Digestive tract liquid biopsy sampling device for internal medicine

Abstract

The alimentary canal liquid biopsy sampling device comprises an inner detection part and an outer equipment part, the inner detection part comprises a detection sphere and a spherical shell, the diameter of the detection sphere is smaller than that of the spherical shell, the detection sphere is arranged in an inner cavity of the spherical shell, the spherical shell is hollow, and a magnet part is arranged at one end in the detection sphere; the external equipment part comprises a main body frame, an annular moving part capable of sliding back and forth is arranged on the main body frame, and an electromagnet capable of moving along the inner side wall of the annular moving part is arranged on the inner side of the annular moving part. According to the invention, the internal detection part adopts the detection sphere with the built-in magnetic control and is sleeved with the hollow sphere shell, the detection sphere is isotropic and flexible in steering, the hollow sphere shell rolls during movement, so that the friction force is reduced, the hollow sphere shell is easy to roll in intestinal wrinkles, the rolling speed can be effectively improved, and the magnetic field driving efficiency is effectively improved.

Description

Technical Field

[0001] The present invention relates to a digestive tract liquid biopsy sampling device for internal medicine, belonging to the technical field of medical equipment. Background Art

[0002] The digestive tract is a long muscular tube that starts from the mouth and continues through the pharynx, esophagus, stomach, small intestine, large intestine, and ends at the anal canal. It includes the mouth, pharynx, esophagus, stomach, small intestine (duodenum, jejunum, ileum), large intestine (cecum, appendix, colon, rectum), and anal canal. When a lesion occurs in the digestive tract, in order to determine the specific location and condition of the lesion, it is necessary to observe and sample the digestive tract. Currently, most people use a gastroenteroscopy for observation. During the gastroenteroscopy, patients may experience nausea, vomiting, choking, difficulty breathing, chest tightness, shortness of breath, abdominal distension, etc. After the examination, they may experience damage to the pharyngeal mucosa, pharyngeal discomfort, abdominal pain, and abdominal distension.

[0003] The digestive tract liquid biopsy sampling device is mainly used to obtain liquid samples (such as gastric juice, intestinal fluid, blood, exosomes, circulating tumor DNA, etc.) in the digestive tract through minimally invasive or non-invasive methods to assist in the early diagnosis and monitoring of diseases (such as cancer, inflammation). In recent years, capsule sampling devices have been used as a non-invasive and painless diagnostic and treatment tool in the human gastrointestinal tract. Capsule sampling devices can effectively improve the comfort of examinations and patient tolerance. Existing capsule sampling devices rely on digestive tract peristalsis and may not be able to accurately release and adsorb materials in target areas (such as specific intestinal segments). In addition, sample recovery is delayed and it is necessary to wait for the capsule to be naturally discharged, which may lead to sample degradation, such as DNA breakage and protein inactivation. Some patients may require endoscopic removal due to capsule retention.

[0004] In the prior art, the swallowing portion of the digestive tract liquid biopsy sampling device is mostly in the shape of a capsule, such as the invention patent: Digestive Tract Sampling Capsule (CN109497917B). Although the capsule shape can imitate the shape of a tablet (elliptical / cylindrical), which is in line with human swallowing habits. However, its long-axis steering flexibility is limited, and the smooth cylindrical surface is prone to laminar flow resistance in the digestive tract mucus environment, and produces friction with the inner wall of the human digestive tract, thereby reducing the magnetic field drive efficiency and the movement speed. Therefore, we propose a digestive tract liquid biopsy sampling device for internal medicine to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a gastrointestinal liquid biopsy sampling device for internal medicine. The swallowable part of the present invention adopts a spherical structure and is covered with a hollow spherical shell. It is isotropic and flexible in rotation. During movement, the hollow spherical shell rolls to reduce friction, making it easy to roll in the intestinal folds and increasing the rolling rate.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions: a gastrointestinal liquid biopsy sampling device for internal medicine, comprising: an internal detection part and an external device part, the internal detection part comprising a detection sphere and a spherical shell, the diameter of the detection sphere is smaller than the diameter of the spherical shell and is placed in the inner cavity of the spherical shell, the spherical shell is hollow, and the inner and outer walls are smooth, a magnetic part is provided at one end of the detection sphere, the magnetic part adopts a permanent magnet, the detection sphere has a built-in magnetic part composed of a high magnetic energy product permanent magnet, which can interact with the external magnetic field to generate a motion driving force, and the detection sphere is also provided with a sampling part and a camera part, the sampling part is used to absorb gastrointestinal liquid, and two sampling parts can be symmetrically provided, which can sample two affected areas at one time, and the camera part adopts a 360° micro lens, The camera part can be equipped with lighting equipment to enable panoramic observation; the external equipment part includes a main frame, on which is provided an annular movable part that can slide back and forth, and an electromagnet that can move along the inner wall of the annular movable part is provided on the inner side of the annular movable part. The electromagnet generates a controllable magnetic field, and the magnetic field strength and direction are changed by moving the position of the electromagnet and adjusting the current of the electromagnetic coil of the electromagnet. The external magnetic field interacts with the magnetic part inside the detection sphere to generate a torque to drive the detection sphere to turn, and the attraction or repulsion force generated by the magnetic field gradient drives the detection sphere to move in translation; the movement of the internal detection part is that the detection sphere moves under the action of magnetic force, and the detection sphere is in a spherical shell. When the detection sphere moves, the outer spherical shell rolls in the patient's body to reduce movement friction, increase the travel speed, and reduce movement energy consumption.

[0007] The aforementioned digestive tract liquid biopsy sampling device for internal medicine is provided with a main control module in the middle of the inner cavity of the detection sphere, and a power supply is provided in the main control module, which uses a micro button battery. The sampling part and the camera part are both electrically connected to the main control module. The main control module is used to control the movement of the sampling part and the operation of the camera part, and is equipped with Bluetooth or radio frequency to transmit images and sensor data to an external receiver. A positioning sensor can also be installed to assist the external magnetic field control system of the external equipment part to track the position of the internal detection part. The sampling part is provided with two distributed on the upper and lower sides of the main control module for separate sampling. The camera part is provided with two symmetrically distributed along the upper and lower ends of the detection sphere. The two symmetrically arranged panoramic camera parts can collect 360° panoramic image information around, and the detection sphere and the magnetic part are symmetrically provided with counterweight parts.

[0008] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, the sampling part includes a fixed cavity and a replacement cavity, the fixed cavity is fixedly installed inside the detection sphere, a first piston is provided in the fixed cavity, the first piston is connected to a micro-electric cylinder, the micro-electric cylinder is electrically connected to the main control module, one side of the fixed cavity is provided with a plug-in tube connected to its inner cavity, the surface of the detection sphere is provided with a slot, the replacement cavity is plugged into the slot, the inner side wall of the replacement cavity is provided with a connecting through-hole, the plug-in tube is plugged into the connecting through-hole, and the inner cavity of the replacement cavity is provided with a A second piston is provided, and a sampling port is provided at the outer end of the replacement cavity. The micro-electric cylinder extends and contracts to drive the first piston to move, and the second piston is moved by air pressure to realize the suction and release actions. The liquid at the target position can be sucked into the replacement cavity through the sampling port. If the medicine is injected into the replacement cavity in advance, the directional drug delivery function can be realized when the internal detection part moves to the affected area. At the same time, the replacement cavity can be freely disassembled, which is convenient for transporting, extracting and storing the obtained liquid. The replacement cavity has low cost and can be used as a disposable consumable, which can avoid the difficulty of multiple sampling and cleaning and the problem of mutual contamination of the sampled liquid.

[0009] The aforementioned digestive tract liquid biopsy sampling device for internal medicine is provided with a sealing damping part on the outer surface of the plug-in tube. The sealing damping part is a rubber sealing ring arranged in a serrated shape on the surface of the plug-in tube. The rubber sealing ring is close to the surface of the replacement cavity and is inclined backward from the inside to the outside. The sealing damping part plays a sealing role between the plug-in tube and the replacement cavity, and fixes the replacement cavity by friction. When disassembling, it is only necessary to use a tool to pull the replacement cavity out with force.

[0010] The aforementioned digestive tract liquid biopsy sampling device for internal medicine has the end of the sampling port protruding outward and the internal cavity diameter gradually decreasing. The inner cavity of the sampling port is provided with an elastic valve composed of a tightly fitting silicone sheet. The end structure of the sampling port and the elastic valve can prevent the liquid after absorption from flowing out, and at the same time prevent external liquid from entering and contaminating the obtained liquid sample.

[0011] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, the inner cavity of the fixed cavity is provided with a sealing baffle with a top opening, the first piston and the end of the plug-in tube are arranged on both sides of the sealing baffle, which can make the first piston move longitudinally and the second piston move laterally, thereby increasing the effective stroke of the first piston.

[0012] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, wherein the main body frame is in a "U" shape, and both inner side walls of the main body frame are provided with sliding grooves along the length direction. Both sides of the annular moving part are provided with sliding rods, and the sliding rods are slidably installed in the corresponding sliding grooves. A bearing can be provided on the side wall of the sliding rod to reduce the friction with the sliding groove. A screw rod is arranged along the length direction in the sliding groove, and the end of the screw rod is connected with a horizontal driving motor, which can drive the screw rod to rotate forward and backward. A rectangular through hole is opened at the end of the sliding rod, and the screw rod passes through the rectangular through hole. Telescopic components are arranged on both symmetric sides in the rectangular through hole, and clutch components are arranged at the inner ends of the telescopic components. Grooves are arranged on the opposite surfaces of the two clutch components, and threads corresponding to the screw rod are arranged in the grooves. The screw rod is placed between the two clutch components. The telescopic components can drive the two clutch components to be buckled or separated. When the two clutch components are buckled on the screw rod, the driving motor drives the screw rod to rotate forward and backward, enabling the annular moving part to move back and forth. When the two clutch components are separated, they can be separated from the screw rod and are not controlled by the screw rod, thereby realizing the front and back translation driving of a single screw rod for multiple annular moving parts respectively.

[0013] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, wherein a ring gear is rotatably installed in the inner cavity of the annular moving part, a connecting part is installed inside the ring gear, and the end of the connecting part extends out of the inner side wall of the annular moving part and is connected with an electromagnet. An installation box communicating with its inner cavity is arranged at the bottom of the annular moving part. A concave space for accommodating and moving the installation box can be opened on the upper surface of the middle part of the main body frame. A driving motor is arranged in the installation box, and a driving gear meshing with the ring gear is arranged at the output end of the driving motor. The driving motor drives the ring gear to rotate through the driving gear, thereby realizing the movement of the electromagnet along the inner wall of the annular moving part.

[0014] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, wherein the external device part is electrically connected with a main controller, a display, and a power supply device.

[0015] The aforementioned digestive tract liquid biopsy sampling device for internal medicine, wherein a bed body is arranged inside the main body frame, the annular moving part is sleeved around the outside of the bed body, a magnetic force sensor is embedded on the surface of the bed body, and the magnetic force sensor can assist in the magnetic field control of the external device part and the positioning of the internal detection part. The magnetic force sensor is electrically connected with the main controller.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] (1) The internal detection part of the present invention that needs to be swallowed adopts a detection sphere with built-in magnetic control and is covered with a hollow spherical shell. It is isotropic and flexible in steering. When in motion, the hollow spherical shell rolls to reduce friction and is easy to roll in the intestinal folds, which can effectively increase the rolling rate and effectively improve the magnetic field driving efficiency.

[0018] (2) The spherical detection device of the present invention is highly integrated, with a simple and reasonable structural design, a small overall diameter, and is easy to swallow without the need for intubation or anesthesia, and is highly accepted by patients. At the same time, the present invention is multifunctional and supports a variety of operations such as imaging, sampling, and drug administration. The present invention can collect 360° panoramic image information of the surrounding area through the panoramic camera unit 7, and the sampling unit uses a micro-electric cylinder and a piston structure to actively and directionally extract liquid samples, thereby avoiding the problem of inaccurate sampling and realizing the function of targeted drug administration to the affected area.

[0019] (3) The replacement cavity of the present invention is easy to disassemble, and can be used to transport, extract, and store the obtained liquid. The replacement cavity is low-cost and can be used as a disposable consumable, which can avoid the difficulty of multiple sampling and cleaning and the problem of mutual contamination of the sampled liquids. Moreover, the end closing structure of the sampling port of the replacement cavity and the elastic valve can prevent the liquid from flowing out after absorption, and at the same time prevent external liquid from entering and contaminating the obtained liquid sample.

[0020] (4) The external device of the present invention is composed of multiple groups of Helmholtz coils or Maxwell coils to form an electromagnet, and the multiple electromagnets form a three-dimensional electromagnetic field. The magnetic field strength and direction are changed by adjusting the current. By adjusting the external magnetic field gradient, the detection sphere is moved axially or radially along the digestive tract, the magnetic field direction is changed, and the spin of the detection sphere is controlled to adjust the camera viewing angle and sampling angle. In a specific area (such as the fundus of the stomach), the gravity is balanced by the magnetic field, so that the detection sphere is suspended and the mucosal surface is fully observed. The magnetic field is flexibly controlled and a rapid response can be achieved.

[0021] (5) In the external device part of the present invention, multiple electromagnets are placed in the annular moving part, and the movement and angle of the electromagnets along the inner wall of the annular moving part are realized and controlled by the driving motor. The multiple annular moving parts are driven to move forward and backward by the screw, and the clutch component realizes the independent control of the multiple annular moving parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic structural diagram of the internal detection part of the present invention;

[0024] Figure 3 It is a schematic diagram of the spherical shell structure of the present invention;

[0025] Figure 4 yes Figure 2Cross-section at point A in the middle;

[0026] Figure 5 It is an enlarged schematic diagram of the local structure of the internal detection part of the present invention;

[0027] Figure 6 This is a schematic diagram of the structure of the connection between the fixed cavity and the replacement cavity of the present invention;

[0028] Figure 7 This is a schematic diagram of the sampling port structure of the present invention

[0029] Figure 8 It is a schematic structural diagram of the external equipment part of the present invention;

[0030] Figure 9 This is a schematic diagram of the installation structure of the horizontal drive motor of the present invention;

[0031] Figure 10 It is a schematic diagram of the clutch component installation structure of the present invention.

[0032] Reference numerals: 1-internal detection part, 2-external device part, 3-detection sphere, 4-spherical shell, 5-magnetic part, 6-sampling part, 601-fixed cavity, 602-replacement cavity, 603-first piston, 604-micro electric cylinder, 605-plug tube, 606-connection through hole, 607-second piston, 608-sampling port, 609-sealing damping part, 610-elastic valve, 611-sealing baffle, 7-camera part, 8-main frame, 9-annular moving part, 10-electromagnet, 11-main control module, 12-counterweight part, 13-slot, 14-slide, 15-slide rod, 16-screw, 17-horizontal drive motor, 18-rectangular through hole, 19-telescopic part, 20-clutch part, 21-annular gear, 22-connecting part, 23-installation box, 24-drive motor, 25-drive gear, 26-bed, 27-main controller, 28-display, 29-power supply equipment.

[0033] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. DETAILED DESCRIPTION

[0034] An embodiment of the present invention is a digestive tract liquid biopsy sampling device for internal medicine, comprising: an internal detection part 1 and an external device part 2, wherein:

[0035] The internal detection part 1 includes a detection sphere 3 and a spherical shell 4. The diameter of the detection sphere 3 is smaller than the diameter of the spherical shell 4 and is placed in the inner cavity of the spherical shell 4. The spherical shell 4 is hollow, and the inner and outer walls are smooth. A magnetic part 5 is provided at one end of the detection sphere 3. The magnetic part 5 adopts a permanent magnet, which is more stable than the permanent magnet of the electromagnet, and can reduce power consumption, reduce the overall volume of the internal detection part 1, and avoid heating problems. The detection sphere 3 has a built-in magnetic part 5 composed of a high magnetic energy product permanent magnet, which can interact with the external magnetic field to generate a motion driving force, and move and control through the external magnetic field. A sampling part 6 and a camera part 7 are also provided on the detection sphere 3. The sampling part 6 is used to absorb digestive tract fluid. The sampling part 6 can be symmetrically provided with two or more, preferably two, to balance the requirements of volume and function. It can sample two affected areas at one time, or sample and administer medicine at the same time, and the volume can be controlled within a range that is easy to swallow. The camera part 7 adopts a 360° micro lens, which can perform panoramic observation and assist in accurate sampling and administration.

[0036] The external device part 2 includes a main frame 8, on which is provided an annular movable part 9 that can slide back and forth. An electromagnet 10 that can move along the inner wall of the annular movable part 9 is provided on the inner side of the annular movable part 9. The electromagnet 10 generates a controllable magnetic field. By moving the position of the electromagnet 10 and adjusting the current of the electromagnetic coil of the electromagnet 10, the intensity and direction of the magnetic field are changed. The external magnetic field interacts with the inner magnetic part 5 of the detection sphere 3 to generate a torque to drive the detection sphere 3 to turn. The attraction or repulsion force generated by the magnetic field gradient drives the detection sphere 3 to move translationally; the movement of the internal detection part 1 is that the detection sphere 3 moves under the action of magnetic force. The detection sphere 3 is in the spherical shell 4. When the detection sphere 3 moves, the outer spherical shell 4 rolls in the patient's body to reduce movement friction, increase the travel speed and reduce movement energy consumption.

[0037] In a preferred embodiment, this embodiment is a gastrointestinal liquid biopsy sampling device for internal medicine, wherein: the internal detection part 1 includes a detection sphere 3 and a spherical shell 4, the diameter of the detection sphere 3 is smaller than the diameter of the spherical shell 4 and is placed in the inner cavity of the spherical shell 4, the spherical shell 4 is hollow, and the inner and outer walls are smooth, and a magnetic part 5 is provided at one end of the detection sphere 3. The magnetic part 5 adopts a permanent magnet, which is more stable than the electromagnet permanent magnet, and can reduce power consumption, reduce the overall volume of the internal detection part 1, and avoid heating problems. The detection sphere 3 has a built-in magnetic part 5 composed of a high magnetic energy product permanent magnet, which can interact with the external magnetic field to generate a motion driving force, and move and control through the external magnetic field. A sampling part 6 and a camera part 7 are also provided on the detection sphere 3. The sampling part 6 is used to absorb gastrointestinal liquid. The sampling part 6 can be symmetrically provided with two or more, preferably two, to balance the requirements of volume and function, and can sample two affected areas at one time, or sample and administer medicine at the same time. And the volume can be controlled within a range that is easy to swallow. The camera part 7 adopts a 360° micro lens, which can perform panoramic observation and assist in accurate sampling and drug administration. A main control module 11 is provided in the middle of the inner cavity of the detection sphere 3. A power supply is provided in the main control module 11, and the power supply adopts a micro button battery. The sampling part 6 and the camera part 7 are both electrically connected to the main control module 11. The main control module 11 is used to control the movement of the sampling part 6 and the operation of the camera part 7, and is equipped with Bluetooth or radio frequency to transmit images and sensor data to an external receiver. A positioning sensor can also be installed to assist the external magnetic field control system of the external equipment part 2 to track the position of the internal detection part 1. The sampling part 6 is provided with two distributed on the upper and lower sides of the main control module 11 for sampling respectively. The camera part 7 is provided with two symmetrically distributed along the upper and lower ends of the detection sphere 3. The two symmetrically arranged panoramic camera parts 7 can collect 360° panoramic image information of the surrounding area. After the image is compressed by the chip, it is sent to the external receiver via a wireless signal for real-time viewing by the doctor.

[0038] Specifically, the sampling portion 6 includes a fixed cavity 601 and a replacement cavity 602. The fixed cavity 601 is fixedly installed inside the detection sphere 3. A first piston 603 is provided in the fixed cavity 601. The first piston 603 is connected to a micro-electric cylinder 604. The micro-electric cylinder 604 is electrically connected to the main control module 11. A plug-in tube 605 communicating with its inner cavity is provided on one side of the fixed cavity 601. A slot 13 is provided on the surface of the detection sphere 3. The replacement cavity 602 is plugged into the slot 13. A connecting through hole 606 is provided on the inner side wall of the replacement cavity 602. The plug-in tube 605 is plugged into the connecting through hole 606. The inner cavity of the replacement cavity 602 is provided with a second piston 6 07, and a sampling port 608 is provided at the outer end of the replacement cavity 602. The micro-electric cylinder 604 is extended and retracted to drive the first piston 603 to move, and the second piston 607 is moved by air pressure to realize the suction and release actions. The liquid at the target position can be sucked into the replacement cavity 602 through the sampling port 608. If the medicine is injected into the replacement cavity 602 in advance, the directional drug delivery function can be realized when the internal detection part 1 is moved to the affected area. At the same time, the replacement cavity 602 can be freely disassembled, which is convenient for transporting, extracting and storing the obtained liquid. The replacement cavity 602 is low-cost and can be used as a disposable consumable, which can avoid the difficulty of multiple sampling and cleaning and the problem of mutual contamination of the sampled liquid.

[0039] Specifically, a sealing damping portion 609 is provided on the outer surface of the plug-in tube 605. The sealing damping portion 609 is a rubber sealing ring arranged in a serrated shape on the surface of the plug-in tube 605. The rubber sealing ring is close to the surface of the replacement cavity 602 and is inclined backward from the inside to the outside. The sealing damping portion 609 plays a sealing role between the plug-in tube 605 and the replacement cavity 602, and fixes the replacement cavity 602 by friction. When disassembling, you only need to use tools to pull the replacement cavity 602 out with force.

[0040] Specifically, the end of the sampling port 608 protrudes outward and the diameter of the internal cavity gradually decreases. The inner cavity of the sampling port 608 is provided with an elastic valve 610 composed of a tightly fitting silicone sheet. The end structure of the sampling port 608 and the elastic valve 610 can prevent the liquid after absorption from flowing out, and at the same time prevent external liquid from entering and contaminating the obtained liquid sample.

[0041] Specifically, the inner cavity of the fixed cavity 601 is provided with a sealing baffle 611 with a top opening, and the first piston 603 and the end of the plug-in tube 605 are arranged on both sides of the sealing baffle 611, so that the first piston 603 can move longitudinally and the second piston 607 can move laterally, thereby increasing the effective stroke of the first piston 603.

[0042] In a preferred embodiment, the present embodiment is a digestive tract liquid biopsy sampling device for internal medicine, wherein: the external device part 2 includes a main body frame 8, on which there is a circular moving part 9 that can slide back and forth. Inside the circular moving part 9, there is an electromagnet 10 that can move along the inner wall of the circular moving part 9. The electromagnet 10 generates a controllable magnetic field. By moving the position of the electromagnet 10 and adjusting the current of the electromagnetic coil of the electromagnet 10, the magnetic field strength and direction are changed. The external magnetic field interacts with the magnet part 5 in the detection sphere 3, generating a torque to drive the detection sphere 3 to turn. The attractive or repulsive force generated by the magnetic field gradient pushes the detection sphere 3 to move translationally; the movement of the internal detection part 1 is the movement of the detection sphere 3 under the action of magnetic force. The detection sphere 3 is located inside the spherical outer shell 4. When the detection sphere 3 moves, the outer spherical outer shell 4 rolls in the patient's body to reduce movement friction, increase the traveling speed, and reduce movement energy consumption. The external device part 2 is electrically connected to a main controller 27, a display 28, and a power supply device 29.

[0043] Specifically, the main body frame 8 is in a "U" shape. On both inner side walls of the main body frame 8, there are sliding grooves 14 opened along the length direction. On both sides of the circular moving part 9, there are sliding rods 15, and the sliding rods 15 are slidably installed in the corresponding sliding grooves 14. Bearings can be provided on the side walls of the sliding rods 15 to reduce the friction with the sliding grooves 14. Inside the sliding grooves 14, there is a screw rod 16 arranged along the length direction. The end of the screw rod 16 is connected to a horizontal driving motor 17. The horizontal driving motor 17 can drive the screw rod 16 to rotate forward and backward. A rectangular through hole 18 is opened at the end of the sliding rod 15, and the screw rod 16 passes through the rectangular through hole 18. On both symmetric sides inside the rectangular through hole 18, there are telescopic components 19. The inner ends of the telescopic components 19 are provided with clutch components 20. On the opposite surfaces of the two clutch components 20, there are grooves, and threads corresponding to the screw rod 16 are provided in the grooves. The screw rod 16 is placed between the two clutch components 20. When the telescopic components 19 expand and contract, they can drive the two clutch components 20 to engage or separate. When the two clutch components 20 are engaged on the screw rod 16, the horizontal driving motor 17 drives the screw rod 16 to rotate forward and backward, enabling the circular moving part 9 to move back and forth. When the two clutch components 20 are separated, they can be separated from the screw rod 16 and are not controlled by the screw rod 16, thus realizing the front and back translational driving of a single screw rod 16 for multiple circular moving parts 9 respectively.

[0044] Specifically, a ring gear 21 is rotatably installed in the inner cavity of the circular moving part 9. Inside the ring gear 21, there is a connecting part 22. The end of the connecting part 22 extends out of the inner wall of the circular moving part 9 and is connected to the electromagnet 10. At the bottom of the circular moving part 9, there is an installation box 23 connected to its inner cavity. Inside the installation box 23, there is a driving motor 24. The output end of the driving motor 24 is provided with a driving gear 25 that meshes with the ring gear 21. The driving motor 24 drives the ring gear 21 to rotate through the driving gear 25, thereby realizing the movement of the electromagnet 10 along the inner wall of the circular moving part 9.

[0045] Specifically, a bed 26 is provided inside the main frame 8, and the annular movable part 9 is wrapped around the outside of the bed 26. A magnetic sensor is embedded in the surface of the bed 26. The magnetic sensor can assist in the magnetic field control of the external equipment part 2 and the positioning of the internal detection part 1. The magnetic sensor is electrically connected to the main controller 27.

[0046] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

[0047] The working principle of an embodiment of the present invention: During the application of the present invention, the patient swallows the internal detection part 1 according to the doctor's instructions and lies on the bed 26, starts the external device part 2, and uses the camera part 7 to collect image information for positioning. At the same time, the positioning can be assisted by the positioning sensor. By moving the position of the electromagnet 10 and adjusting the electromagnetic coil current of the electromagnet 10, the magnetic field strength and direction are changed. The external magnetic field interacts with the inner magnetic part 5 of the detection sphere 3. When the driving force is generated, the detection sphere 3 moves or turns. The movement of the internal detection part 1 is the movement of the detection sphere 3 under the action of the magnetic force. The detection sphere 3 is in the spherical shell 4. When the detection sphere 3 moves, the outer spherical shell 4 rolls in the patient's body to reduce movement friction and increase the travel speed. The specific working principles and processes of the internal and external parts are as follows:

[0048] Internal detection part 1: After the internal detection part 1 enters the patient's body, it can send the image information collected by the camera part 7 in real time, and send it to the external receiver via wireless signals for the doctor to view in real time. The doctor controls the movement of the internal detection part 1 according to the positioning information and image information. When it moves to the affected area, the angle of the detection sphere 3 is adjusted so that the end of the sampling port 608 is facing the liquid to be sampled, and the micro-electric cylinder 603 is started to contract, so that the first piston 603 and the second piston 607 move to absorb the sample liquid into the replacement cavity 602. The end structure of the sampling port 608 and the elastic valve 610 can prevent the absorbed liquid from flowing out, and at the same time prevent external liquid from entering and contaminating the obtained liquid sample. In this embodiment, the medicine can also be injected into the replacement cavity 602 when the internal detection part 1 is outside the body. When it reaches the affected part in the body, the micro-cylinder 603 is controlled to extend, so that the first piston 603 and the second piston 607 move to push the medicine from the replacement cavity 602 to the affected part. After all the required liquid samples are taken, the internal detection part 1 can be controlled to move quickly in the digestive tract to assist in excretion from the body; after excretion, the replacement cavity 602 can be pulled out with a hook needle, tweezers and other tools to process the sample. The replacement cavity 602 is low-cost and can be used as a disposable consumable, which can avoid the problem of difficulty in cleaning multiple sampling and causing mutual contamination of the sampling liquid.

[0049] External device part 2: After startup, the power supply device 29 supplies power to the electrical components of the entire external device part 2 as well as the main controller 27 and the display 28. The main controller 27 can receive the information sent back by the internal detection part 1 and send control information to the internal detection part 1. It can also display image information and control information of each electronic control component through the display 28, which is convenient for doctors to observe and operate. By moving the position of the electromagnet 10 and adjusting the electromagnetic coil current of the electromagnet 10, the magnetic field strength and direction are changed, and the detection sphere 3 is moved, turned, etc., wherein the horizontal drive motor 17 can drive the screw 16 to rotate, and the two clutch components 20 are buckled on the screw 16. When the two clutch components 20 are separated, they can be separated from the screw 16 and are not controlled by the screw 16, so that a single screw 16 can drive multiple annular moving parts 9 to move forward and backward respectively; the output end of the drive motor 24 is provided with a drive gear 25 meshing with the ring gear 21, and the drive motor 24 drives the ring gear 21 to rotate through the drive gear 25, thereby realizing the movement of the electromagnet 10 along the inner wall of the annular moving part 9, and the electromagnet 10 can be controlled to move in a circular motion along the inner wall of the annular moving part 9 by controlling the drive motor 24.

Claims

1. A digestive tract liquid biopsy sampling device for internal medicine, characterized in that: include: An internal detection part (1), the internal detection part (1) comprising a detection sphere (3) and a spherical outer shell (4), the detection sphere (3) having a diameter smaller than that of the spherical outer shell (4) and being disposed in an inner cavity of the spherical outer shell (4), the spherical outer shell (4) being hollow, a magnetic part (5) being disposed at one end of the detection sphere (3), and a sampling part (6) and a camera part (7) being further disposed on the detection sphere (3); The external device part (2) includes a main frame (8), an annular movable part (9) capable of sliding forward and backward is provided on the main frame (8), and an electromagnet (10) capable of moving along the inner wall of the annular movable part (9) is provided inside the annular movable part (9).

2. The digestive tract liquid biopsy sampling device for internal medicine according to claim 1, characterized in that: A main control module (11) is provided in the middle of the inner cavity of the detection sphere (3), a power supply is provided in the main control module (11), the sampling part (6) and the camera part (7) are both electrically connected to the main control module (11), two sampling parts (6) are provided, distributed on the upper and lower sides of the main control module (11), two camera parts (7) are provided, symmetrically distributed along the upper and lower ends of the detection sphere (3), and the detection sphere (3) and the magnet part (5) are symmetrically provided with a counterweight part (12).

3. The digestive tract liquid biopsy sampling device for internal medicine according to claim 2, characterized in that: The sampling portion (6) comprises a fixed cavity (601) and a replacement cavity (602), wherein the fixed cavity (601) is fixedly mounted inside the detection sphere (3), a first piston (603) is provided in the fixed cavity (601), the first piston (603) is connected to a micro-electric cylinder (604), and the micro-electric cylinder (604) is electrically connected to the main control module (11), and a plug-in connector communicating with the inner cavity of the fixed cavity (601) is provided on one side of the fixed cavity (601). The detection sphere (3) is provided with a slot (13), the replacement cavity (602) is inserted into the slot (13), the inner wall of the replacement cavity (602) is provided with a connecting through hole (606), the plug-in tube (605) is inserted into the connecting through hole (606), the inner cavity of the replacement cavity (602) is provided with a second piston (607), and the outer end of the replacement cavity (602) is provided with a sampling port (608).

4. The digestive tract liquid biopsy sampling device for internal medicine according to claim 3, characterized in that: The outer surface of the plug tube (605) is provided with a sealing damping portion (609), which is a rubber sealing ring arranged in a zigzag shape on the surface of the plug tube (605). The rubber sealing ring is close to the surface of the replacement cavity (602) and is inclined backward from the inside to the outside.

5. The digestive tract liquid biopsy sampling device for internal medicine according to claim 3, characterized in that: The end of the sampling port (608) protrudes outward and the diameter of the internal cavity gradually decreases. The inner cavity of the sampling port (608) is provided with an elastic valve (610) composed of a tightly fitting silicone sheet.

6. The digestive tract liquid biopsy sampling device for internal medicine according to claim 3, characterized in that: The inner cavity of the fixed cavity (601) is provided with a sealing baffle (611) with an opening at the top, and the ends of the first piston (603) and the plug-in tube (605) are arranged on both sides of the sealing baffle (611).

7. The digestive tract liquid biopsy sampling device for internal medicine according to claim 6, characterized in that: The main body frame (8) is in a "U" shape. Both inner side walls of the main body frame (8) are provided with sliding grooves (14) along the length direction. Both sides of the annular moving part (9) are provided with sliding rods (15). The sliding rods (15) are slidably installed in the corresponding sliding grooves (14). A screw rod (16) is arranged in the sliding groove (14) along the length direction. The end of the screw rod (16) is connected to a horizontal driving motor (17). A rectangular through hole (18) is opened at the end of the sliding rod (15). The screw rod (16) penetrates through the rectangular through hole (18). Telescopic components (19) are arranged on both symmetric sides in the rectangular through hole (18). Clutch components (20) are arranged at the inner ends of the telescopic components (19). Grooves are arranged on the opposite surfaces of the two clutch components (20), and threads corresponding to the screw rod (16) are arranged in the grooves. The screw rod (16) is placed between the two clutch components (20).

8. The digestive tract liquid biopsy sampling device for internal medicine according to claim 7, characterized in that: An annular gear (21) is rotatably installed in the inner cavity of the annular moving part (9). A connecting part (22) is installed inside the annular gear (21). The end of the connecting part (22) extends out of the inner side wall of the annular moving part (9) and is connected to the electromagnet (10). An installation box (23) communicating with the inner cavity is arranged at the bottom of the annular moving part (9). A driving motor (24) is arranged in the installation box (23). A driving gear (25) meshing with the annular gear (21) is arranged at the output end of the driving motor (24).

9. The digestive tract liquid biopsy sampling device for internal medicine according to claim 8, characterized in that: The external device part (2) is electrically connected to a main controller (27), a display (28), and a power supply device (29).

10. The digestive tract liquid biopsy sampling device for internal medicine according to claim 9, characterized in that: A bed body (26) is arranged in the main body frame (8). The annular moving part (9) is sleeved around the outside of the bed body (26). A magnetic force sensor is embedded on the surface of the bed body (26). The magnetic force sensor is electrically connected to the main controller (27).

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