A magnetically guided sampling capsule robot and sampling method

Abstract

The present invention discloses a magnetically guided sampling capsule robot and a sampling method, which relate to the technical field of capsule robots. A first capsule shell and a second capsule shell interlock to form an internal cavity. An internal magnet is located in the internal cavity. A first soft magnetic film and a second soft magnetic film are located on either side of the internal magnet. In the absence of an external magnetic field, the first soft magnetic film and the second soft magnetic film both protrude toward the internal magnet. A first sampling hole is provided on the first capsule shell, forming a first sampling cavity between the first capsule shell and the first soft magnetic film. A second sampling hole is provided on the second capsule shell, forming a second sampling cavity between the second capsule shell and the second soft magnetic film. The present invention is used for sampling gastric fluid and / or mucosa at a lesion site, can achieve anchored sampling under the action of an external magnetic field, and can achieve a single gastric entry and multiple sampling operations through the design of the symmetrically arranged first and second sampling cavities.

Description

Technical Field

[0001] The present invention relates to the technical field of capsule robots, and in particular to a magnetic-guided sampling capsule robot and a sampling method. Background Art

[0002] According to WHO data, 80% of people worldwide have a history of gastrointestinal diseases, and approximately 120 million people in my country suffer from these conditions. Among these, peptic ulcers predominate in 10% of cases, and chronic gastritis in 30%. In recent years, gastric diseases have become more common among younger people, with an increasing number of them suffering from them. More notably, the incidence of gastric cancer in young people aged 19 to 35 has doubled compared to 30 years ago. This is due to neglecting gastric diseases in their early stages, missing the optimal time for treatment and causing chronic gastritis to progress to fatal gastric cancer. Therefore, for patients with gastric diseases, early detection and treatment are the best ways to prevent gastric cancer.

[0003] Clinical medicine has shown that early-stage chronic gastritis and peptic ulcers develop from gastric mucosal damage. The treatment of gastric peptic mucosal damage and its complications remains a medical challenge. Nonsteroidal anti-inflammatory drugs (NSAIDs), Helicobacter pylori infection, low-dose aspirin, smoking, excessive alcohol consumption, emotional stress, and psychosocial factors are increasingly becoming important causes of mucosal damage and its complications. Compared to other pathogenic factors, Helicobacter pylori, with its high adaptability to gastric acid, high retention in the gastric mucosa, and high drug resistance, has become a major causative factor for peptic ulcers, chronic gastritis, and gastric malignancies. Therefore, to effectively eliminate Helicobacter pylori, it is necessary to analyze information on Helicobacter pylori strains so that medication combinations can be adjusted to achieve optimal therapeutic effects.

[0004] There are three main clinical methods for sampling and testing for gastric diseases: 1. The C13 / C14 breath test can quickly detect the number of Helicobacter pylori in a patient's stomach. However, the information obtained by this method is limited to this level and does not provide effective information for diagnosing the corresponding condition. 2. Gastroscopy: Using a biopsy forceps in a gastroscope to grasp the diseased tissue and culture and analyze the removed tissue, it can effectively and accurately determine the progression of the disease. However, this method is not only uncomfortable for the patient but can also damage the gastric mucosa, thus often requiring a skilled physician. 3. Capsule endoscopy, an alternative to gastroscopy, allows for non-invasive access to the stomach, providing pathological information to physicians via images and videos. However, different diseases at different stages of development often display similar image features, increasing the difficulty of diagnosis and easily leading to misdiagnosis. However, with these clinical methods, there is a conflict between diagnostic accuracy and patient-friendliness. Therefore, there remains a need for a non-invasive and efficient Helicobacter pylori sampling solution.

[0005] Magnetic fields are considered the primary driving method for non-invasive procedures due to their strong penetrability, good biocompatibility, and precise control. Consequently, magnetically driven robots have become a popular choice for researchers in the biopsy field.

[0006] Magnetic-guided sampling capsule robots can be categorized into three main types based on their sampling modules: blade-type, needle-type, and clamp-type. The blade-type utilizes the sharp edge of a blade to cut living tissue. Its triggering method is gradually evolving from a single thermal trigger to a magnetic-guided, multiple triggering method. The needle-type utilizes a fine needle to penetrate tissue to obtain a sample. An external gradient magnetic field is applied, attracting the magnet inside the capsule, driving the needle to extend from the capsule's interior / center to complete the sampling process. After the magnetic field is removed, the needle rebounds due to the action of a microspring / elastic material, minimizing interaction between the sample and the environment and preventing contamination of the tissue sample. The clamp-type utilizes two sharp pincers to grasp the target tissue. An external uniform rotating magnetic field drives a permanent magnet inside the capsule to rotate. Driven by the permanent magnet, the clamp extends and opens. The external rotating magnetic field is then reversed, and the clamp closes, completing the sample and retracting back into the capsule, completing the sampling process.

[0007] The magnetically guided sampling capsule robot mentioned above is effective for microsampling of diseased tissue. However, detailed analysis of H. pylori species requires bulk sampling of gastric fluid and / or mucosa. The complex structure of the aforementioned robot results in a limited number of sampling chambers, making it inadequate for this task. Therefore, redesign and optimization of the magnetically guided sampling capsule robot is still necessary for gastric fluid and / or mucosal sampling. Summary of the Invention

[0008] The purpose of the present invention is to provide a magnetically guided sampling capsule robot and a sampling method for sampling gastric fluid and / or mucosa in lesion areas, which can realize anchored sampling under the action of an external magnetic field. The design of a symmetrically arranged first sampling cavity and a second sampling cavity can realize the operation of multiple samplings in a single gastric entry.

[0009] To achieve the above object, the present invention provides the following solutions:

[0010] The present invention provides a magnetically guided sampling capsule robot, comprising an internal magnet, a first soft magnetic film, a second soft magnetic film, a first capsule shell and a second capsule shell, wherein the first capsule shell and the second capsule shell are interlocked to form an internal cavity, the internal magnet is located in the internal cavity, the first soft magnetic film and the second soft magnetic film are respectively located on both sides of the internal magnet, and in the absence of an external magnetic field, the first soft magnetic film and the second soft magnetic film both protrude toward the internal magnet, a first sampling hole is provided on the first capsule shell, and a first sampling cavity is formed between the first capsule shell and the first soft magnetic film, a second sampling hole is provided on the second capsule shell, and a second sampling cavity is formed between the second capsule shell and the second soft magnetic film.

[0011] Preferably, the side of the first soft magnetic film close to the internal magnet and the side of the internal magnet close to the first soft magnetic film attract each other, and the side of the second soft magnetic film close to the internal magnet and the side of the internal magnet close to the second soft magnetic film attract each other.

[0012] Preferably, it also includes a first magnet support plate and a second magnet support plate, the first magnet support plate is located between the internal magnet and the first soft magnetic film, the edge of the first magnet support plate is connected to the interior of the internal cavity, the second magnet support plate is located between the internal magnet and the second soft magnetic film, and the edge of the second magnet support plate is connected to the interior of the internal cavity.

[0013] Preferably, the first capsule shell and the second capsule shell are in a capsule shape after being buckled together.

[0014] Preferably, in the absence of an external magnetic field, the air pressure in the first sampling chamber and the second sampling chamber is P1, and the gradient force F generated by the internal magnet is m =(M·▽)B, where M is the magnetic moment of the first soft magnetic film or the second soft magnetic film, and B is the magnetic induction intensity of the external magnetic field.

[0015] Preferably, the first soft magnetic film and the second soft magnetic film have the same structure, and both the first soft magnetic film and the second soft magnetic film include a first layer structure and a second layer structure. The first layer structure is made of a mixed material of neodymium iron boron particles and polydimethylsiloxane, and the mass ratio of the neodymium iron boron particles and the polydimethylsiloxane in the mixed material is 2:1. The second layer structure is made of polydimethylsiloxane.

[0016] Preferably, the first capsule shell and the second capsule shell are both prepared by 3D printing.

[0017] The present invention also provides a sampling method using the magnetically guided sampling capsule robot, comprising the following steps:

[0018] Step 1: The magnetically guided sampling capsule robot is taken into the body and enters the stomach;

[0019] Step 2: By adjusting the distance between the external magnetic field and the magnetically guided sampling capsule robot, the magnetic induction intensity generated by the external magnetic field at the first soft magnetic film or the second soft magnetic film is made smaller than the magnetic induction intensity generated by the internal magnet at the same position. In this state, the magnetically guided sampling capsule robot is controlled to move to the designated position.

[0020] Step 3: Manipulate the external magnetic field to approach the magnetic-guided sampling capsule robot, generating an attraction force much greater than that generated by the internal magnet on the first soft magnetic film or the second soft magnetic film, causing the first soft magnetic film or the second soft magnetic film to bulge toward the external magnetic field, compressing the first sampling cavity or the second sampling cavity, so that the air pressure inside the first sampling cavity or the second sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet, the magnetic-guided sampling capsule robot can be anchored on the inner wall of the stomach;

[0021] Step 4: The external magnetic field is quickly removed, and the first soft magnetic film or the second soft magnetic film rebounds under the attraction of the internal magnet. The air pressure in the first sampling chamber or the second sampling chamber changes from P2 to P1, and gastric fluid and / or mucosa enters the first sampling chamber or the second sampling chamber.

[0022] Step 5: Flip the external magnetic field. Under the action of the magnetic torque, the external magnetic field flips 180 degrees. The external magnetic field is much greater than the attraction of the internal magnet on the second soft magnetic film or the first soft magnetic film. The second soft magnetic film or the first soft magnetic film bulges toward the external magnetic field, compressing the second sampling cavity or the first sampling cavity, so that the air pressure inside the second sampling cavity or the first sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet, the magnetic-guided sampling capsule robot can be anchored on the inner wall of the stomach.

[0023] Step 6: Quickly remove the external magnetic field, the second soft magnetic film or the first soft magnetic film rebounds under the attraction of the internal magnet, the air pressure in the second sampling chamber or the first sampling chamber changes from P2 to P1, and the gastric juice and / or mucosa enters the second sampling chamber or the first sampling chamber, completing the secondary anchor sampling.

[0024] Compared with the prior art, the present invention has achieved the following technical effects:

[0025] The magnetically guided sampling capsule robot of the present invention utilizes the deformation of the first soft magnetic film or the second soft magnetic film to realize the air pressure change of the first sampling chamber or the second sampling chamber to complete the acquisition of gastric juice and / or mucosa; the first sampling chamber and the second sampling chamber are symmetrical structures, which can realize multiple samplings in a single stomach; the magnetically guided sampling capsule robot can accurately reach the sampling site under the drive of the external magnetic field, and realize the simultaneous anchoring and sampling under the action of the external gradient magnetic field; compared with the existing sampling methods, the present invention has the advantages of large sampling volume, simple operation and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 This is a schematic diagram of the external structure of the magnetically guided sampling capsule robot of the present invention;

[0028] Figure 2 This is an exploded view of the magnetically guided sampling capsule robot of the present invention;

[0029] Figure 3 This is a schematic diagram of the anchoring and sampling synchronization principle of the magnetically guided sampling capsule robot in the present invention;

[0030] Figure 4 It is a sampling method diagram of the present invention;

[0031] Among them: 100-magnetically guided sampling capsule robot, 1-internal magnet, 2-first soft magnetic film, 3-second soft magnetic film, 4-first capsule shell, 5-second capsule shell, 6-first sampling hole, 7-second sampling hole, 8-first magnet support plate, 9-second magnet support plate, 10-external permanent magnet, 11-gastric fluid and / or mucosa. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide a magnetically guided sampling capsule robot and a sampling method for sampling gastric fluid and / or mucosa in lesion areas, which can realize anchored sampling under the action of an external magnetic field. The design of a symmetrically arranged first sampling cavity and a second sampling cavity can realize the operation of multiple samplings in a single gastric entry.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] Example 1

[0036] like Figure 1-Figure 3 As shown: This embodiment provides a magnetically guided sampling capsule robot 100, including an internal magnet 1, a first soft magnetic film 2, a second soft magnetic film 3, a first capsule shell 4 and a second capsule shell 5. The first capsule shell 4 and the second capsule shell 5 are of the same size. After the first capsule shell 4 and the second capsule shell 5 are buckled together, an internal cavity is formed inside. The first capsule shell 4 and the second capsule shell 5 are buckled together in a capsule shape. The internal magnet 1 is located in the middle of the internal cavity. The first soft magnetic film 2 and the second soft magnetic film 3 are symmetrically arranged on both sides of the internal magnet 1. In the absence of an external magnetic field, the first soft magnetic film 2 and the second soft magnetic film 3 both protrude toward the internal magnet 1. A first sampling hole 6 is provided on the first capsule shell 4, and a first sampling cavity is formed between the first capsule shell 4 and the first soft magnetic film 2. A second sampling hole 7 is provided on the second capsule shell 5, and a second sampling cavity is formed between the second capsule shell 5 and the second soft magnetic film 3. The patient allows the magnetically guided sampling capsule robot 100 of this embodiment to enter the stomach by swallowing. After the magnetically guided sampling capsule robot 100 of this embodiment enters the human body, it can control the magnetically guided sampling capsule robot 100 through an external magnetic field. Under the action of the external magnetic field, by increasing the magnetic induction intensity of the external magnetic field at the first soft magnetic film 2 or the second soft magnetic film 3, the gradient force generated by the external magnetic field is greater than the gradient force generated by the internal magnet 1, so that the first soft magnetic film 2 or the second soft magnetic film 3 is bent toward the first capsule shell 4 or the second capsule shell 5, compressing the first sampling cavity or the second sampling cavity, and realizing a decrease in the internal air pressure of the first sampling cavity or the second sampling cavity. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet 1, the magnetically guided sampling capsule robot 100 can be anchored above the inner wall of the stomach. When the external magnetic field is removed, the first or second soft magnetic film 2 or 3 rebounds under the action of the internal permanent magnet, causing the air pressure in the first or second sampling chamber to change. The air pressure difference between the first or second sampling chamber and the outside is utilized to sample gastric fluid and / or mucosa 11. By reversing the external magnetic field, the magnetic torque causes the magnetically guided sampling capsule robot 100 to flip 180 degrees, enabling secondary anchor sampling. The external magnetic field is an external gradient magnetic field provided by the external permanent magnet 10.

[0037] Specifically, in this embodiment, the center line of the internal permanent magnet coincides with the central axis of the magnetically guided sampling capsule robot 100. The internal permanent magnet is a driving component and an anchoring component. Under the action of the external magnetic field, the internal permanent magnet is the key to the movement and anchoring of the magnetically guided sampling capsule robot 100 for sampling. The movement of the external magnetic field drives the magnetically guided sampling capsule robot 100 to move, thereby achieving guidance of the lesion site. When the distance between the external magnetic field and the internal permanent magnet is shortened, under the action of the external magnetic field, the bottom of the magnetically guided sampling capsule robot 100 is tightly squeezed and anchored with the inner wall of the stomach. In addition, when the external magnetic field is flipped, the internal permanent magnet turns accordingly, thereby achieving secondary sampling.

[0038] In this embodiment, the side of the first soft magnetic film 2 closest to the internal magnet 1 and the side of the internal magnet 1 closest to the first soft magnetic film 2 are mutually attracted, and the side of the second soft magnetic film 3 closest to the internal magnet 1 and the side of the internal magnet 1 closest to the second soft magnetic film 3 are mutually attracted. For example, the side of the first soft magnetic film 2 closest to the internal magnet 1 is the north pole, the side of the first soft magnetic film 2 away from the internal magnet 1 is the south pole, the side of the second soft magnetic film 3 closest to the internal magnet 1 is the south pole, and the side of the second soft magnetic film 3 away from the internal magnet 1 is the north pole. The side of the internal magnet 1 opposite the first soft magnetic film 2 is the south pole, and the side of the internal magnet 1 opposite the second soft magnetic film 3 is the north pole.

[0039] In this embodiment, a first magnet support plate 8 and a second magnet support plate 9 are further included. The first magnet support plate 8 is located between the internal magnet 1 and the first soft magnetic film 2, and the edge of the first magnet support plate 8 is connected to the interior of the internal cavity. The second magnet support plate 9 is located between the internal magnet 1 and the second soft magnetic film 3, and the edge of the second magnet support plate 9 is connected to the interior of the internal cavity.

[0040] In this embodiment, in the absence of an external magnetic field, the air pressure in the first sampling chamber and the second sampling chamber is P1, and the gradient force F generated by the internal magnet 1 is m =(M·▽)B, where M is the magnetic moment of the first or second soft magnetic film 2 or 3, and B is the magnetic flux density of the external magnetic field. Under the action of the external magnetic field, the first or second soft magnetic film 2 or 3 bulges toward the internal magnet 1.

[0041] In this embodiment, the first and second soft magnetic films 2 and 3 have the same structure. The first and second soft magnetic films 2 and 3 serve as the driving layer, which is key to varying the air pressure in the first and second sampling cavities under the influence of a magnetic field. The first and second soft magnetic films 2 and 3 each include a first layer structure and a second layer structure. Specifically, the first layer structure is made of a mixture of neodymium iron boron particles and polydimethylsiloxane. The neodymium iron boron particles are 5 μm in size, and the mass ratio of neodymium iron boron particles to polydimethylsiloxane in the mixture is 2:1. The neodymium iron boron particles (NdFeB) and biocompatible polydimethylsiloxane (PDMS) are mixed and stirred to produce a magnetic slurry, which is then spin-coated and dried to produce the magnetic film. A two-dimensional model of the magnetic portion of the first soft magnetic film 2 and the second soft magnetic film 3 is drawn using CAD software. The magnetic film is then cut using laser cutting. Polydimethylsiloxane is spin-coated on the surface of the magnetic film and dried to obtain a hybrid film. The hybrid film is then laser cut according to the model of the first soft magnetic film 2 or the second soft magnetic film 3 drawn in CAD to obtain a first soft magnetic prefabricated film or a second soft magnetic prefabricated film. The first soft magnetic prefabricated film or the second soft magnetic prefabricated film is placed in a magnetizer for magnetization, thereby obtaining a first soft magnetic film 2 or a second soft magnetic film 3 having a specific magnetization pattern. This allows the first soft magnetic film 2 or the second soft magnetic film 3 to deform in response to an external magnetic field and squeeze the first sampling cavity or the second sampling cavity, thereby causing a change in air pressure within the first sampling cavity or the second sampling cavity. The air pressure difference is then used to obtain gastric fluid and / or mucosa 11.

[0042] In this embodiment, both the first capsule shell 4 and the second capsule shell 5 are manufactured using 3D printing. A first sampling hole 6 and a second sampling hole 7 are respectively provided at the bottom of the first capsule shell 4 and the second capsule shell 5, respectively. These holes enable the discharge of gas from the first and second sampling cavities and the intake of gastric juice and / or mucosa 11. The first and second sampling cavities are used to collect gastric juice and / or mucosa 11.

[0043] Example 2

[0044] like Figure 4 As shown, this embodiment provides a sampling method using the magnetic guidance sampling capsule robot 100 of embodiment 1, comprising the following steps:

[0045] Step 1: Prepare the magnetically guided sampling capsule robot 100 in advance before sampling. The patient swallows the magnetically guided sampling capsule robot 100 into the body and enters the stomach.

[0046] Step 2: By adjusting the distance between the external magnetic field and the magnetically guided sampling capsule robot 100, the magnetic induction intensity generated by the external magnetic field at the first soft magnetic film 2 or the second soft magnetic film 3 is made smaller than the magnetic induction intensity generated by the internal magnet 1 at the same position. In this state, the magnetically guided sampling capsule robot 100 is controlled to move to the specified position.

[0047] Step 3: Manipulate the external magnetic field to approach the magnetic-guided sampling capsule robot 100, generating an attraction force much greater than that generated by the internal magnet 1 on the first soft magnetic film 2 or the second soft magnetic film 3, so that the first soft magnetic film 2 or the second soft magnetic film 3 bulges toward the external magnetic field, compressing the first sampling cavity or the second sampling cavity, so that the air pressure inside the first sampling cavity or the second sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet 1, the magnetic-guided sampling capsule robot 100 can be anchored on the inner wall of the stomach;

[0048] Step 4: The external magnetic field is quickly removed, and the first soft magnetic film 2 or the second soft magnetic film 3 rebounds under the attraction of the internal magnet 1. The air pressure in the first sampling chamber or the second sampling chamber changes from P2 to P1, and the gastric juice and / or mucosa 11 enters the first sampling chamber or the second sampling chamber by utilizing the air pressure difference.

[0049] Step 5: Flip the external magnetic field. Under the action of the magnetic torque, the external magnetic field flips 180 degrees. The external magnetic field generates an attraction much greater than that generated by the internal magnet 1 on the second soft magnetic film 3 or the first soft magnetic film 2. The second soft magnetic film 3 or the first soft magnetic film 2 bulges toward the external magnetic field, compressing the second sampling cavity or the first sampling cavity, so that the air pressure inside the second sampling cavity or the first sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet 1, the magnetic-guided sampling capsule robot 100 can be anchored on the inner wall of the stomach.

[0050] In step six, the external magnetic field is quickly removed, and the second soft magnetic film 3 or the first soft magnetic film 2 rebounds under the attraction of the internal magnet 1. The air pressure in the second sampling chamber or the first sampling chamber changes from P2 to P1, and the gastric juice and / or mucosa 11 enters the second sampling chamber or the first sampling chamber, completing the secondary anchor sampling.

[0051] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A magnetically guided sampling capsule robot, characterized in that: It includes an internal magnet, a first soft magnetic film, a second soft magnetic film, a first capsule shell and a second capsule shell, the first capsule shell and the second capsule shell are buckled together to form an internal cavity, the internal magnet is located in the internal cavity, the first soft magnetic film and the second soft magnetic film are respectively located on both sides of the internal magnet, in the absence of an external magnetic field, the first soft magnetic film and the second soft magnetic film both protrude toward the internal magnet, a first sampling hole is provided on the first capsule shell, a first sampling cavity is formed between the first capsule shell and the first soft magnetic film, a second sampling hole is provided on the second capsule shell, and a second sampling cavity is formed between the second capsule shell and the second soft magnetic film.

2. The magnetically guided sampling capsule robot according to claim 1, characterized in that: The side of the first soft magnetic film close to the internal magnet and the side of the internal magnet close to the first soft magnetic film attract each other, and the side of the second soft magnetic film close to the internal magnet and the side of the internal magnet close to the second soft magnetic film attract each other.

3. The magnetically guided sampling capsule robot according to claim 1, characterized in that: It also includes a first magnet support plate and a second magnet support plate, the first magnet support plate is located between the internal magnet and the first soft magnetic film, the edge of the first magnet support plate is connected to the interior of the internal cavity, the second magnet support plate is located between the internal magnet and the second soft magnetic film, and the edge of the second magnet support plate is connected to the interior of the internal cavity.

4. The magnetically guided sampling capsule robot according to claim 1, characterized in that: The first capsule shell and the second capsule shell are buckled together to form a capsule shape.

5. The magnetically guided sampling capsule robot according to claim 1, characterized in that: In the absence of an external magnetic field, the air pressure in the first sampling chamber and the second sampling chamber is P1, and the gradient force F generated by the internal magnet is m =(M·▽)B, where M is the magnetic moment of the first soft magnetic film or the second soft magnetic film, and B is the magnetic induction intensity of the external magnetic field.

6. The magnetically guided sampling capsule robot according to claim 1, characterized in that: The structures of the first soft magnetic film and the second soft magnetic film are the same. Both the first soft magnetic film and the second soft magnetic film include a first layer structure and a second layer structure. The first layer structure is made of a mixed material of neodymium iron boron particles and polydimethylsiloxane. The mass ratio of the neodymium iron boron particles and the polydimethylsiloxane in the mixed material is 2:

1. The second layer structure is made of polydimethylsiloxane.

7. The magnetically guided sampling capsule robot according to claim 1, characterized in that: The first capsule shell and the second capsule shell are both prepared by 3D printing.

8. A sampling method using the magnetically guided sampling capsule robot according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: The magnetically guided sampling capsule robot is taken into the body and enters the stomach; Step 2: By adjusting the distance between the external magnetic field and the magnetically guided sampling capsule robot, the magnetic induction intensity generated by the external magnetic field at the first soft magnetic film or the second soft magnetic film is made smaller than the magnetic induction intensity generated by the internal magnet at the same position. In this state, the magnetically guided sampling capsule robot is controlled to move to the designated position. Step 3: Manipulate the external magnetic field to approach the magnetic-guided sampling capsule robot, generating an attraction force much greater than that generated by the internal magnet on the first soft magnetic film or the second soft magnetic film, causing the first soft magnetic film or the second soft magnetic film to bulge toward the external magnetic field, compressing the first sampling cavity or the second sampling cavity, so that the air pressure inside the first sampling cavity or the second sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet, the magnetic-guided sampling capsule robot can be anchored on the inner wall of the stomach; Step 4: The external magnetic field is quickly removed, and the first soft magnetic film or the second soft magnetic film rebounds under the attraction of the internal magnet. The air pressure in the first sampling chamber or the second sampling chamber changes from P2 to P1, and gastric fluid and / or mucosa enters the first sampling chamber or the second sampling chamber. Step 5: Flip the external magnetic field. Under the action of the magnetic torque, the external magnetic field flips 180 degrees. The external magnetic field is much greater than the attraction of the internal magnet on the second soft magnetic film or the first soft magnetic film. The second soft magnetic film or the first soft magnetic film bulges toward the external magnetic field, compressing the second sampling cavity or the first sampling cavity, so that the air pressure inside the second sampling cavity or the first sampling cavity becomes P2. At the same time, due to the gradient force generated by the external magnetic field on the internal magnet, the magnetic-guided sampling capsule robot can be anchored on the inner wall of the stomach. Step 6: Quickly remove the external magnetic field, the second soft magnetic film or the first soft magnetic film rebounds under the attraction of the internal magnet, the air pressure in the second sampling chamber or the first sampling chamber changes from P2 to P1, and the gastric juice and / or mucosa enters the second sampling chamber or the first sampling chamber, completing the secondary anchor sampling.

Images