CN102090876B - In-vitro magnetic-controlled medicament delivery capsule system based on wireless energy supply - Google Patents
In-vitro magnetic-controlled medicament delivery capsule system based on wireless energy supply Download PDFInfo
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- CN102090876B CN102090876B CN201110051442A CN201110051442A CN102090876B CN 102090876 B CN102090876 B CN 102090876B CN 201110051442 A CN201110051442 A CN 201110051442A CN 201110051442 A CN201110051442 A CN 201110051442A CN 102090876 B CN102090876 B CN 102090876B
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Abstract
The invention provides an in-vitro magnetic-controlled medicament delivery capsule system based on wireless energy supply, and belongs to the technical field of medical devices. The system comprises a medicament delivery capsule system, an in-vitro magnetic drive unit, an in-vitro medicament delivery device, an in-vitro wireless energy supply device and an in-vitro real-time image processing device, wherein, the medicament delivery capsule system is positioned in alimentary tract and acquires environmental information of the alimentary tract; the in-vitro medicament delivery device is connected with the medicament delivery capsule system in a wireless manner and transmits thermal therapy control information; the in-vitro real-time image processing device is connected with the medicament delivery capsule system in a wireless manner, transmits video information of capsules and outputs the information in the form of graphs; the in-vitro wireless energy supply device supplies energy to the medicament delivery capsule system in an alternating magnetic field manner; and the in-vitro magnetic drive unit and the medicament delivery capsule system realize control of posture and position of the medicament delivery capsules by means of magnetic force. By utilizing the in-vitro magnetic-controlled medicament delivery capsule system, noninvasive diagnosis and treatment of digestive tract diseases are realized in true sense under image navigation.
Description
Technical field
What the present invention relates to is a kind of device of technical field of medical instruments, specifically is a kind of external magnetic control drugs release capsule system based on wireless energy supply.
Background technology
The modern is because work rhythm quickening, diet are uneven, cause the sickness rate of digestive tract disease to raise day by day; Digestive tract disease becomes influences the healthy common a kind of disease of modern; Analyze to find according to statistics, digestive tract disease to become younger, hiddenization direction develops.The visual detection of digestive tract disease has important effect for the prevention and the diagnosis and treatment of digestive tract disease; And 9 meters of human body all-digestive tract length overalls; Because the digestive tract shape belongs to slender pipeline; Be distributed between each organ of trunk, the irregular closure of all-digestive tract structure is to the detection and the treatment of digestive tract disease bring very big challenge clinically.
The visual detection of the digestive tract disease of implementing clinically mainly contains two kinds: gastrointestinal, intestinal mirror and capsule endoscope two big classes.Gastroscope, intestinal microscopy are surveyed and are belonged to active detecting, can realize all-digestive tract disease " fixed point " diagnosis, but possibly have the risk that causes stomach wound, intestinal wound in the gastroscope, intestinal microscopy survey process, understand in the testing process and bring huge misery to patient.Capsule endoscope detects and belongs to the noinvasive detection method; Can implement the detection of digestive tract disease after patient's oral capsule endoscope; Can not bring discomfort or painful sensation to the patient, but capsule endoscope can only follow gastral wriggling and carry out diagnosis in patient's digestive tract, the motion of capsule endoscope belongs to passive movement mode fully; Capsule endoscope also belongs to " locality " and " randomness " diagnosis for the diagnosis of digestive tract disease; Can not implement initiatively " fixed point " diagnosis to digestive tract disease, there is very big blind area in the capsule endoscopy diagnosis overall process, has greatly limited the clinical practice of capsule endoscope in the visual diagnosis of all-digestive tract disease.
On the other hand; When making a definite diagnosis digestive tract and find disease such as disease; The therapeutic scheme that can adopt clinically: can under the video image navigation of gastroscope and intestinal mirror, carry out treatment with upper digestive tract and colon with lower digestive tract for stomach; But in therapeutic process, still have the risk that causes stomach wound, intestinal wound, needs of patients bears huge misery in the therapeutic process; And, can't adopt traditional gastroscope and intestinal mirror to treat for the disease that the digestive tract that small intestinal belongs to exists, and must carry out treatment through operation method for the disease that small intestinal exists, this misery that for the patient, causes is well imagined.And the shoot function of the only concrete digestive tract image of capsule endoscope, therefore the treatment function of concrete digestive tract disease not can't carry out treatment to digestive tract disease fully.
Existing capsule endoscope system does not possess yet to be found to carry out the function that drug release is treated after the disease; And existing gastroscope, intestinal mirror possess the all-digestive tract disease are carried out " initiatively " visual diagnosis; Possesses the function of under image-guidance, carrying out treatment simultaneously; But in diagnosis and therapeutic process, there is wound and brings very big misery, the function that also can't carry out treatment in the digestive tract section that small intestinal belongs to the patient.Therefore existing technology can't satisfy the actual demand of clinical noinvasive or Wicresoft's diagnosis and treatment.
Retrieval through to prior art is found; Be published in the scientific paper " design and research of drug release microcapsule control circuit " on " modern Manufacturing Engineering " 2009 the 8th phases; Announced a kind of microcapsule structure that is used for the digestive tract drug release, be compressed spring and discharge through controlling medicine in the miniature magnetic control system switch messenger drug storehouse.
But there are following two shortcomings at least in the microcapsule that should technology forms: at first, do not have the digestive tract image-guidance to help, be not sure of the position of drug release; Secondly operator lacks the ability of manipulation in vitro control microcapsule attitude and position, can not ACTIVE CONTROL microcapsule attitude and position, more than the restriction of two shortcomings, make this patent of invention can't be applied to clinical practice.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists; A kind of external magnetic control drugs release capsule system based on wireless energy supply is provided; Realization is controlled by the external magnetic field active drive; Overcome capsule system and receive peristalsis of the digest tract " passive " method of operation, any time in drug release process, the drug release capsules system can be sent to picture system external; Control provides image-guidance to help with drug release for operator's external magnetic control system, treats overall process until the rake of accomplishing lesions position to drug release.
The present invention realizes through following technical scheme; The present invention includes: drug release capsules, external magnetic drive unit, external dispenser operating means, external wireless energy supply device and the real-time blood processor of external image; Wherein: drug release capsules is positioned at digestive tract and gathers digestive tract environment information; External dispenser operating means is connected with wireless mode with drug release capsules and transmits the thermotherapy control information; The real-time blood processor of external image is connected with wireless mode with drug release capsules and transmits the capsule video information and export with graphics mode; External wireless energy supply device provides energy to drug release capsules with the alternating magnetic field mode, and external magnetic drive unit and drug release capsules realize to drug release capsules attitude and control of position through magnetic force.
Described drug release capsules comprises: analog image pick off, illuminator, medicine cabin and drug release device, shell and be arranged at its inner master control system, image wireless dispensing device, digital signal wireless communication apparatus, fairing, wireless energy receiving coil and permanent magnetic device; Wherein: analog image pick off and illuminator are installed in the outboard end of shell; Drug release device and medicine cabin are installed in the outer surface of drug release capsules system shell; Permanent magnetic device is installed between shell and the drug release device; The wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force; Fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage; Fairing is respectively with analog image pick off, illuminator, master control system, image wireless dispensing device, drug release device links to each other and dc source is provided; The image wireless dispensing device directly with the analog image sensor acquisition to video output to be sent to the patient through wireless mode external; Master control system can be regulated the imaging parameters of analog image pick off, the startup of master control system control drug release device with close, drug release device links to each other with the medicine cabin.Other part of permanent magnetic device and drug release capsules does not produce any electric connection; The permanent-magnetic field that permanent magnetic device produces and the permanent-magnetic field of external magnetic drive unit interact; Be that the same polarity permanent-magnetic field repels each other; The heteropolarity permanent-magnetic field is inhaled mutually; And permanent-magnetic field interphase interaction power and its distance dependent, permanent-magnetic field polarity through changing external magnetic drive unit and distance and the polarity between the drug release capsules permanent-magnetic field, thus guarantee that external magnetic drive unit is to drug release capsules attitude and control of position.
Described shell is the capsule body shape, and both ends are chondritic.
Described external magnetic drive unit is the magnetic driving control device with permanent magnet, and wherein: magnetic driving control device is realized the adjustment to drug release capsules attitude and position through the displacement and the direction of regulating between permanent magnet and the drug release capsules.
Described external dispenser operating means comprises: residual drug display screen, radio-cell and dispenser operating means; Wherein: the residual drug display screen is presented at remaining dose in the drug release capsules on the screen; The dispenser operating means sends the dispenser control signal; This control signal is sent to the drug release capsules in the digestive tract through radio-cell, and drug release capsules is sent control signal to drug release device according to control signal, and drug release device is carried out the drug release treatment to lesions position.
Described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric; Wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and external wireless energy transmitting coil changes control signal alternating electromagnetic field into and exports the drug release capsules system to.
The real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation; Wherein: the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by the drug release capsules system; Computer operation on computer screen, provides image-guidance function for the person of controling realizes drug release capsules system attitude, Position Control and thermotherapy operations with pictorial display.
The present invention compared with prior art; The manipulation in vitro effector can ACTIVE CONTROL to the attitude of drug disposition release capsule and position; Can accomplish " fixed point " diagnosis of digestive tract image; Control for drug release operation realizes " rake to ", the operation of external ACTIVE CONTROL drug disposition release capsule is simultaneously all carried out down in the video image guiding, the noinvasive diagnosis and treatment of the digestive tract disease under the realization image-guidance truly.Than existing gastroscope, intestinal mirror and image capsule system, have remarkable advantages, the present invention has very important actual application value aspect digestive tract disease diagnosis and the treatment.
Description of drawings
Fig. 1 is an operation principle sketch map of the present invention.
Fig. 2 is a drug release capsules system structure sketch map.
Fig. 3 is external magnetic Drive Structure sketch map.
Fig. 4 is external dispenser operating means structural representation.
Fig. 5 is external wireless energy supply device sketch map.
Fig. 6 is the real-time blood processor sketch map of external image.
The specific embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
As shown in Figure 1; This enforcement comprises: drug release capsules 1, external magnetic drive unit 2, external dispenser operating means 3, external wireless energy supply device 4 and the real-time blood processor 5 of external image; Wherein: drug release capsules 1 is positioned at digestive tract and gathers digestive tract environment information; External dispenser operating means 3 is connected with wireless mode with drug release capsules 1 and transmits the thermotherapy control information; The real-time blood processor 5 of external image is connected with wireless mode with drug release capsules 1 and transmits the capsule video information and export with graphics mode; External wireless energy supply device 4 provides energy to drug release capsules 1 with the alternating magnetic field mode, and external magnetic drive unit 2 is carried out the work according to the permanent-magnetic field interaction principle with drug release capsules 1, and promptly the same polarity permanent-magnetic field repels each other; The heteropolarity permanent-magnetic field is inhaled mutually; And permanent-magnetic field interphase interaction power and its distance dependent, permanent-magnetic field polarity through changing external magnetic drive unit and distance and the polarity between the drug release capsules permanent-magnetic field, thus guarantee that external magnetic drive unit is to drug release capsules attitude and control of position.
Described drug release capsules 1 comprises: analog image pick off 6, illuminator 7, medicine cabin 15 and drug release device 8 and shell 9 and be arranged at its inner master control system 10, image wireless dispensing device 11, digital signal wireless communication apparatus 12, fairing 13, wireless energy receiving coil 14 and permanent magnetic device 16; Wherein: illuminator 7 is installed in the outboard end of shell 9; Analog image pick off 6 is installed in illuminator 7 back; Medicine cabin 15 is installed in the drug release capsules middle part; Thing releasing device 8 delivery outlets are installed the outer surface of drug release capsules 1 shell 9; Permanent magnetic device 16 is close to shell 9; Wireless energy receiving coil 14 is installed in drug release capsules 1 end; The alternating magnetic field that reception is sent by external wireless energy supply device 4 also is converted into AC electromotive force, and fairing 13 links to each other with wireless energy receiving coil 14 and AC electromotive force is converted into DC voltage, and fairing 13 links to each other with analog image pick off 6, illuminator 7, master control system 10, image wireless dispensing device 11, drug release device 8 respectively and dc source is provided; It is external that the analog video that image wireless dispensing device 11 directly collects analog image pick off 6 is sent to the patient with wireless mode; Master control system 10 links to each other with the analog image pick off and realizes analog image pick off imaging parameters is regulated, and master control system 10 links to each other with digital signal wireless communication apparatus 12 and the communication of realization and digital radio communication device, and master control system 10 links to each other with drug release device 8; And realization is to the control of drug release device 8; Drug release device 8 links to each other with medicine cabin 15, and other part of permanent magnetic device 16 and drug release capsules has no electric the connection, and permanent magnetic device 16 is fixed on shell 9 inner surfacies.
Described shell 9 is the capsule body shape, and both ends are chondritic.
The permanent-magnetic field that external magnetic drive unit 2 in the present embodiment generates through the permanent magnetic device in the permanent-magnetic field control drug release capsule 1 16; According to the permanent-magnetic field interaction principle: the same polarity permanent-magnetic field repels each other; The heteropolarity permanent-magnetic field is inhaled mutually; And permanent-magnetic field interphase interaction power and its distance dependent; Permanent-magnetic field polarity through changing external magnetic drive unit and distance and the polarity between the drug release capsules permanent-magnetic field, thus guarantee that external magnetic drive unit is to drug release capsules attitude and control of position.
Present embodiment drug release device 8, and can repeatedly repeat the drug release in the medicine cabin 15 drug release to the digestive tract focus tissue surface in the medicine cabin 15 with higher pressure.
Digital signal wireless communication apparatus 12 in the present embodiment receives the drug release control signal that the radio-cell 20 by external dispenser operating means 3 sends over; And this control signal is sent to the master control system 10 of drug release capsules 1, master control system 10 starts drug release device 8 according to this control signal and realizes drug releases.
Wireless energy receiving coil 14 in the present embodiment receives the alternating electromagnetic field by energy transmitting coil 22 transmissions of external wireless energy supply device 4; And changing this alternating electromagnetic field into AC electromotive force, fairing 13 changes this AC electromotive force into suitable dc source.
The permanent-magnetic field that permanent magnetic device 16 in the present embodiment produces interacts through the permanent-magnetic field that the permanent magnetic device 18 with external magnetic drive unit 2 produces; The same polarity permanent-magnetic field repels each other; The heteropolarity permanent-magnetic field is inhaled mutually, realizes the attitude of 2 pairs of drug release capsules 1 of external magnetic drive unit and the adjusting of position.
External magnetic drive unit 2 in the present embodiment comprises permanent magnetic device 18 and magnetic drive unit 17; Permanent magnetic device 18 is installed on the magnetic drive unit 17, wherein: magnetic driving control device is realized the adjustment to drug release capsules 1 attitude and position through the displacement and the direction of regulating between permanent magnetic device 18 and the drug release capsules 1.
Described external dispenser operating means 3 comprises residual drug display screen 19, radio-cell 20 and dispenser control device 21; Wherein: master control system 10 real-time sampling medicine cabins 15 residual drugs of drug release capsules 1; Residual drug is converted into digital quantity; This digital quantity is sent to radio-cell 20 through digital signal wireless communication apparatus 12; Radio-cell 20 sends residual drug to residual drug display screen 19 and shows, and the effector sends the drug release control signal according to what of residual drug through dispenser control device 21; This control signal sends the wireless communication apparatus 12 of drug release capsules 1 to through radio-cell 20; To send master control system 10 to by wireless communication apparatus 12, master control system 10 starts drug release device 8 according to control signal, drug release device 8 with the drug release in the medicine cabin 15 to pathological tissue.
Described external wireless energy supply device 4 comprises: external wireless energy transmitting coil 22 and power-supply controller of electric 23; Wherein: power-supply controller of electric 23 links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil 22 of controlling signal to of sequential, and external wireless energy transmitting coil 22 changes control signal alternating electromagnetic field into and exports drug release capsules 1 to.
External wireless energy transmitting coil 22 described in the present embodiment directly is connected through concrete cable with power-supply controller of electric 23, and the control signal in the power-supply controller of electric 23 directly drives wireless energy transmitting coil 22 and realizes that electric energy is converted into alternating electromagnetic field to be achieved.
The real-time blood processor 5 of described external image comprises: real-time receiver module 24 of external image and computer workstation 25; Wherein: the real-time receiver module 24 of external image receives in real time and is sent to external photographic images and be sent to computer workstation 25 by drug release capsules 1; Computer workstation 25 on computer screen, provides image-guidance function for the person of controling realizes drug release capsules 1 attitude, Position Control and drug release operation with pictorial display.
This device carries out work in the following manner: the patient is through the drug release capsules of swallowing; External wireless energy supply device is started working; Power-supply controller of electric changes dc source the alternating signal of certain frequency into and is sent to external wireless energy transmitting coil; External wireless energy transmitting coil changes electric energy in the alternating magnetic field of certain frequency; This alternating magnetic field is received by the wireless energy receiving coil in the drug disposition release capsule; Portion produces alternating electromotive force in coil, and this alternating electromotive force is undertaken generating dc source behind the filter rectification by fairing, and this dc source provides power supply for medicine releasing device, analog image pick off, medicine cabin, master control system, image wireless dispensing device and digital signal wireless transmitter.Analog image pick off, master control system and image wireless dispensing device are promptly started working.The analog image pick off is sent to external through the image wireless transporter image of digestive tract wall; Receive and be sent to computer workstation by the real-time receiver module of external image; Computer workstation with pictorial display on screen; The operator is according to image; Control permanent magnet control device changes the position and the direction of permanent magnet, and position and attitude that the permanent magnetic device of drug disposition release capsule is followed external permanent magnetic device change, and change position and the state of drug release capsules in digestive tract; The analog image pick off can detect the image of diverse location and attitude situation lower digestive tract wall and be sent to external, thereby guarantee that the operator carries out the diagnosis of " fixed point " and " orientation " to digestive tract under image-guidance.In diagnostic procedure, when finding disease is arranged, under the image guiding; Operator's control drug release capsule rests on the disease surface, makes the drug release device of drug release capsules be close to the disease surface, and the operator utilizes the dispenser control device of external dispenser operating means to send the drug release operating control signal; This control signal sends drug release capsules to through radio-cell, receives and be sent to master control system by the digital signal wireless transmitter, and master control system starts drug release device work; The drug release treatment is carried out on the disease surface, and in drug release process, master control system detects residual drug in the medicine cabin in real time; Master control system carries out being sent to the digital signal wireless transmitter after the analog digital conversion to residual drug; And be sent to externally by the digital signal wireless transmitter, after the radio-cell of external dispenser operating means receives this residual drug signal, be sent on the residual drug display screen; The operator can grasp in real time the drug release position residual drug what; And combine the analog image sensor to image drug release is carried out on the disease surface, in drug release process, the operator can the moving device of operating body external magnetic region changes the attitude and the position of drug release capsules; By means of the image-guidance on the work station, to realize that comprehensive rake to lesions position is to drug release.
Claims (6)
1. external magnetic control drugs release capsule system based on wireless energy supply; It is characterized in that; Comprise: drug release capsules, external magnetic drive unit, external dispenser operating means, external wireless energy supply device and the real-time blood processor of external image; Wherein: drug release capsules is positioned at digestive tract and gathers digestive tract environment information; External dispenser operating means is connected with wireless mode with drug release capsules and transmits the drug release control signal; The real-time blood processor of external image is connected with wireless mode with drug release capsules and transmits the capsule video information and with graphics mode output, external wireless energy supply device provides energy to drug release capsules with the alternating magnetic field mode, external magnetic drive unit and drug release capsules through the magnetic force realization to drug release capsules attitude and control of position;
Described external dispenser operating means comprises: residual drug display screen, radio-cell and dispenser operating means; Wherein: the residual drug display screen is presented at remaining dose in the drug release capsules on the display screen; The dispenser operating means sends the drug release control signal; This drug release control signal is sent to the drug release capsules in the digestive tract through radio-cell; Drug release capsules is sent the drug release device of control signal to drug release capsules according to the drug release control signal, and drug release device is carried out the drug release treatment to lesions position.
2. the external magnetic control drugs release capsule system based on wireless energy supply according to claim 1; It is characterized in that; Described drug release capsules comprises: analog image pick off, illuminator, drug release device, shell; And image wireless dispensing device, digital signal wireless communication apparatus, fairing, wireless energy receiving coil, medicine cabin, permanent magnetic device and be arranged at the master control system of enclosure; Wherein: analog image pick off and illuminator are installed in the outboard end of shell, and drug release device is installed in the outer surface of drug release capsules shell, and permanent magnetic device is installed between shell and the drug release device; The wireless energy receiving coil receives the alternating magnetic field that is sent by external wireless energy supply device and is converted into AC electromotive force; Fairing links to each other with the wireless energy receiving coil and AC electromotive force is converted into DC voltage, and with analog image pick off, illuminator, master control system, image wireless dispensing device, drug release device links to each other and dc source is provided, the image wireless dispensing device directly is sent to the analog image sensor acquisition external fairing to video image respectively; Master control system links to each other with the analog image pick off; Realization is regulated analog image pick off imaging parameters, and master control system links to each other with the digital signal wireless communication apparatus, and realization is communicated by letter with the digital signal wireless communication apparatus; Master control system links to each other with drug release device; Realization is to the control of drug release device, and drug release device links to each other with the medicine cabin, realizes the medicine in the medicine cabin is discharged into digestive tract pathology tissue surface.
3. the external magnetic control drugs release capsule system based on wireless energy supply according to claim 2 is characterized in that described shell is the capsule body shape, and both ends are chondritic.
4. the external magnetic control drugs release capsule system based on wireless energy supply according to claim 2; It is characterized in that; Described external magnetic drive unit is the magnetic driving control device with permanent magnet, and wherein: magnetic driving control device is realized the adjustment to drug release capsules attitude and position through the displacement and the direction of regulating between permanent magnet and the drug release capsules.
5. the external magnetic control drugs release capsule system based on wireless energy supply according to claim 1; It is characterized in that; Described external wireless energy supply device comprises: external wireless energy transmitting coil and power-supply controller of electric; Wherein: power-supply controller of electric links to each other with direct current or alternating current power supply and output device has the external wireless energy transmitting coil of controlling signal to of sequential, and to have the time sequence control signal transition be alternating magnetic field to external wireless energy transmitting coil and export drug release capsules to this.
6. the external magnetic control drugs release capsule system based on wireless energy supply according to claim 1; It is characterized in that; The real-time blood processor of described external image comprises: real-time receiver module of external image and computer workstation; Wherein: the real-time receiver module of external image receives in real time and is sent to external photographic images and be sent to computer workstation by drug release capsules; Computer workstation on computer screen, provides image-guidance function for the person of controling realizes drug release capsules attitude, Position Control and drug release with pictorial display.
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| CN201110051442A CN102090876B (en) | 2011-03-04 | 2011-03-04 | In-vitro magnetic-controlled medicament delivery capsule system based on wireless energy supply |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102721796A (en) * | 2012-06-27 | 2012-10-10 | 浙江省中医药研究院 | Experimental device for simulating local drug release behavior of medicine and application thereof |
| CN103801000B (en) * | 2012-11-14 | 2016-03-16 | 苏州景昱医疗器械有限公司 | A kind of external controller and communication means thereof |
| CN103920245B (en) * | 2014-04-03 | 2017-11-24 | 深圳普门科技有限公司 | Capsule photon treatment device, system and targeted therapy method with guide function |
| CN103920246B (en) * | 2014-04-03 | 2017-11-10 | 深圳普门科技有限公司 | A kind of capsule photon treatment device of belt switch device |
| CN107158553B (en) * | 2016-03-07 | 2020-06-16 | 上海理工大学 | Electronic capsule for alimentary canal and medicine conveying method |
| CN106618455A (en) * | 2016-11-28 | 2017-05-10 | 电子科技大学 | Capsule endoscope system with fixed-point medicine applying function |
| CN111631674A (en) * | 2020-06-03 | 2020-09-08 | 湖北科技学院 | Medicine release capsule type digestive tract endoscope device and medicine release method |
| CN112968532B (en) * | 2021-02-05 | 2022-09-27 | 浙江大学台州研究院 | Wireless magnetic resistance actuator based on magnetic resonance coupling |
| CN113143843B (en) * | 2021-03-15 | 2023-11-28 | 上海交通大学 | Medical nanoparticle fixed-point treatment device and manufacturing method thereof |
| CN113577526B (en) * | 2021-07-26 | 2023-11-17 | 杭州未名信科科技有限公司 | Subcutaneous drug delivery device and subcutaneous drug delivery monitoring system |
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| CN1868396A (en) * | 2005-05-27 | 2006-11-29 | 上海飞恩微电子有限公司 | Medicine-releasing type capsule endoscope |
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| US6240312B1 (en) * | 1997-10-23 | 2001-05-29 | Robert R. Alfano | Remote-controllable, micro-scale device for use in in vivo medical diagnosis and/or treatment |
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