Multipoint biopsy sampling device for gastrointestinal micro-robot

Abstract

A kind of multi-point biopsy sampling device for gastrointestinal micro robot, comprising: transmission mechanism, storage mechanism and driving mechanism, wherein: transmission mechanism is arranged inside storage mechanism and is connected with driving mechanism, and is realized telescopic activity by driving mechanism to carry out sampling and save.This device can be carried on the inside of micro robot, ensure non-invasive sampling, and realize multi-point sampling of mucus in whole digestive tract by multi-cavity structure;After sampling, the sample storage cavity is sealed, effectively preventing the pollution problem of sampling sample.

Description

Technical Field

[0001] This invention relates to a technology in the field of medical microrobots, specifically a multi-point biopsy sampling device for gastrointestinal microrobots. Background Technology

[0002] Due to their small size and non-invasive nature, gastrointestinal microrobots have become an important tool for detecting diseases throughout the digestive tract. However, currently, these microrobots are limited to image detection and cannot perform pathological sampling, lacking diagnostic and therapeutic functions. Furthermore, the sampling needles of existing biopsy robots may accidentally extend due to gastrointestinal peristalsis, posing a certain risk to patients. Sampling is done at a single location, resulting in low efficiency and an inability to perform multi-point sampling. Additionally, samples cannot be sealed and preserved after sampling, making them susceptible to contamination. Summary of the Invention

[0003] This invention addresses the limitations of existing technologies, such as single-point sampling, the potential hazards of rigid sampling needles, and the inadequacy of sample preservation and sealing. It proposes a multi-point biopsy sampling device for gastrointestinal microrobots, which can be mounted inside the microrobot. This device ensures non-invasive sampling while enabling multi-point sampling of mucus throughout the entire digestive tract through a multi-cavity structure. After sampling, the sample storage cavity is sealed to effectively prevent sample contamination.

[0004] This invention is achieved through the following technical solution:

[0005] This invention relates to a multi-point biopsy sampling device for a gastrointestinal microrobot, comprising: a transmission mechanism, a storage mechanism, and a drive mechanism, wherein: the transmission mechanism is disposed inside the storage mechanism and connected to the drive mechanism, and the drive mechanism enables telescopic movement for sampling and storage.

[0006] The storage mechanism includes a cylindrical shell and a sample storage column disposed therein, the sample storage column being located outside the transmission mechanism.

[0007] The transmission mechanism includes a guide post, a guide sleeve, and retaining rings, wherein the guide post is connected to the output end of the drive mechanism, the guide sleeve is disposed on the outside of the guide post, and a pair of retaining rings for sealing are disposed on the upper and lower end faces of the guide sleeve.

[0008] The sample storage column is a hollow column structure with several uniformly arranged grooves on its outer axial direction. The adjacent grooves and the storage mechanism together form a sample storage cavity. At least one collection hole is provided on the surface of the shell for collecting digestive tract tissue mucus. The position of the collection hole is directly opposite the sample storage cavity.

[0009] The sample storage cavity comprises a plurality of cavities in axial and / or circumferential directions, and each axial / circumferential direction corresponds to at least one collection hole; the collection hole is normally sealed by the groove shoulder of the sample storage column, and with the axial movement of the sample storage column, the collection hole is moved from the groove shoulder position to the cavity position, forming a pressure difference between the inside and outside of the cavity; under the action of the pressure difference between the inside and outside, the tissue mucus enters from the collection hole, and the sampling is completed.

[0010] Technical effects

[0011] The axial limiting / driving device mechanism cooperates with the reciprocating movement of the piston to drive the axial one-way movement of the sample storage cavity, realizes the function of multi-point sampling, and improves the detection efficiency; through intermittent transmission and shell design, the communication and isolation function of the sample storage cavity with the outside world is realized, and the sampling and sealing preservation of the sample are completed. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 It is an external structure diagram of the present application;

[0013] Figure 2 It is a sectional view of the present application;

[0014] Figure 3 It is a schematic diagram of a rubber column;

[0015] Figure 4 It is a schematic diagram of the assembly of the guide sleeve and the sawtooth part;

[0016] Figure 5 It is Figure 4 a sectional view;

[0017] Figure 6 It is a schematic diagram of the compression state of the elastic steel sheet when the piston moves to the right;

[0018] Figure 7 It is a schematic diagram of the expansion state of the elastic steel sheet when the piston moves to the left;

[0019] Figure 8 It is a schematic diagram of the sampling state;

[0020] In the figure: piston cylinder 1, piston 2, piston rod 3, piston end cover 4, guide column 5, guide sleeve 6, sample storage column 7, retaining ring 8, sawtooth part 9, elastic steel sheet 10, collection hole 11, groove shoulder 12, cavity 13, shell 14. DETAILED DESCRIPTION

[0021] As Figure 1 shown, it is a multi-point biopsy sampling device for a gastrointestinal micro robot, comprising a transmission mechanism, a storage mechanism and a driving mechanism, wherein: the transmission mechanism is arranged inside the storage mechanism and connected with the driving mechanism, and realizes telescopic movement through the driving mechanism to sample and preserve.

[0022] The storage mechanism comprises a cylindrical shell 14 and a sample storage column 7 arranged in the cylindrical shell 14, and the sample storage column 7 is located outside the transmission mechanism.

[0023] As shown in Figure 2 , the sample storage column 7 is a hollow cylindrical structure, and a plurality of groove shoulders 12 are uniformly arranged on the outer surface of the sample storage column 7 in the axial direction, and the adjacent groove shoulders 12 and the storage mechanism jointly form a sample storage cavity 13; in the static state, the sample storage cavity 13 for differential pressure sampling is in a negative pressure state, and at least one collection hole 11 is arranged on the surface of the shell 14 for collecting digestive tract tissue mucus; during sampling, the collection hole 11 is opposite to the sample storage cavity 13, and only when sampling, the collection hole 11 moves to the opposite position of the sample storage cavity 13, and after sampling, the collection hole 11 should be opposite to the groove shoulder 12 to ensure sealing.

[0024] The groove shoulder 12 is a fan-shaped or ring-shaped structure, and the shape of the groove shoulder 12 is matched with the sample storage cavity.

[0025] The sample storage cavity 13 comprises a plurality of cavities in the axial direction and / or the circumferential direction, and the collection hole 11 corresponds to at least one in each axial direction and / or each circumferential direction; in the normal state, the collection hole 11 is sealed by the groove shoulder 12 of the sample storage column 7, as shown in Figure 1 . During sampling, with the axial movement of the sample storage column 7, the collection hole 11 moves from the position of the groove shoulder 12 to the position of the cavity 13, as shown in Figure 6 , to form a pressure difference between the inside and outside of the cavity, and under the action of the pressure difference between the inside and outside, the tissue mucus enters from the collection hole 11 to complete sampling. After sampling, the collection hole moves to the next groove shoulder position of the rubber column to be sealed.

[0026] As shown in Figure 2 , the transmission mechanism comprises a guide column 5, a guide sleeve 6 and a stop ring 8, wherein the guide column 5 is connected with the output end of the driving mechanism, the guide sleeve 6 is arranged on the outer side of the guide column 5, and a pair of sealing stop rings 8 are arranged on the upper and lower end faces of the guide sleeve 6.

[0027] As shown in Figures 4-8 , a plurality of sawtooth pieces 9 are arranged on the inner wall of the guide sleeve 6, and a plurality of elastic steel sheets 10 are arranged on the outer side of the guide column 5 and are opposite in direction; as shown in Figure 6 , when the guide column 5 moves axially to the right, the elastic steel sheet 10 is compressed and deformed by the sawtooth piece 9, so that the guide column 5 moves to the right relative to the guide sleeve 6; as shown in Figure 7 , when the guide column 5 moves to the left, the elastic steel sheet 10 is stretched and tensioned, and the elastic steel sheet 10 is engaged with the sawtooth piece 9 in the guide sleeve 6 to drive the axial movement thereof; when the guide column 5 moves to the right, the guide sleeve 6 is stationary, and at this time, the guide column 5 has a relative displacement with the guide sleeve 6; when the guide column 5 moves to the left, the steel sheet 10 abuts against the guide sleeve, and the guide sleeve 6 moves synchronously with the guide column 5, so that the sample storage cavity can move axially to the left relative to the outer shell to complete sampling and sealing.

[0028] As Figure 2 shown, the driving mechanism adopts a piston mechanism, which specifically includes a piston cylinder 1, a piston 2, a piston rod 3 and a piston end cover 4, wherein the piston 2 is arranged in the piston cylinder 1 and connected with the piston rod 3, and the piston end cover 4 is arranged at the end of the piston cylinder 1 to play a sealing role.

[0029] In the initial sealing state of the device, the collection hole is located at the shoulder position of the groove, and the sample storage cavity is under negative pressure. When the driving mechanism moves to the right, the elastic steel sheet on the guide column engages with the sawtooth part in the guide sleeve, then the piston moves to the left, driving the rubber column to move to the left, and when the sample storage cavity 13 moves to the position of the collection hole 11, the tissue mucus enters from the collection hole under the action of the pressure difference between the inside and outside of the cavity, completing the biopsy sampling. After sampling, the next shoulder of the rubber column moves to the position of the collection hole to seal. In this way, multiple point biopsy sampling of the digestive tract can be achieved.

[0030] Through specific actual experiments, when the device is 3mm in size, the piston movement distance is 4mm, the sawtooth part interval is 2mm, and the elastic steel sheet length is 1mm. When the piston moves at a speed of 2mm / s, the time for completing a single sampling is 4s.

[0031] Compared with the prior art, the device uses the axial limiting / driving mechanism design, utilizes the reciprocating motion of the piston to drive the one-way motion of the sample storage cavity, can realize multi-point sampling, and complete sealing. Through differential pressure sampling, compared with the needle sampling tool in the prior art, the risk of tissue damage is reduced; through intermittent transmission and shell design, the sample storage cavity and the outside are connected and isolated, and the sampling and sealing of the sample are completed.

[0032] The above specific embodiments can be adjusted in different ways by those skilled in the art without departing from the principles and purposes of the present application, the protection scope of the present application is subject to the claims and is not limited by the above specific embodiments, and each implementation scheme within the scope is subject to the constraints of the present application.

Claims

1. A multi-site biopsy sampling device for a gastrointestinal micro robot, comprising: The utility model relates to a kind of sampling and sealing device for digestive tract, including: Transmission mechanism, storage mechanism and driving mechanism, wherein: transmission mechanism is arranged in storage mechanism and is connected with driving mechanism, and it is realized to extend and retract by driving mechanism to carry out sampling and save; The storage mechanism includes: cylindrical shell and the sample storage column arranged in it, and the sample storage column is located outside the transmission mechanism; The transmission mechanism includes: guide column, guide sleeve and retaining ring, wherein: guide column is connected with the output end of driving mechanism, guide sleeve is arranged outside guide column, and a pair of retaining rings for sealing is arranged on the upper and lower end faces of guide sleeve; The sample storage column is hollow cylindrical structure, and its outside is uniformly provided with several grooves shoulder, and adjacent grooves shoulder and storage mechanism jointly constitute sample storage cavity, and at least one collection hole is provided on the surface of shell for collecting digestive tract tissue mucus, and the position of collection hole is opposite to sample storage cavity during sampling;After sampling, collection hole is opposite to groove shoulder, to ensure sealing; The sample storage cavity includes multiple cavities in axial direction, and the collection hole is at least one in circumferential direction;The collection hole is sealed by groove shoulder of sample storage column in normal state, and the position of collection hole is moved from groove shoulder to cavity position along with the axial movement of sample storage column, to form pressure difference between cavity and outside, and tissue mucus enters from collection hole under the action of internal and external pressure difference, to complete sampling; The inner wall of guide sleeve is provided with several sawtooth parts, and elastic steel sheet is arranged on the outside of guide column and the direction thereof is opposite;When guide column moves to right, guide sleeve is stationary, and at this time, guide column and guide sleeve have relative displacement;When guide column moves to left, steel sheet abuts against guide sleeve, and guide sleeve moves synchronously with the part, to realize the axial left movement of sample storage cavity relative to shell, to complete sampling and sealing.

2. The multi-biopsy sampling device for a gastrointestinal micro robot according to claim 1, characterized in that, The groove shoulder is fan-shaped or ring-shaped structure, and the shape thereof is matched with sample storage cavity.

3. The multi-biopsy sampling device for a gastrointestinal micro robot according to claim 1, wherein The driving mechanism is realized by piston mechanism, and the piston mechanism specifically includes: piston cylinder, piston, piston rod and piston end cover, wherein: piston is arranged in piston cylinder, and is connected with piston rod, and piston end cover is arranged at the end of piston cylinder, to seal.

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