;
(2)机械臂放回高斯计的探头，抓取、移动永磁体驱动被驱动磁块沿药物储藏室底面移动，进行给药模式和停药模式的切换。(2) Put the robotic arm back on the probe of the gauss meter, grab and move the permanent magnet to drive the driven magnetic block to move along the bottom surface of the drug storage room, and switch between the drug delivery mode and the drug withdrawal mode.
作为优选，步骤(1)中，所述采集载药设备周围磁场分布时，所述高斯计的探头位于所述载药设备上方0.5～2cm处，采集范围为所述载药设备尺寸的1.5～3倍。Preferably, in step (1), when the magnetic field distribution around the drug-carrying device is collected, the probe of the Gauss meter is located 0.5-2 cm above the drug-carrying device, and the collection range is 1.5-2 cm of the size of the drug-carrying device. 3 times.
作为优选，所述给药模式的频率为1～20次/min，每次持续时间为0.5～3s。Preferably, the frequency of the administration mode is 1-20 times/min, and the duration of each time is 0.5-3 s.
本发明与现有技术相比，主要优点包括：本发明可实现植入式载药设备的自动给药；利用体外位姿传感可实现载药设备在体内的定位；可根据需要设定给药量和给药速率；载药设备采用生物兼容性。Compared with the prior art, the main advantages of the present invention include: the present invention can realize the automatic drug delivery of the implantable drug-carrying device; the positioning of the drug-carrying device in the body can be realized by using external position and posture sensing; Dosage and dosing rate; drug-loaded devices are biocompatible.
附图说明Description of drawings
图1为实施例的自动给药***的整体示意图，图中：1-高斯计探头，2-台式高斯计，3-数据传输线，4-机器人控制线，5-计算机，6-机械臂，7-永磁体，8-载药设备；Fig. 1 is the overall schematic diagram of the automatic drug delivery system of the embodiment, in the figure: 1-Gauss meter probe, 2- Desktop Gauss meter, 3-Data transmission line, 4-Robot control line, 5-Computer, 6-Robot arm, 7- - permanent magnets, 8 - drug-carrying equipment;
图2、3分别为实施例的载药设备在给药模式和停药模式下的俯视结构示意图，图中：9-外壳，10-药物储藏室，11-位置传感装置，12-被驱动磁块，13-药物释放孔，14-定位磁体；Figures 2 and 3 are schematic top-view structural diagrams of the drug-carrying device of the embodiment in the administration mode and the drug withdrawal mode, respectively, in the figure: 9-shell, 10-medicine storage room, 11-position sensing device, 12-driven Magnetic block, 13-drug release hole, 14-positioning magnet;
图4为实施例的自动给药方法流程示意图。FIG. 4 is a schematic flow chart of the automatic drug delivery method of the embodiment.
具体实施方式detailed description
下面结合附图及具体实施例，进一步阐述本发明。应当理解，这些实施例仅用于说明本发明而不用于限制本发明的范围。下列实施例中未注明具体条件的操作方法，通常按照常规条件，或者按照制造厂商所建议的条件。The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that these examples are only used to illustrate the present invention and not to limit the scope of the present invention. In the following examples, the operation methods without specific conditions are generally in accordance with conventional conditions, or in accordance with the conditions suggested by the manufacturer.
如图1所示，本实施例的自动给药***，包括载药设备8、磁力驱动模块、运动抓取模块、体外位姿传感模块。As shown in FIG. 1 , the automatic drug delivery system of this embodiment includes a drug-carrying device 8 , a magnetic drive module, a motion grasping module, and an external posture sensing module.
磁力驱动模块包括用于驱动被驱动磁块12沿药物储藏室10底面移动的永磁体7。The magnetic driving module includes a permanent magnet 7 for driving the driven magnet block 12 to move along the bottom surface of the medicine storage chamber 10 .
运动抓取模块包括带有夹爪的机械臂6，用于抓取、移动台式高斯计2的探头1和永磁体7。The motion grabbing module includes a robotic arm 6 with gripping jaws for grabbing and moving the probe 1 and the permanent magnet 7 of the table-top gauss meter 2 .
体外位姿传感模块包括用于采集载药设备8周围磁场分布的台式高斯计2、根据机械臂6位姿和高斯计探头1采集的数据计算并输出载药设备8位置的计算机5以及用于将机械臂6位姿和高斯计探头1采集的数据传输给计算机5的机器人控制线4和数据传输线3。The in vitro pose sensing module includes a desktop Gauss meter 2 for collecting the magnetic field distribution around the drug-carrying device 8, a computer 5 for calculating and outputting the position of the drug-carrying device 8 according to the pose of the robotic arm 6 and the data collected by the Gauss meter probe 1, and a computer 5 for outputting the position of the drug-carrying device 8. The robot control line 4 and the data transmission line 3 are used to transmit the data collected by the robot arm 6 pose and the gauss meter probe 1 to the computer 5 .
如图2、3所示，载药设备8包括外壳9，以及由外壳9包围而成的用于储藏、释放药物的药物储藏室10。药物储藏室10底部开设有药物释放孔13，内部设有可移动的被驱动磁块12。As shown in FIGS. 2 and 3 , the medicine-carrying device 8 includes a casing 9 and a medicine storage room 10 surrounded by the casing 9 for storing and releasing medicines. A medicine release hole 13 is opened at the bottom of the medicine storage chamber 10 , and a movable driven magnetic block 12 is arranged inside.
载药设备8具有给药模式(如图2所示)和停药模式(如图3所示)，在所述给药模式下，药物释放孔13开放供药物储藏室10内的液体药物流出，在所述停药模式下，被驱动磁块12位于药物释放孔13上方并封堵药物释放孔13，阻止药物流出。The drug loading device 8 has an administration mode (as shown in FIG. 2 ) and a drug withdrawal mode (as shown in FIG. 3 ), in which the drug release hole 13 is open for the liquid drug in the drug storage chamber 10 to flow out , in the drug withdrawal mode, the driven magnetic block 12 is located above the drug release hole 13 and blocks the drug release hole 13 to prevent the drug from flowing out.
药物储藏室10内还固设有位置传感装置11，高斯计探头1通过扫描位置传感装置11对载药设备8进行定位。A position sensing device 11 is also fixed in the drug storage room 10 , and the gauss meter probe 1 positions the drug-carrying device 8 by scanning the position sensing device 11 .
位置传感装置11内设有三个不共线的定位磁体14(磁定位点)，用于确定载药设备8的位置。The position sensing device 11 is provided with three non-collinear positioning magnets 14 (magnetic positioning points) for determining the position of the drug-loading device 8 .
本实施例的自动给药***的工作流程如下：The workflow of the automatic drug delivery system of the present embodiment is as follows:
1、机械臂、计算机***、高斯计等均进行初始化操作。此时，机械臂处在工作坐标系的零点，夹爪为张开状态，高斯计探头和永磁体均在初始化位置。1. The robotic arm, computer system, Gauss meter, etc. are all initialized. At this time, the manipulator is at the zero point of the working coordinate system, the gripper is in the open state, and the Gauss meter probe and the permanent magnet are both in the initialization position.
2、机械臂运动到高斯计探头存放点，夹爪闭合，夹紧高斯计探头，然后机械臂带着高斯计探头运动到载药设备上方设定点准备进行磁场扫描。2. The robotic arm moves to the storage point of the gauss meter probe, the gripper is closed, and the gauss meter probe is clamped, and then the robotic arm moves with the gauss meter probe to the set point above the drug-carrying device to prepare for magnetic field scanning.
3、机械臂携带高斯计探头在载药设备上方固定高度进行磁场扫描，运动的同时将采集到的磁场数据通过RS-232标准接口传输给计算机，同时自动记录下每个磁场强度所对应的机械臂位姿，然后机械臂返回到高斯计存放点。3. The robotic arm carries a gauss meter probe to scan the magnetic field at a fixed height above the drug-carrying equipment. While moving, the collected magnetic field data is transmitted to the computer through the RS-232 standard interface, and the mechanical force corresponding to each magnetic field strength is automatically recorded. Arm pose, and then the robotic arm returns to the Gauss meter storage point.
4、通过对数据的处理，计算出载药设备的在工作坐标系下的具***姿。4. Through data processing, the specific pose of the drug-loading equipment in the working coordinate system is calculated.
5、机械臂夹爪松开，将高斯计探头放置在存放点，然后机械臂运动到永磁体存放点，夹爪闭合，夹紧永磁体。5. The gripper of the robotic arm is released, and the gauss meter probe is placed at the storage point, and then the robotic arm moves to the storage point of the permanent magnet, the gripper is closed, and the permanent magnet is clamped.
6、机械臂运动到载药设备被驱动位置，根据载药设备被驱动磁块的运动形式进行直线、圆周或其它形式的往复运动，驱动载药设备给药。6. The robotic arm moves to the driven position of the drug-carrying device, and performs linear, circular or other reciprocating motions according to the motion form of the driven magnet block of the drug-carrying device to drive the drug-carrying device to administer medicine.
7、给药***可提前设定好给药目标，调整运动频率和运动总次数，来调整给药量和给药梯度等给药参数。7. The dosing system can set the dosing target in advance, adjust the exercise frequency and the total number of exercises, and adjust the dosing parameters such as the dosing amount and the dosing gradient.
本实施例中载药设备采用光固化3D打印机制作，材料为GelMA水凝胶，其中被驱动磁块和磁定位点制作方法是将磁性氧化铁纳米粒子分散到GelMA水凝胶，再将其利用光固化3D打印机制作。制作完成后，将液体药物放入到储药室，最后封装得到载药设备。In this example, the drug-carrying device is made by a light-curing 3D printer, and the material is GelMA hydrogel. The method of making the driven magnetic block and the magnetic positioning point is to disperse magnetic iron oxide nanoparticles into the GelMA hydrogel, and then use it Made by light curing 3D printer. After the production is completed, the liquid medicine is put into the medicine storage room, and finally the medicine-carrying equipment is obtained by encapsulation.
具体的，使用上述自动给药***进行自动给药的方法流程如图4所示，包括步骤：Specifically, the method flow of using the above-mentioned automatic drug delivery system for automatic drug delivery is shown in Figure 4, including steps:
(1)将制得的载药设备植入到皮下。(1) The prepared drug-loading device is implanted subcutaneously.
(2)进行初始化01操作。将***中的所有用电器上电，UR3机械臂归零，机械臂末端夹爪为张开状态，闭合度为60％，高斯计探头和永磁体均在初始化位置。TD8650台式高斯计、机械臂分别与计算机用数据线连接好，其中机械臂与计算机为UR机器人标准接口，高斯计与计算机为RS232串口通信。(2) Perform initialization 01 operation. All the electrical appliances in the system are powered on, the UR3 manipulator is reset to zero, the gripper at the end of the manipulator is open, the degree of closure is 60%, and the gauss meter probe and permanent magnet are in the initialization position. The TD8650 desktop gauss meter and the robotic arm are connected to the computer with data cables respectively. The robotic arm and the computer are the standard interface of the UR robot, and the Gauss meter and the computer communicate through the RS232 serial port.
(3)机械臂运动到高斯计探头存放点，夹爪闭合，闭合度为30％，完成集成高斯计02操作，然后机械臂带着高斯计运动到距离载药设备上方1cm高度的设定点准备进行磁场扫描。(3) The robotic arm moves to the storage point of the gauss meter probe, the gripper is closed, and the closure degree is 30%, and the integrated gauss meter 02 operation is completed, and then the robotic arm moves with the gauss meter to the set point at a height of 1 cm above the drug-carrying device Prepare for a magnetic field scan.
(4)机械臂携带高斯计探头在距离载药设备上方1cm高度进行磁场扫描运动03操作，扫描的范围为载药设备本身尺寸的2倍，运动的同时将采集到的磁场强度数据通过RS-232标准接口传输给计算机，完成数据采集04操作。同时自动记录下每个磁场强度所对应的机械臂位姿，通过对场强和机械臂位姿数据的处理，计算出载药设备的场强分布，从而得到载药设备中定位点和被驱动模块在工作坐标系下的具***姿，完成计算驱动点05操作。(4) The robotic arm carries the gauss meter probe to perform the magnetic field scanning movement 03 at a height of 1 cm above the drug-carrying device. The scanning range is twice the size of the drug-carrying device itself. 232 standard interface is transmitted to the computer to complete the data acquisition 04 operation. At the same time, the robot arm pose corresponding to each magnetic field strength is automatically recorded, and the field strength distribution of the drug-loading device is calculated by processing the field strength and the robot arm pose data, so as to obtain the positioning point and the driven device in the drug-loading device. The specific pose of the module in the working coordinate system completes the operation of calculating the driving point 05.
(5)机械臂先返回到高斯计存放点，夹爪张开60％，将高斯计放下，再返回到初始位置，完成返回初始点06操作，然后机械臂运动到高斯计存放点，夹爪闭合40％，夹紧永磁体(四氧化三铁)，完成集成驱动装置07操作。(5) The manipulator first returns to the storage point of the Gauss meter, the jaws are opened by 60%, put the Gauss meter down, and then return to the initial position to complete the operation of returning to the initial point 06, and then the manipulator moves to the storage point of the Gauss meter, and the jaws Close 40%, clamp the permanent magnet (iron tetroxide), and complete the operation of the integrated drive device 07.
(6)机械臂运动到载药设备被驱动位置，根据载药设备的运动形式进行直线往复运动，驱动载药设备给药，完成驱动载药设备08操作，其中圆形药物释放孔直径为1mm。(6) The robotic arm moves to the driven position of the drug-carrying device, performs linear reciprocating motion according to the movement form of the drug-carrying device, drives the drug-carrying device to give medicine, and completes the operation of driving the drug-carrying device 08, wherein the diameter of the circular drug release hole is 1mm .
给药***设定给药目标：给药频率为10次/分钟，每次药物释放时间2s，完成驱动设置10操作。完成给药目标后，停止给药。The dosing system sets the dosing target: the dosing frequency is 10 times/min, the drug release time is 2s each time, and the drive setting 10 operations are completed. Dosing was discontinued when the dosing goal was achieved.
此外应理解，在阅读了本发明的上述描述内容之后，本领域技术人员可以对本发明作各种改动或修改，这些等价形式同样落于本申请所附权利要求书所限定的范围。In addition, it should be understood that after reading the above description of the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of the present application.

Claims (8)

  1. 一种自动给药***，其特征在于，包括：An automatic drug delivery system, comprising:
    载药设备，包括用于储藏、释放药物的药物储藏室，所述药物储藏室底部设有药物释放孔，内部设有可移动的被驱动磁块；所述载药设备具有给药模式和停药模式，在所述给药模式下，所述药物释放孔开放供所述药物流出，在所述停药模式下，所述被驱动磁块位于所述药物释放孔上方并封堵所述药物释放孔；The medicine-carrying equipment includes a medicine storage room for storing and releasing medicines, a medicine-releasing hole is arranged at the bottom of the medicine storage room, and a movable driven magnetic block is arranged inside; Drug mode, in which the drug release hole is open for the drug to flow out, and in the drug withdrawal mode, the driven magnet is located above the drug release hole and blocks the drug release hole;
    磁力驱动模块，包括用于驱动所述被驱动磁块沿所述药物储藏室底面移动的永磁体；a magnetic drive module, comprising a permanent magnet for driving the driven magnet block to move along the bottom surface of the medicine storage chamber;
    运动抓取模块，包括带有夹爪的机械臂，用于抓取、移动高斯计的探头和所述永磁体；A motion grabbing module, including a robotic arm with a gripper, for grabbing and moving the probe of the Gauss meter and the permanent magnet;
    体外位姿传感模块，包括用于采集所述载药设备周围磁场分布的高斯计、根据所述机械臂位姿和所述高斯计采集的数据计算并输出所述载药设备位置的计算机以及用于将所述机械臂位姿和所述高斯计采集的数据传输给所述计算机的数据线。An in vitro pose sensing module, comprising a Gauss meter for collecting the magnetic field distribution around the drug-carrying device, a computer for calculating and outputting the position of the drug-carrying device according to the position and attitude of the robotic arm and data collected by the Gauss meter, and A data line for transmitting the pose of the robotic arm and the data collected by the Gauss meter to the computer.
  2. 根据权利要求1所述的自动给药***，其特征在于，所述药物储藏室内还固设有位置传感装置，所述高斯计通过扫描所述位置传感装置对所述载药设备进行定位。The automatic drug delivery system according to claim 1, wherein a position sensing device is also fixed in the drug storage room, and the gauss meter positions the drug-carrying device by scanning the position sensing device. .
  3. 根据权利要求2所述的自动给药***，其特征在于，所述位置传感装置内设有至少三个不共线的磁定位点，用于确定所述载药设备的位置。The automatic drug delivery system according to claim 2, wherein the position sensing device is provided with at least three non-collinear magnetic positioning points for determining the position of the drug-carrying device.
  4. 根据权利要求3所述的自动给药***，其特征在于，所述载药设备采用光固化3D打印机制作，材料为水凝胶；所述被驱动磁块和磁定位点是将磁性氧化铁纳米粒子分散到水凝胶，再将其利用光固化3D打印机制作得到。The automatic drug delivery system according to claim 3, wherein the drug-carrying device is made by a light-curing 3D printer, and the material is hydrogel; the driven magnetic block and the magnetic positioning point are made of magnetic iron oxide nanometers The particles are dispersed into a hydrogel, which is then fabricated using a light-curing 3D printer.
  5. 根据权利要求1所述的自动给药***，其特征在于，所述药物释放孔为圆形，直径为0.1～2mm。The automatic drug delivery system according to claim 1, wherein the drug release hole is circular with a diameter of 0.1-2 mm.
  6. 一种自动给药方法，其特征在于，使用权利要求2～5任一权利要求所述的自动给药***，所述自动给药方法包括步骤：An automatic drug delivery method, characterized in that the automatic drug delivery system according to any one of claims 2 to 5 is used, and the automatic drug delivery method comprises the steps of:
    (1)机械臂抓取、移动高斯计的探头采集载药设备周围磁场分布，采集到的磁场强度数据和对应的机械臂位姿均传输给计算机处理，输出载药设备的场强分布，并得到载药设备中三个磁定位点以及被驱动磁块的位姿；(1) The robotic arm grabs and moves the probe of the gauss meter to collect the magnetic field distribution around the drug-carrying device. The collected magnetic field strength data and the corresponding robotic arm pose are transmitted to the computer for processing, and the field intensity distribution of the drug-carrying device is output. Obtain the three magnetic positioning points in the drug-loading device and the pose of the driven magnetic block;
    (2)机械臂放回高斯计的探头，抓取、移动永磁体驱动被驱动磁块沿药物储藏室底面移动，进行给药模式和停药模式的切换。(2) Put the robotic arm back on the probe of the gauss meter, grab and move the permanent magnet to drive the driven magnetic block to move along the bottom surface of the drug storage room, and switch between the drug delivery mode and the drug withdrawal mode.
  7. 根据权利要求6所述的自动给药方法，其特征在于，步骤(1)中，所述采集载药设备周围磁场分布时，所述高斯计的探头位于所述载药设备上方0.5～2cm处，采集范围为所述载药设备尺寸的1.5～3倍。The automatic drug delivery method according to claim 6, wherein in step (1), when the magnetic field distribution around the drug-carrying device is collected, the probe of the gauss meter is located 0.5-2 cm above the drug-carrying device , and the collection range is 1.5 to 3 times the size of the drug-carrying equipment.
  8. 根据权利要求6所述的自动给药方法，其特征在于，所述给药模式的频率为1～20次/min，每次持续时间为0.5～3s。The automatic administration method according to claim 6, wherein the frequency of the administration mode is 1-20 times/min, and the duration of each time is 0.5-3 s.
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