Magnetically-driven multi-mode electron conduit and preparation method thereof

Abstract

The invention discloses a magnetically-driven multi-mode electronic conduit and a preparation method thereof. The magnetically-driven multi-mode electron conduit comprises a multi-channel ferromagnetic conduit and a plurality of multi-parameter microelectrodes located at one end of the multi-channel ferromagnetic conduit, the multi-channel ferromagnetic conduit is used for magnetically-driven navigation and electric conduction of the magnetically-driven multi-mode electronic conduit, the multi-parameter microelectrode is inserted into the liquid metal channel, and the multi-parameter microelectrode is used for biochemical detection; the multi-channel ferromagnetic catheter comprises a magnetic response matrix outer sheath, a hollow channel and a plurality of liquid metal channels. The hollow channel and the plurality of liquid metal channels are embedded into the magnetic response matrix outer sheath; the material of the magnetic response matrix outer sheath comprises a composite material obtained from a thermoplastic flexible polymer and magnetic particles according to a preset proportion. The detection complexity is reduced, and the detection accuracy is improved. The method can be widely applied to the technical field of physiological parameter detection.

Description

Technical Field

[0001] The present invention relates to the technical field of physiological parameter detection, and in particular to a magnetically driven multi-modal electronic catheter and a preparation method thereof. Background Art

[0002] In situ biochemical detection of deep tissues (organs, mucosa or cavities) of organisms can directly reflect the physiological state of target tissues and provide important information for identifying cancer or infectious diseases. In related technologies, the main deep tissue detection methods include: tissue biopsy, which has a long detection cycle, is destructive to the body, and is difficult to obtain samples for lesions in deeper parts, which limits its application in some cases. When operating electronic catheters with integrated micro-nano sensors to reach certain curved distal targets, long guiding operations and continuous rotation of the catheter are required, which is complicated to use and the detection effect is not ideal. Magnetically driven catheters have not achieved functional integration and cannot realize functions such as electrical conduction and biochemical sensing. Summary of the invention

[0003] The purpose of the present invention is to solve one of the technical problems existing in the prior art to at least a certain extent.

[0004] Therefore, an object of the present invention is to provide a highly efficient magnetically driven multi-modal electron conduit and a method for preparing the same.

[0005] In order to achieve the above technical objectives, the technical solutions adopted by the embodiments of the present invention include the following aspects:

[0006] On the one hand, an embodiment of the present invention provides a magnetically driven multimodal electronic catheter, comprising: a multichannel ferromagnetic catheter, a plurality of multi-parameter microelectrodes located at one end of the multichannel ferromagnetic catheter; the multichannel ferromagnetic catheter is used for magnetically driven navigation and conduction of the magnetically driven multimodal electronic catheter, the multi-parameter microelectrode is inserted into the liquid metal channel, and the multi-parameter microelectrode is used for biochemical detection; the multichannel ferromagnetic catheter comprises a magnetically responsive substrate outer sheath, a hollow channel and a plurality of liquid metal channels; the hollow channel and the plurality of liquid metal channels are embedded in the magnetically responsive substrate outer sheath; the material of the magnetically responsive substrate outer sheath comprises: a composite material obtained by thermoplastic flexible polymer and magnetic particles according to a preset ratio. In the present application, the multichannel ferromagnetic catheter can perform precise navigation, and the multi-parameter microelectrode can measure the multi-parameters of biochemical substances, thereby realizing rapid and accurate detection of deep tissues, which is conducive to reducing detection complexity and improving detection accuracy.

[0007] In addition, the magnetically driven multi-mode electron catheter according to the above embodiment of the present invention may also have the following additional technical features:

[0008] Furthermore, in the magnetically driven multimodal electron catheter of an embodiment of the present invention, the thermoplastic flexible polymer includes polydimethylsiloxane, and the magnetic particles include neodymium iron boron particles; the material of the outer sheath of the magnetically responsive matrix includes: a composite material obtained by the polydimethylsiloxane and the neodymium iron boron particles in a weight ratio of 2 to 1.

[0009] Further, in one embodiment of the present invention, the material of the liquid metal channel includes: an alloy material, and the diameter of the liquid metal channel is a first diameter.

[0010] Furthermore, in one embodiment of the present invention, the electrode diameter of the multi-parameter microelectrode is a first diameter; the base material of the multi-parameter microelectrode includes gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, the non-sensing area is insulated by a coating of an insulating coating material, and the non-sensing area is located on a side close to the multi-channel ferromagnetic conduit; the sensing area is a gold wire of a preset length exposed on the other side.

[0011] Furthermore, in one embodiment of the present invention, the multi-parameter microelectrode comprises: a working electrode; a microelectrode surface modified to the sensing area by an oxidative material, the working electrode being used for metabolite detection; a microelectrode surface modified to the sensing area by a conductive polymer film, the working electrode being used for ion detection.

[0012] On the other hand, an embodiment of the present invention provides a method for preparing a magnetically driven multi-modal electron conduit, the method comprising:

[0013] A composite material is obtained by using a thermoplastic flexible polymer and magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is prepared by using the composite material;

[0014] A multi-parameter microelectrode is prepared and inserted into the liquid metal channel of the multi-channel ferromagnetic conduit to obtain a magnetically driven multi-modal electron conduit.

[0015] Furthermore, in the method for preparing a magnetically driven multi-modal electron conduit according to an embodiment of the present invention, the thermoplastic flexible polymer includes polydimethylsiloxane, the magnetic particles include neodymium iron boron particles, the composite material is obtained by using the thermoplastic flexible polymer and the magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is prepared by using the composite material, comprising:

[0016] The polydimethylsiloxane and the curing agent are uniformly mixed in a first preset ratio by mass to obtain a prepolymer matrix;

[0017] Mixing the NdFeB particles and the prepolymer matrix uniformly in a second preset mass ratio to obtain a composite material;

[0018] The composite material and liquid metal are respectively loaded into the barrel of a 4D multi-axis printing device for printing, and the obtained catheter is heated, solidified and magnetized to obtain a multi-channel ferromagnetic catheter.

[0019] Furthermore, in the method for preparing a magnetically driven multi-modal electron catheter according to an embodiment of the present invention, the base material of the multi-parameter microelectrode includes a gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps:

[0020] Insulating the gold wire in the non-sensing area, and coating the gold wire in the sensing area with a layer of carbon nanotube slurry as an electron mediator layer;

[0021] Modifying carbon nanotube material at the tip of the microelectrode in the sensing area;

[0022] According to the target detection object, a functional coating is modified on the surface of the microelectrode in the sensing area, and a drying process is performed to obtain a working electrode that can be used for metabolite detection.

[0023] Furthermore, in the method for preparing a magnetically driven multi-modal electron catheter according to an embodiment of the present invention, the base material of the multi-parameter microelectrode includes a gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps:

[0024] Insulating the gold wire in the non-sensing area, and electroplating a conductive polymer film on the surface of the gold wire in the sensing area;

[0025] According to the target detection object, the surface of the gold wire in the sensing area is modified with a functional coating and dried to obtain a working electrode that can be used for ion detection.

[0026] Furthermore, in the method for preparing the magnetically driven multi-modal electron catheter according to the embodiment of the present invention, the multi-parameter microelectrode is prepared by the following steps:

[0027] Modifying the surface of the gold wire with Ag / AgCl slurry to obtain a reference electrode; or using the Ag / AgCl electrode wire as a reference electrode; the base material of the multi-parameter microelectrode includes the gold wire;

[0028] The surface of the gold wire is modified with platinum nanoparticles by an electrodeposition method to obtain a counter electrode; or a platinum electrode wire is used as a counter electrode.

[0029] The electronic catheter provided by the embodiment of the present invention includes: a multi-channel ferromagnetic catheter, a plurality of multi-parameter microelectrodes located at one end of the multi-channel ferromagnetic catheter; the multi-channel ferromagnetic catheter is used for magnetically driven navigation and conduction of the magnetically driven multimodal electronic catheter, the multi-parameter microelectrode is inserted into the liquid metal channel, and the multi-parameter microelectrode is used for biochemical detection; the multi-channel ferromagnetic catheter includes a magnetically responsive matrix outer sheath, a hollow channel and a plurality of liquid metal channels; the hollow channel and the plurality of liquid metal channels are embedded in the magnetically responsive matrix outer sheath; the material of the magnetically responsive matrix outer sheath includes: a composite material obtained by thermoplastic flexible polymer and magnetic particles according to a preset ratio. In the present application, the multi-channel ferromagnetic catheter can perform precise navigation, and the multi-parameter microelectrode can measure the multi-parameters of biochemical substances, thereby realizing rapid and accurate detection of deep tissues, which is conducive to reducing detection complexity and improving detection accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the embodiments of the present invention or the drawings of related technical solutions in the prior art are introduced below. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 A three-dimensional schematic diagram of an embodiment of a magnetically driven multi-modal electron catheter provided by the present invention;

[0032] Figure 2 An axial cross-sectional view of an embodiment of the magnetically driven multi-mode electron catheter provided by the present invention;

[0033] Figure 3 A cross-sectional view of an embodiment of a magnetically driven multi-mode electron catheter provided by the present invention;

[0034] Figure 4 A cross-sectional view corresponding to a working electrode of the multi-parameter microelectrode provided by the present invention;

[0035] Figure 5 A magnetically induced deformation curve diagram of the magnetically driven multi-modal electron catheter provided by the present invention;

[0036] FIG6( a ) is a resistance curve diagram of the magnetically driven multi-modal electron conduit provided by the present invention at different pH values;

[0037] FIG6( b ) is a resistance curve diagram of the magnetically driven multi-modal electron conduit provided by the present invention at different temperatures;

[0038] FIG. 7( a ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to glucose provided by the present invention;

[0039] FIG7( b ) is a graph showing the electrochemical response of the magnetically driven multi-modal electronic catheter to creatinine provided by the present invention;

[0040] FIG7( c ) is a graph showing the electrochemical response of the magnetically driven multi-modal electronic catheter to uric acid provided by the present invention;

[0041] FIG7( d ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to hydrogen peroxide provided by the present invention;

[0042] FIG8( a ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to potassium ions provided by the present invention;

[0043] FIG8( b ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to sodium ions provided by the present invention;

[0044] FIG8( c ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to calcium ions provided by the present invention;

[0045] FIG8( d ) is a graph showing the electrochemical response of the magnetically driven multi-modal electron conduit to pH provided by the present invention;

[0046] Fig. 9 A schematic diagram of the navigation of the magnetically driven multimodal electronic catheter provided by the present invention in an experimental pig blood vessel. DETAILED DESCRIPTION

[0047] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and are not to be construed as limitations of the present invention. For the step numbers in the following embodiments, they are only provided for the convenience of explanation, and the order between the steps is not limited in any way, and the execution order of each step in the embodiment can be adaptively adjusted according to the understanding of those skilled in the art.

[0048] In situ biochemical detection of deep tissues (organs, mucosa or cavities) of the human body can directly reflect the physiological state of the target tissue and provide important information for distinguishing cancer or infectious diseases. At present, the main method for in situ biochemical detection of deep tissues in clinical practice is tissue biopsy: the target tissue is taken out by means of surgical instruments such as clamping and puncture, and then it is lysed or sliced, and the pathological state of the tissue is obtained through pathological or immunological examinations. However, this method has a long detection cycle, cannot achieve in situ detection in the target tissue, and is destructive to the human body. With the development of flexible electronic technology, electronic catheters with integrated micro / nano sensors are gradually used to measure biochemical information in target tissues. These electronic catheters integrate micro-nano sensor components and flexible electronic device groups into interventional surgical catheters or guidewires, giving the instrument real-time detection and digital communication functions. Compared with traditional tissue biopsy methods, the electronic catheter can better realize direct state detection of the target organ or tissue during interventional surgery, and provide more timely and effective disease guidance. For example, some embodiments integrate microelectrode arrays into flexible balloon catheters to prepare multi-channel electronic catheters for simultaneous monitoring of temperature and electrophysiological data. Some embodiments integrate microneedle arrays with surgical catheters to prepare multi-parameter bioelectronic catheters. The catheters can effectively detect biochemical signals in the bladder and uterus, including ions and metabolite analytes. However, these electronic catheters rely on manual twisting to achieve steering, and this passive steering is usually ineffective and inefficient, especially in narrow and tortuous paths (such as blood vessels or intestines). Because the catheter will suddenly shake or bump due to friction, its movement direction is difficult to predict, reducing operational stability.

[0049] Magnetic drive catheters with tiny sizes can be actively navigated in a remotely controlled manner in a complex in vivo environment. Magnetic drive catheters are usually made based on flexible polymer matrices (such as polydimethylsiloxane) and ferromagnetic micro / nanoparticles (such as neodymium iron boron and ferroferric oxide). The flexible polymer matrix provides flexibility for the magnetic drive catheter and fixes the dispersed ferromagnetic particles. Ferromagnetic particles are the main source of the magnetic drive characteristics of the catheter, and can generate magnetic dipole moments in the presence of an external magnetic field, thereby generating forces and torques between particles. By accurately calculating these generated torques or forces, the arrangement and movement of particles can be designed, and the deformation and movement of the entire catheter can be predicted. Therefore, these magnetic drive catheters can be accurately encoded at a microscopic scale to achieve accurate magnetic navigation in a complex in vivo environment to locate the target tissue while minimizing damage to surrounding tissues. Some embodiments use thermosetting shape memory polymers to develop a variable stiffness magnetic drive catheter that can be manipulated by a magnetic field in an open workspace. Some embodiments provide a self-lubricating magnetic drive catheter that can quickly pass through the tiny blood vessels of a cerebral artery model, thereby facilitating remote treatment operations for ischemic stroke. Nevertheless, existing magnetically driven catheters have not yet achieved the integration of biochemical sensing functions.

[0050] In order to realize the integration of magnetically driven catheters and biochemical sensing functions, it is usually necessary to introduce rigid electronic components (such as electrodes, wires and solder joints), which contradicts the high flexibility of the magnetically driven catheter itself. The traditional method embeds wires inside the catheter or wraps the wires around the surface of the catheter to achieve electrical conduction, and then welds the electrodes to the wires to achieve biochemical detection functions. For example, some embodiments embed various electronic components (such as silver wires, BiSn electrodes and waveguides) in the magnetically driven catheter to prepare a multifunctional magnetically driven electronic catheter for ECG and bioimpedance monitoring. However, the integration of rigid electronic components reduces the flexibility of the catheter, resulting in a reduction in its magnetostrictive deformation, especially in multi-channel catheters. On the other hand, liquid metal has both metallic conductivity and fluid deformability, and is widely used in flexible electronic products. Liquid metal exhibits deformable and reconfigurable fluid properties like water at room temperature, while also exhibiting metal properties with high electrical conductivity and thermal conductivity. Using liquid metal instead of traditional rigid wires is conducive to promoting the conductivity of magnetically driven catheters without reducing their flexibility. However, in terms of manufacturing technology, it is difficult to integrate multiple liquid metal channels into a magnetically driven catheter of microscopic size. In summary, despite the great potential of magnetically driven catheters in the biomedical field, there are still several key issues that hinder their clinical application. 1) The lack of integrated multimodal sensing elements limits the multifunctionality that can be achieved by magnetically driven catheters; 2) The embedding of multiple rigid electronic wires and welded joints within the catheter limits the flexibility of magnetic catheters; 3) The lack of advanced manufacturing technology to integrate multiple liquid metal bundles into tiny-sized magnetically driven catheters.

[0051] Here, we developed a new type of magnetically driven multimodal electronic catheter based on liquid metal, flexible polymer and ferromagnetic particles. Its multimodality is reflected in the integration of magnetically driven navigation, conductive properties, multi-biochemical index detection, drug delivery and other functions. It can achieve navigation through the control of omnidirectional magnetic field in a confined environment, and realize in situ detection and drug delivery of multiple biochemical substances at the target location. This magnetically driven multimodal electronic catheter mainly consists of two components: an ultra-flexible multi-channel ferromagnetic catheter and six multi-parameter microelectrodes at its tip. The ultra-flexible multi-channel ferromagnetic catheter adopts a "multi-channel core-sheath" structure, and its matrix is ​​composed of flexible polymer (polydimethylsiloxane) in which ferromagnetic micro / nanoparticles (neodymium iron boron particles) are uniformly dispersed. Unlike traditional rigid wires, the ultra-flexible multi-channel ferromagnetic catheter has 6 liquid metal bundles embedded inside as conductive materials. These liquid metal bundles can fully contact with the microelectrodes at the tip, thus eliminating the need for additional welding processes. In terms of manufacturing, we used the self-developed 4D multi-axis printing system to achieve one-step molding of ultra-flexible multi-channel ferromagnetic catheters. Six liquid metal beams can be directly embedded in a tiny magnetic tube with a diameter of less than 2.5 mm. This magnetically driven multimodal electronic catheter can detect the concentrations of eight biochemical analytes, including glucose, creatinine, uric acid, hydrogen peroxide, potassium ions, sodium ions, calcium ions, and pH, in situ. In short, this magnetically driven multimodal electronic catheter has opened up a new path for precise positioning and in situ biosensing of deep tissues. This magnetically driven multimodal electronic catheter has the characteristics of miniaturization, remote control, and versatility, and can be used as an effective auxiliary means to meet the challenges of current minimally invasive surgery.

[0052] The problems in the related technology are summarized as follows:

[0053] First, the most common deep tissue detection method in clinical practice is tissue biopsy. This requires the use of surgical instruments such as clamps and punctures to remove the target tissue, and then lyse or slice it in vitro. Only after laboratory pathology or immunology examinations can the physiological information and pathological status of the target tissue be obtained. This method has a long detection cycle, is destructive to the body, and is difficult to obtain samples for lesions in deeper parts, which limits its application in some cases.

[0054] Secondly, based on the above limitations, electronic catheters integrated with micro-nano sensors are gradually being used to measure in situ biochemical information in target tissues. Compared with tissue biopsy, the electronic catheter can better realize direct status detection of the target organ or tissue, and provide more timely and effective disease guidance. However, when manipulating them to turn, it is necessary to manually twist their proximal end in the desired direction. This twisting operation is often inefficient and unpredictable because friction can cause sudden movement of the pre-bent tip of the catheter, especially when passing through narrow and winding paths. Therefore, when operating these electronic catheters to reach certain curved distal targets, a long guiding operation is required and the catheter is constantly turned to prevent the pre-bent tip from getting stuck in the path.

[0055] Third, the magnetically driven catheter can produce active deformation and movement under the control of an external magnetic field, and can navigate in a complex in vivo environment by remote control. Its direction of movement can be predicted and calculated, and the target tissue can be accurately located while minimizing damage to surrounding tissues. However, existing magnetically driven catheters have not yet achieved functional integration, and cannot realize functions such as electrical conduction and biochemical sensing. Because the functionalization of magnetically driven catheters usually requires embedding wires inside the catheter or wrapping the wires around the surface of the catheter for electrical conduction, and then welding electrodes to the wires to realize biochemical detection functions. However, these rigid electronic components (such as electrodes, wires, and solder joints) are inconsistent with the high flexibility of magnetically driven catheters, which will reduce the flexibility of magnetically driven catheters and weaken the controllability of the magnetic field over the catheter, especially in the demand for multi-channel catheters.

[0056] Fourthly, on the other hand, liquid metal has both metallic conductivity and fluid deformability, and can replace traditional rigid wires as flexible conductor materials for magnetically driven catheters, achieving high conductivity without reducing the flexibility of magnetically driven catheters. However, in terms of manufacturing technology, it is difficult to integrate multiple liquid metal channels into a tiny magnetically driven catheter.

[0057] Therefore, this study developed a new type of magnetically driven multimodal electronic catheter, which overcomes the problems that tissue biopsy methods cannot detect biochemical information of target tissue in situ, the difficulty of existing electronic catheters in accurately controlling steering, and the lack of multimodal sensing function of magnetically driven catheters, opening up a new path for precise positioning of deep tissues and in situ biosensing.

[0058] A magnetically driven multi-mode electron conduit and an implementation method according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings. First, a magnetically driven multi-mode electron conduit according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0059] Figure 1 1 is a schematic diagram of the structure of a magnetically driven multi-mode electron catheter according to an embodiment of the present invention. The system specifically comprises:

[0060] A multi-channel ferromagnetic conduit, and a plurality of multi-parameter microelectrodes located at one end of the multi-channel ferromagnetic conduit;

[0061] The multi-channel ferromagnetic conduit is used for magnetically driven navigation and conduction of the magnetically driven multi-modal electronic conduit, the multi-parameter microelectrode is inserted into the liquid metal channel, and the multi-parameter microelectrode is used for biochemical detection;

[0062] The multi-channel ferromagnetic conduit includes a magnetically responsive substrate outer sheath, a hollow channel and a plurality of liquid metal channels; the hollow channel and the plurality of liquid metal channels are embedded in the magnetically responsive substrate outer sheath; the material of the magnetically responsive substrate outer sheath includes: a composite material obtained by a thermoplastic flexible polymer and magnetic particles in a preset proportion.

[0063] Optionally, in the magnetically driven multimodal electron catheter in an embodiment of the present invention, the thermoplastic flexible polymer includes polydimethylsiloxane, and the magnetic particles include neodymium iron boron particles; the material of the outer sheath of the magnetically responsive matrix includes: a composite material obtained by the polydimethylsiloxane and the neodymium iron boron particles in a weight ratio of 2 to 1.

[0064] Optionally, in the magnetically driven multi-modal electron conduit in an embodiment of the present invention, the material of the liquid metal channel includes: an alloy material, and the diameter of the liquid metal channel is a first diameter.

[0065] Optionally, in the magnetically driven multimodal electron conduit in an embodiment of the present invention, the electrode diameter of the multi-parameter microelectrode is a first diameter; the base material of the multi-parameter microelectrode includes gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, the non-sensing area is insulated by a coating of an insulating coating material, and the non-sensing area is located on a side close to the multi-channel ferromagnetic conduit; the sensing area is a gold wire of a preset length exposed on the other side.

[0066] Optionally, in the magnetically driven multimodal electron catheter in an embodiment of the present invention, the multi-parameter microelectrode includes: a working electrode; a microelectrode surface modified to the sensing area by an oxidative material, the working electrode being used for metabolite detection; a microelectrode surface modified to the sensing area by a conductive polymer film, the working electrode being used for ion detection.

[0067] It is understandable that based on the above-mentioned difficulties in in situ biochemical detection in deep tissues, this technology uses liquid metal, flexible polymer and ferromagnetic particles to develop a new type of magnetically driven multimodal electronic catheter. The magnetically driven multimodal electronic catheter mainly consists of two components: an ultra-flexible multi-channel ferromagnetic catheter and six multi-parameter microelectrodes (attached) at its tip. Figure 1 and attached Figure 2 ). The former is the main source of the magnetically driven navigation and electrical conductivity of the catheter of the present invention, and the latter is the source of the biochemical detection function of the catheter of the present invention.

[0068] The ultra-flexible multi-channel ferromagnetic catheter is a typical "multi-channel core-sheath" structure, which includes a magnetically responsive substrate outer sheath, six liquid metal channel cores and a hollow tube (attached Figure 2 and attached Figure 3 ). The main material of the outer sheath of the magnetic responsive substrate is magnetic responsive ink, which is a composite material obtained by polydimethylsiloxane and neodymium iron boron nanoparticles in a certain proportion. After curing and magnetizing with a pulsed magnetic field, it can produce a series of dynamic deformations such as swinging, turning, moving forward or backward under the action of an external magnetic field. The main material of the liquid metal channel is a low-melting point gallium-indium alloy (melting point is about 16°C), which can not only provide electrical conductivity comparable to traditional rigid wires, but also has flexibility that rigid wires cannot meet. The hollow channel located in the center can be used for external drug delivery. The diameter of the ultra-flexible multi-channel ferromagnetic catheter is about 2.5 mm, and the diameter of each liquid metal channel or hollow channel is about 200 μm. The length is not fixed and can be changed according to the application scenario.

[0069] For the multi-parameter microelectrodes of the present invention, four are used as working electrodes, one is a counter electrode and one is a reference electrode. The diameter of each microelectrode is about 200 μm, which is consistent with the diameter of the liquid metal channel in the ultra-flexible multi-channel ferromagnetic catheter so that it can be stably inserted into the liquid metal channel. High-purity gold wire (purity greater than 99.9%) is used as the substrate of all microelectrodes, and the non-sensing area of ​​the microelectrode is insulated by a parylene coating (attached Figure 4 ) to ensure the accuracy and safety of the microelectrode. The sensing area of ​​the microelectrode is concentrated on the exposed top of the gold wire, with an exposed length of about 1 mm. It is necessary to subsequently modify the functional materials of the corresponding detection object to achieve the simultaneous detection of the concentration of multiple biochemical substances.

[0070] For the multi-parameter microelectrode of the present invention, two sets of microelectrode combinations are provided to facilitate the detection of different biochemical substances: metabolite detection microelectrodes and ion detection microelectrodes. The metabolite microelectrode combination includes four working electrodes (glucose, creatinine, uric acid and hydrogen peroxide electrodes), a counter electrode and a reference electrode; the ion microelectrode combination includes four working electrodes (potassium ions, sodium ions, calcium ions and pH electrodes), a counter electrode and a reference electrode. At the same time, due to the small diameter of a single microelectrode wire, it is easy to cause the problem of low detection sensitivity. To this end, in order to solve the problem of decreased sensing performance caused by the small electrode area, the present invention uses carbon nanotubes as electron mediators to modify the surface of the metabolite microelectrode, and uses poly (3,4-ethylenedioxythiophene) -polystyrene sulfonic acid as an ion-electron transducer to modify the surface of the ion microelectrode, so as to achieve high-sensitivity detection of biochemical substances by a single microelectrode.

[0071] It should be noted that the magnetically responsive matrix material of the ultra-flexible multi-channel ferromagnetic catheter in this technology is polydimethylsiloxane doped with neodymium iron boron nanoparticles. Neodymium iron boron can also be replaced with other magnetic particles such as ferroferric oxide, and polydimethylsiloxane can be replaced with thermoplastic flexible polymer matrices such as SEBS thermoplastic elastomer and Ecoflex.

[0072] The magnetic response matrix material of the ultra-flexible multi-channel ferromagnetic catheter in this technology is polydimethylsiloxane and neodymium iron boron particles in a mass ratio of 2:1, which can also be changed according to demand. The increase in neodymium iron boron particles will enhance the magnetic properties of the catheter, but weaken its mechanical toughness;

[0073] The ultra-flexible multi-channel ferromagnetic catheter in this technology has six liquid metal channels for multi-parameter biochemical testing, so it can be increased or decreased according to actual testing needs;

[0074] The ultra-flexible multi-channel ferromagnetic catheter in this technology has a liquid metal channel for in situ drug delivery, which can be increased or decreased according to actual drug delivery needs;

[0075] The multi-parameter microelectrode in this technology can be coated with a layer of Ag paste at its tail (the area in contact with the liquid metal, i.e., the non-sensing area in this application) to make it more stably and firmly coupled with the liquid metal channel;

[0076] In this technology, the multi-parameter microelectrode is modified with carbon nanotubes as electron mediator materials on the surface of the metabolite microelectrode, which can be replaced by oxidizing materials such as graphene and MXene;

[0077] In the multi-parameter microelectrode of this technology, poly(3,4-ethylenedioxythiophene)-polystyrene sulfonic acid is modified on the surface of the ion microelectrode as an ion-electron transducer, which can be replaced by a conductive polymer membrane such as polypyrrole and polyaniline with similar functions;

[0078] In this technology, the multi-parameter microelectrode uses Ag / AgCl slurry to modify the surface of the gold wire as the reference electrode, or the Ag / AgCl electrode wire can be directly used as the reference electrode;

[0079] In the multi-parameter microelectrode of this technology, platinum nanoparticles are modified on the surface of gold wire by electrodeposition as the counter electrode, or platinum electrode wire can be directly used as the counter electrode;

[0080] The reference electrode in this technology is shared by multiple working electrodes. When the number of working electrodes is large or in other situations, the number of reference electrodes can be increased.

[0081] The counter electrode in this solution is shared by multiple working electrodes, and the number of counter electrodes can be increased when the number of working electrodes is large or in other situations;

[0082] The microelectrode insulating material used in this technology is parylene, and other insulating coating materials with good biocompatibility such as polyimide material and polydimethylsiloxane can also be used;

[0083] In this technology, only eight biochemical substances, including glucose, creatinine, uric acid, hydrogen peroxide, potassium ions, sodium ions, calcium ions and pH, are used as examples for integrated sensing. Microelectrodes can be combined, increased or decreased at will according to actual detection needs to achieve synchronous monitoring of multiple biochemical substances. The biochemical substances that can be detected by microelectrodes are not limited to the above eight, and multiple biochemical indicators such as urea, dopamine, and adrenaline can appear.

[0084] Therefore, in view of the limitations of the first aspect of the prior art, the present invention adopts a magnetic navigation multimodal electronic catheter for micro-interventional surgery, which can directly reach the target tissue site and perform in-situ multi-parameter biochemical detection to achieve real-time and continuous monitoring of the biochemical concentration of the target tissue. There is no need to remove the tissue and then perform a series of complex and time-consuming operations such as laboratory processing and inspection.

[0085] In view of the second limitation of the prior art, the present invention uses magnetically responsive materials to prepare catheters. After curing and magnetizing with a pulsed magnetic field, the catheters can produce a series of dynamic deformations such as swinging, turning, moving forward or backward under the action of an external magnetic field. Only by remotely controlling the intensity and direction of the external magnetic field, the catheter can achieve precise magnetic navigation in a complex in vivo environment to locate the target tissue while minimizing damage to surrounding tissues.

[0086] In view of the third limitation of the prior art, the present invention uses liquid metal instead of traditional rigid wire as the conductive material, and embeds it into the magnetic response matrix of the catheter, which can not only provide conductivity comparable to that of traditional wires (resistance of about 3.68Ω), but also protect the flexibility of the entire catheter. The present invention uses a tiny electrode wire as a sensing element, integrates it into the catheter head without the need for welding process, and then performs corresponding functional modification, thereby realizing the multi-parameter sensing of biochemical substances such as glucose, creatinine, and potassium ions by the catheter.

[0087] In view of the fourth limitation of the prior art, the present invention adopts the independently developed 4D multi-axis printing technology to realize the one-step molding and manufacturing of ultra-flexible multi-channel ferromagnetic conduits. During the printing process, six liquid metal beams can be directly embedded in the magnetically responsive matrix tube body.

[0088] The present invention selects electrochemical detection method to detect the concentration of biochemical substances. Since the detection sensitivity of the electrode is related to the size of the electrode sensing area, it is necessary to retain an appropriate sensing area according to the sensing situation when modifying the microelectrode with functional materials. The present invention reserves 1mm of the electrode top as the sensing area. This length can not only meet the detection sensitivity, but also ensure the sensing stability and anti-interference of the microelectrode.

[0089] Secondly, an embodiment of the present invention provides a method for preparing a magnetically driven multi-modal electron conduit, which mainly includes the following steps:

[0090] A composite material is obtained by using a thermoplastic flexible polymer and magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is prepared by using the composite material;

[0091] A multi-parameter microelectrode is prepared and inserted into the liquid metal channel of the multi-channel ferromagnetic conduit to obtain a magnetically driven multi-modal electron conduit.

[0092] Optionally, in the method for preparing a magnetically driven multi-modal electron conduit in an embodiment of the present invention, the thermoplastic flexible polymer includes polydimethylsiloxane, the magnetic particles include neodymium iron boron particles, the composite material is obtained by combining the thermoplastic flexible polymer and the magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is prepared by the composite material, comprising:

[0093] The polydimethylsiloxane and the curing agent are uniformly mixed in a first preset ratio by mass to obtain a prepolymer matrix;

[0094] Mixing the NdFeB particles and the prepolymer matrix uniformly in a second preset mass ratio to obtain a composite material;

[0095] The composite material and liquid metal are respectively loaded into the barrel of a 4D multi-axis printing device for printing, and the obtained catheter is heated, solidified and magnetized to obtain a multi-channel ferromagnetic catheter.

[0096] Optionally, in the method for preparing a magnetically driven multi-modal electron catheter in an embodiment of the present invention, the base material of the multi-parameter microelectrode includes a gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps:

[0097] Insulating the gold wire in the non-sensing area, and coating the gold wire in the sensing area with a layer of carbon nanotube slurry as an electron mediator layer;

[0098] Modifying carbon nanotube material at the tip of the microelectrode in the sensing area;

[0099] According to the target detection object, a functional coating is modified on the surface of the microelectrode in the sensing area, and a drying process is performed to obtain a working electrode that can be used for metabolite detection.

[0100] Optionally, in the method for preparing a magnetically driven multi-modal electron catheter in an embodiment of the present invention, the base material of the multi-parameter microelectrode includes a gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps:

[0101] Insulating the gold wire in the non-sensing area, and electroplating a conductive polymer film on the surface of the gold wire in the sensing area;

[0102] According to the target detection object, the surface of the gold wire in the sensing area is modified with a functional coating and dried to obtain a working electrode that can be used for ion detection.

[0103] Optionally, in the method for preparing a magnetically driven multi-modal electron catheter in an embodiment of the present invention, the multi-parameter microelectrode is prepared by the following steps:

[0104] Modifying the surface of the gold wire with Ag / AgCl slurry to obtain a reference electrode; or using the Ag / AgCl electrode wire as a reference electrode; the base material of the multi-parameter microelectrode includes the gold wire;

[0105] The surface of the gold wire is modified with platinum nanoparticles by an electrodeposition method to obtain a counter electrode; or a platinum electrode wire is used as a counter electrode.

[0106] It can be seen that the contents of the above-mentioned electronic conduit embodiments are all applicable to the present method embodiments, the functions specifically implemented by the present method embodiments are the same as those of the above-mentioned electronic conduit embodiments, and the beneficial effects achieved are also the same as those achieved by the above-mentioned system embodiments.

[0107] The magnetically driven multi-modal electron conduit and the preparation method thereof provided by the present application are described in detail with specific embodiments below:

[0108] The magnetic navigation multi-modal electronic catheter for in-situ detection of multi-parameters in micro-interventional surgery of the present invention is as follows: Figure 1 to Figure 2 As shown, it includes an ultra-flexible multi-channel ferromagnetic conduit 11 and six multi-parameter microelectrodes 12. The ultra-flexible multi-channel ferromagnetic conduit 11 includes a magnetic response matrix 113 (i.e., the outer sheath of the magnetic response matrix in this application), six liquid metal channels 111 distributed in a circular pattern inside, and a hollow channel 112 located in the center. The six multi-parameter microelectrodes 12 are respectively vertically inserted into the six liquid metal channels 111, leaving a length of 1 mm (i.e., the preset length in this application) exposed outside. The specific technical solution is as follows:

[0109] 1. Preparation of ultra-flexible multi-channel ferromagnetic catheter.

[0110] First, polydimethylsiloxane and curing agent are mixed evenly in a mass ratio of 10:1 (i.e., the first preset ratio of the present application) to obtain a prepolymer matrix. Then, NdFeB magnetic particles and prepolymer matrix are mixed evenly in a mass ratio of 2:1 (i.e., the second preset ratio of the present application), so that a magnetic responsive ink (i.e., the composite material in the present application) is obtained. The magnetic responsive ink is loaded into the No. 1 barrel of the homemade 4D multi-axis printing device, and then the liquid metal is loaded into the No. 2 to No. 7 barrels of the 4D multi-axis printing device, and the No. 8 barrel is left empty, and the printing speed is set to 18mm / s. After printing, the pre-printed ultra-flexible multi-channel ferromagnetic catheter is placed in a hot oven at 40°C and heated for 12 hours to cure, and then magnetized under a pulsed magnetic field with an intensity of 3T to obtain an ultra-flexible multi-channel ferromagnetic catheter with magnetic response and multi-channel conductive properties.

[0111] 2. Insulation of microelectrodes.

[0112] The base material of the microelectrode is mainly a gold wire 121 (electrode diameter ~ 200 microns). In order to avoid signal interference from external tissues or signal crosstalk caused by contact between electrodes, the outer wall of the non-sensing area of ​​the microelectrode is modified with an insulating layer 122 (which can be a parylene insulating layer). The insulating material parylene is evaporated on the surface of the gold wire using a vacuum vapor deposition process (the thickness of the insulating layer is 30 μm), leaving only 1 mm of the top of the gold wire exposed as the sensing area. Repeating the above operation, multiple gold electrode wires with exposed tops and insulated bottoms can be obtained.

[0113] 3. Preparation of multi-parameter microelectrode (working electrode).

[0114] The multi-parameter microelectrode has two sets of microelectrode combinations to facilitate the detection of different types of biochemical substances: metabolite detection microelectrodes and ion detection microelectrodes. Each set of microelectrode combinations includes four working electrodes, one counter electrode and one reference electrode. The preparation structure of the working electrode is as follows Figure 4As shown. For the metabolite detection microelectrode, after the gold wire is insulated, a layer of carbon nanotube slurry is dipped in its sensing area as an electron mediator layer 123 (an embodiment, used for metabolite detection at this time). Next, the above-mentioned microelectrode is placed in a platinum sulfite solution for platinum nanoparticle electroplating, the electroplating current is -0.0001A, and the electroplating time is 200s. Here, the carbon nanotube material can also be modified to the top of the microelectrode by electroplating, spraying, immersion, etc., and the electroplating conditions of the platinum particles can also adjust the current size and time according to actual conditions. Finally, according to the target detection object, the functionalized coating 124 is modified on the surface of the above-mentioned microelectrode and dried at room temperature. For example, the glucose oxidase layer is modified to obtain a glucose microelectrode, the urate oxidase is modified to obtain a uric acid microelectrode, the enzyme-linked mixture (creatinase, creatinase and sarcosine oxidase) is modified to obtain a creatinine microelectrode, and the platinum particles are modified to obtain a hydrogen peroxide electrode. For the ion detection microelectrode, after the gold wire is insulated, a layer of poly(3,4-ethylenedioxythiophene)-polystyrene sulfonic acid is electroplated in the sensing area as an ion-electron transducer 123 (conductive polymer film layer, another embodiment, used for ion detection at this time). Next, according to the target detection object, the functional coating is modified on the surface of the above microelectrode and dried at room temperature, for example, modifying the potassium ion selective membrane to obtain a potassium ion microelectrode, modifying the sodium ion selective membrane to obtain a sodium ion microelectrode, modifying the calcium ion selective membrane to obtain a calcium ion microelectrode, and modifying the polyaniline membrane to obtain a pH microelectrode.

[0115] 3. Preparation of multi-parameter microelectrode (reference electrode).

[0116] The reference electrode is prepared by brushing Ag / AgCl slurry on the gold wire surface in the non-insulated area, with a thickness of less than 50 microns. In order to reduce the number of microelectrodes and improve the utilization rate of microelectrodes, the integrated microelectrode combination can use a reference electrode wire as a shared reference electrode.

[0117] 4. Preparation of multi-parameter microelectrodes (counter electrodes).

[0118] Platinum nanoparticles were electroplated on the surface of the gold wire in the non-insulated area to prepare a counter electrode. The above microelectrode was placed in a platinum sulfite solution, the electroplating current was -0.0001A, and the electroplating time was 500s. In order to reduce the number of microelectrodes and improve the utilization rate of microelectrodes, the integrated microelectrode combination can use a counter electrode wire as a shared reference electrode.

[0119] 5. Assembly of multi-parameter microelectrodes and ultra-flexible multi-channel ferromagnetic catheters.

[0120] Insert the multi-parameter microelectrodes 12 vertically one by one into the liquid metal channel of the ultra-flexible multi-channel ferromagnetic conduit. During insertion, the insulating area 122 (i.e., the non-sensing area in this application) of the microelectrode 12 should be in contact with the liquid metal channel 111, and the non-insulating area (123 and 124, i.e., the sensing area in this application) is exposed on the top of the ultra-flexible multi-channel ferromagnetic conduit for biochemical detection. A thin layer of Ag paste can also be applied to the outside of the insulating area 122 of the microelectrode, and then inserted into the liquid metal channel 111 of the ultra-flexible multi-channel ferromagnetic conduit after drying, so that the combination of the two is more secure. When multiple microelectrodes are inserted, a magnetic navigation multimodal electronic conduit that can realize multi-parameter in-situ detection is obtained.

[0121] The performance of the electron conduit prepared in this application is tested in the following examples:

[0122] Example 1: An ultra-flexible multi-channel ferromagnetic catheter is prepared using a magnetic responsive ink with a mass ratio of 2:1 of neodymium iron boron magnetic particles and a prepolymer matrix. After it is solidified and magnetized, a metabolite microelectrode is selected to be inserted into the top end to obtain the magnetically navigated multimodal electron catheter of the present invention. Its magnetic navigation performance is verified: the tail of the magnetically navigated multimodal electron catheter without microelectrodes is fixed, and a magnetic coil is placed on each of the left and right sides of the top end with microelectrodes. An alternating voltage is applied to the coil to generate a magnetic field, thereby inducing the magnetically navigated multimodal electron catheter to twist and deform. The alternating voltage varies from 0 to 2000 mV, and the corresponding magnetic field varies from 0 to 150 mT. The deformation angle of the tip of the magnetically navigated multimodal electron catheter is observed in real time. The results are shown in the attached figure. Figure 5 , the deformation angle of the magnetic navigation multi-modal electronic catheter increases with the magnetic field, and its deformation direction can be changed according to the direction of the magnetic field.

[0123] Example 2: The same magnetic navigation multimodal electronic catheter as in Example 1. Its conductive performance was verified: the end of the magnetic navigation multimodal electronic catheter was led out by a copper wire with a diameter of 0.2 mm and connected to a multimeter to measure its resistance value. It was immersed in solutions with different pH values, so that the pH value varied from 3 to 14, and its conductive stability under different acidity and alkalinity environments was tested (as shown in Figure 6 (a)). It was then immersed in water with different temperatures, so that the temperature varied from 0 to 100 degrees Celsius, and its conductive stability under different temperatures was tested (as shown in Figure 6 (b)). According to Figure 6, the magnetic navigation multimodal electronic catheter can maintain stable resistance under extreme pH changes and extreme temperature changes, showing excellent environmental tolerance and conductive stability. The scope of application of this is far beyond the pH range of the human body, which is 6-8, and the temperature range is 35°C-41°C.

[0124] Example 3: The same magnetic navigation multimodal electron catheter as in Example 1, its microelectrode head is immersed in PBS solution, the end is led out by a copper wire with a diameter of 0.2 mm, and connected to the Shanghai Chenhua electrochemical workstation, and its electrochemical current response to four metabolites of glucose, creatinine, uric acid and hydrogen peroxide is detected, as shown in Figure 7 (a), Figure 7 (b), Figure 7 (c) and Figure 7 (d). Glucose detection performance test: Add different concentrations of glucose solution to the solution, so that the glucose concentration in the solution changes: 2mM, 4mM, 6mM, 8mM, 10mM, 12mM, 14mM, 16mM, 18mM, 20mM, and measure the current response at different glucose concentrations. Creatinine detection performance test: Add different concentrations of creatinine solution to the solution, so that the creatinine concentration in the solution changes: 0.2mM, 0.4mM, 0.6mM, 0.8mM, 1mM, and measure the current response at different creatinine concentrations. Uric acid detection performance test: add different concentrations of uric acid solution to the solution, so that the uric acid concentration in the solution changes: 0.2mM, 0.4mM, 0.6mM, 0.8mM, 1mM, and measure the current response under different uric acid concentrations. Hydrogen peroxide detection performance test: add different concentrations of hydrogen peroxide solution to the solution, so that the hydrogen peroxide concentration in the solution changes: 2mM, 4mM, 6mM, 8mM, 10mM, and measure the current response of different hydrogen peroxide.

[0125] Example 4: The same magnetic navigation multimodal electron catheter as in Example 1, the metabolite microelectrode combination is replaced with an ion microelectrode combination, the microelectrode head is immersed in deionized water, the end is led out by a copper wire with a diameter of 0.2 mm, and connected to the Shanghai Chenhua electrochemical workstation, and its electrochemical voltage response to four ions of potassium ion, sodium ion, calcium ion and pH is detected, as shown in Figure 8 (a), Figure 8 (b), Figure 8 (c) and Figure 8 (d). Test of potassium ion detection performance: Add potassium ion solutions of different concentrations to the solution, so that the potassium ion concentration in the solution changes: 1mM, 2mM, 4mM, 8mM, 16mM, and measure the voltage response under different potassium ion concentrations. Test of sodium ion detection performance: Add sodium ion solutions of different concentrations to the solution, so that the sodium ion concentration in the solution changes: 10mM, 20mM, 40mM, 80mM, 160mM, 320mM, and measure the voltage response under different sodium ion concentrations. Calcium ion detection performance test: add different concentrations of calcium ion solution to the solution, so that the calcium ion concentration in the solution changes: 0.01mM, 0.1mM, 1mM, 10mM, 100mM, measure the voltage response under different calcium ion concentrations. pH detection performance test: add different concentrations of NaOH solution to the solution, so that the pH in the solution changes: 6, 6.5, 7, 7.5, 8, measure the voltage response at different pH values.

[0126] Example 5: The same magnetic navigation multimodal electronic catheter as in Example 1 was used in the blood vessels of experimental pigs to observe its in vivo navigation performance. After the experimental pigs were anesthetized and their vital signs were stable, they were placed supinely on the experimental bed. The flat-panel detector of the angiography system was aimed at the area to be imaged, and the dynamics within the blood vessels were observed in real time on the monitor. The permanent magnet (150 mm in diameter and 20 mm in height) was manipulated to generate an effective magnetic field, allowing the navigation multimodal electronic catheter to navigate in the target blood vessel: entering from the inferior vena cava of the experimental pig to reach the branch of the left renal vein. The results are shown in the attached figure. Fig. 9 shown.

[0127] In some selectable embodiments, the function / operation mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the function / operation involved, the two boxes shown in succession can actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiment presented and described in the flow chart of the present invention is provided by way of example, for the purpose of providing a more comprehensive understanding of technology. The disclosed method is not limited to the operation and logic flow presented herein. Selectable embodiments are expected, wherein the order of various operations is changed and the sub-operation of a part for which is described as a larger operation is performed independently.

[0128] In addition, although the present invention is described in the context of functional modules, it should be understood that, unless otherwise specified, one or more of the functions and / or features can be integrated into a single physical device and / or software module, or one or more functions and / or features can be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the present invention. More specifically, in view of the properties, functions and internal relationships of the various functional modules in the device disclosed herein, the actual implementation of the module will be understood within the conventional skills of the engineer. Therefore, those skilled in the art can implement the present invention set forth in the claims without excessive experimentation using ordinary techniques. It is also understood that the specific concepts disclosed are merely illustrative and are not intended to limit the scope of the present invention, which is determined by the full scope of the appended claims and their equivalents.

[0129] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several programs to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc., which can store program codes.

[0130] The logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable programs for implementing the logical functions, and may be embodied in any computer-readable medium for use by a program execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch and execute a program from a program execution system, device or apparatus), or in conjunction with such program execution systems, devices or apparatuses. For purposes of this specification, a "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by a program execution system, device or apparatus, or in conjunction with such program execution systems, devices or apparatuses.

[0131] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0132] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable program execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0133] In the above description of this specification, the description with reference to the terms "one embodiment / example", "another embodiment / example" or "certain embodiments / examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0134] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

[0135] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A magnetically driven multi-modal electron catheter, characterized in that: The magnetically driven multi-modal electron conduit comprises: a multi-channel ferromagnetic conduit, and a plurality of multi-parameter microelectrodes located at one end of the multi-channel ferromagnetic conduit; The multi-channel ferromagnetic catheter is used for magnetically driven navigation and conduction of the magnetically driven multi-modal electronic catheter, and the multi-parameter microelectrode is used for biochemical detection; The multi-channel ferromagnetic catheter includes a magnetically responsive substrate outer sheath, a hollow channel and a plurality of liquid metal channels; the hollow channel and the plurality of liquid metal channels are embedded in the magnetically responsive substrate outer sheath; the multi-parameter microelectrode is inserted into the liquid metal channel, and the material of the magnetically responsive substrate outer sheath includes: a composite material obtained by thermoplastic flexible polymer and magnetic particles in a preset proportion.

2. The magnetically driven multi-mode electron catheter according to claim 1, characterized in that: The thermoplastic flexible polymer includes polydimethylsiloxane, and the magnetic particles include neodymium iron boron particles; the material of the outer sheath of the magnetic response matrix includes: a composite material obtained by the polydimethylsiloxane and the neodymium iron boron particles in a weight ratio of 2 to 1.

3. The magnetically driven multi-mode electron catheter according to claim 1, characterized in that: The material of the liquid metal channel includes: an alloy material, and the diameter of the liquid metal channel is a first diameter.

4. The magnetically driven multi-mode electron catheter according to claim 1, characterized in that: The electrode diameter of the multi-parameter microelectrode is a first diameter; the base material of the multi-parameter microelectrode includes gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, the non-sensing area is insulated by a coating of an insulating coating material, and the non-sensing area is located on a side close to the multi-channel ferromagnetic conduit; the sensing area is a gold wire of a preset length exposed on the other side.

5. The magnetically driven multi-mode electron catheter according to claim 4, characterized in that: The multi-parameter microelectrode comprises: a working electrode; a microelectrode surface modified to the sensing area by an oxidative material, the working electrode being used for metabolite detection; a microelectrode surface modified to the sensing area by a conductive polymer film, the working electrode being used for ion detection.

6. A method for preparing a magnetically driven multi-modal electron conduit, characterized in that: The method comprises: A composite material is obtained by using a thermoplastic flexible polymer and magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is prepared by using the composite material; A multi-parameter microelectrode is prepared and inserted into the liquid metal channel of the multi-channel ferromagnetic conduit to obtain a magnetically driven multi-modal electron conduit.

7. The method for preparing a magnetically driven multi-modal electron conduit according to claim 6, characterized in that: The thermoplastic flexible polymer includes polydimethylsiloxane, the magnetic particles include neodymium iron boron particles, the composite material is obtained by using the thermoplastic flexible polymer and the magnetic particles in a preset ratio, and a multi-channel ferromagnetic conduit is made from the composite material, including: The polydimethylsiloxane and the curing agent are uniformly mixed in a first preset ratio by mass to obtain a prepolymer matrix; Mixing the NdFeB particles and the prepolymer matrix uniformly in a second preset mass ratio to obtain a composite material; The composite material and liquid metal are respectively loaded into the barrel of a 4D multi-axis printing device for printing, and the obtained catheter is heated, solidified and magnetized to obtain a multi-channel ferromagnetic catheter.

8. The method for preparing a magnetically driven multi-modal electron conduit according to claim 6, characterized in that: The base material of the multi-parameter microelectrode includes gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps: Insulating the gold wire in the non-sensing area, and coating the gold wire in the sensing area with a layer of carbon nanotube slurry as an electron mediator layer; Modifying carbon nanotube material at the tip of the microelectrode in the sensing area; According to the target detection object, a functional coating is modified on the surface of the microelectrode in the sensing area, and a drying process is performed to obtain a working electrode that can be used for metabolite detection.

9. The method for preparing a magnetically driven multi-modal electron conduit according to claim 6, characterized in that: The base material of the multi-parameter microelectrode includes gold wire; the multi-parameter microelectrode includes a non-sensing area and a sensing area, and the multi-parameter microelectrode includes: a working electrode, and the working electrode is prepared by the following steps: Insulating the gold wire in the non-sensing area, and electroplating a conductive polymer film on the surface of the gold wire in the sensing area; According to the target detection object, the surface of the gold wire in the sensing area is modified with a functional coating and dried to obtain a working electrode that can be used for ion detection.

10. The method for preparing a magnetically driven multi-modal electron conduit according to claim 7, characterized in that: The multi-parameter microelectrode is prepared by the following steps: Modifying the surface of the gold wire with Ag / AgCl slurry to obtain a reference electrode; or using the Ag / AgCl electrode wire as a reference electrode; the base material of the multi-parameter microelectrode includes the gold wire; The surface of the gold wire is modified with platinum nanoparticles by an electrodeposition method to obtain a counter electrode; or a platinum electrode wire is used as a counter electrode.

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