Magnetic drive multimodal electronic catheter and method of making same

Abstract

The application discloses a kind of magnetic drive multimodal electronic catheter and preparation method thereof.The magnetic drive multimodal electronic catheter includes: multi-channel ferromagnetic catheter, a plurality of multi-parameter microelectrode located at one end of the multi-channel ferromagnetic catheter;The multi-channel ferromagnetic catheter is used for the magnetic drive navigation and electric conduction of the magnetic drive 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 magnetic response base body outer sheath, hollow channel and a plurality of liquid metal channels;The hollow channel and a plurality of the liquid metal channels are embedded into the magnetic response base body outer sheath;The material of the magnetic response base body outer sheath includes: composite material obtained by thermoplastic flexible polymer and magnetic particles according to preset proportion.In the application, it is beneficial to reduce detection complexity and improve detection accuracy.The application can be widely applied in physiological parameter detection technical field.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of physiological parameter detection, and in particular to a magnetic driving multi-modal electronic catheter and a preparation method thereof. BACKGROUND

[0002] In-situ biochemical detection of deep tissue (organ, mucosa or cavity) of a living body can directly reflect the physiological state of the target tissue, and provide important information for identifying cancer or infectious diseases. In the related art, the main deep tissue detection methods include: tissue biopsy, which has a long detection period, is destructive to the body, and is difficult to obtain samples for deeper lesions, which limits its application in certain cases. Electronic catheters integrated with micro-nano sensors require long guiding operations and constant rotation of the catheter when operating these electronic catheters to reach certain curved distal targets, which is complex to use and the detection effect is not ideal. Magnetic driving catheters have not been functionally integrated and cannot realize functions such as electrical conduction and biochemical sensing. SUMMARY

[0003] The present application aims to at least partially solve one of the problems in the prior art.

[0004] To this end, the present application aims to provide an efficient magnetic driving multi-modal electronic catheter and a preparation method thereof.

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

[0006] On the one hand, the embodiments of the present application provide a magnetic driving multi-modal electronic catheter, comprising: 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 magnetic driving navigation and electrical conduction of the magnetic driving multi-modal 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 comprises a magnetic response base body 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 base body outer sheath; the material of the magnetic response base body outer sheath comprises: a composite material obtained from a thermoplastic flexible polymer and magnetic particles in a predetermined proportion. The multi-channel ferromagnetic catheter in the present application can be precisely navigated, the multi-parameter microelectrode can measure multiple parameters of biochemical substances, and rapid and accurate detection of deep tissue is realized, which is conducive to reducing detection complexity and improving detection accuracy.

[0007] In addition, the magnetic driving multi-modal electronic catheter according to the above embodiments of the present application can also have the following additional technical features:

[0008] Further, in an embodiment of the present application, the thermoplastic flexible polymer comprises polydimethylsiloxane, and the magnetic particles comprise neodymium-iron-boron particles; the material of the magnetically responsive outer sheath comprises a composite material obtained from the polydimethylsiloxane and the neodymium-iron-boron particles in a weight ratio of 2:1.

[0009] Further, in an embodiment of the present application, the material of the liquid metal channel comprises an alloy material, and the diameter of the liquid metal channel is a first diameter.

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

[0011] Further, in an embodiment of the present application, the multi-parameter microelectrode comprises a working electrode for metabolite detection, and a working electrode for ion detection.

[0012] In another aspect, an embodiment of the present application provides a preparation method of a magnetically driven multi-modal electronic catheter, the method comprising:

[0013] obtaining a composite material from the thermoplastic flexible polymer and the magnetic particles in a preset ratio, and preparing the multi-channel ferromagnetic catheter from the composite material;

[0014] preparing a multi-parameter microelectrode, and inserting the multi-parameter microelectrode into the liquid metal channel of the multi-channel ferromagnetic catheter to obtain the magnetically driven multi-modal electronic catheter.

[0015] Further, in an embodiment of the present application, the thermoplastic flexible polymer comprises polydimethylsiloxane, and the magnetic particles comprise neodymium-iron-boron particles; the material of the magnetically responsive outer sheath comprises a composite material obtained from the polydimethylsiloxane and the neodymium-iron-boron particles in a weight ratio of 2:1.

[0016] mixing the polydimethylsiloxane and the curing agent uniformly in a first preset ratio by mass to obtain a prepolymer substrate;

[0017] mixing the neodymium-iron-boron particles and the prepolymer substrate uniformly in a second preset ratio by mass to obtain a composite material;

[0018] The composite material and the liquid metal are respectively loaded into barrels of a 4D multi-axis printing device for printing, and the obtained conduit is subjected to heating, curing and magnetization treatment, so as to obtain a multi-channel ferromagnetic conduit.

[0019] Further, the preparation method of the magnetic driving multi-modal electronic conduit provided in the embodiment of the present application, the base material of the multi-parameter microelectrode comprises a gold wire; the multi-parameter microelectrode comprises a non-sensing region and a sensing region, and the multi-parameter microelectrode comprises a working electrode, which is prepared by the following steps:

[0020] The gold wire of the non-sensing region is subjected to insulation treatment, and the gold wire of the sensing region is coated with a layer of carbon nanotube paste as an electronic mediator layer;

[0021] The carbon nanotube material is modified on the top end of the microelectrode of the sensing region;

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

[0023] Further, the preparation method of the magnetic driving multi-modal electronic conduit provided in the embodiment of the present application, the base material of the multi-parameter microelectrode comprises a gold wire; the multi-parameter microelectrode comprises a non-sensing region and a sensing region, and the multi-parameter microelectrode comprises a working electrode, which is prepared by the following steps:

[0024] The gold wire of the non-sensing region is subjected to insulation treatment, and the surface of the gold wire of the sensing region is electroplated with a conductive polymer film;

[0025] According to the target detection object, a functional coating is modified on the surface of the gold wire of the sensing region and is subjected to drying treatment, so as to obtain a working electrode that can be used for ion detection.

[0026] Further, the preparation method of the magnetic driving multi-modal electronic conduit provided in the embodiment of the present application, the multi-parameter microelectrode is prepared by the following steps:

[0027] The surface of the gold wire is modified with Ag / AgCl paste to obtain a reference electrode; or, an Ag / AgCl electrode wire is used as the reference electrode; the base material of the multi-parameter microelectrode comprises a 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 the counter electrode.

[0029] The electronic catheter provided by the embodiment of the present application comprises: a multi-channel ferromagnetic catheter and a plurality of multi-parameter microelectrodes located at one end of the multi-channel ferromagnetic catheter; the multi-channel ferromagnetic catheter is used for magnetic driving navigation and electric conduction of the magnetic driving multi-modal electronic catheter; the multi-parameter microelectrodes are inserted into the liquid metal channels; the multi-parameter microelectrodes are used for biochemical detection; the multi-channel ferromagnetic catheter comprises a magnetic response base 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 base outer sheath; the material of the magnetic response base outer sheath comprises a composite material obtained by a thermoplastic flexible polymer and magnetic particles in a preset proportion. The multi-channel ferromagnetic catheter in the present application can be precisely navigated, the multi-parameter microelectrodes can measure the multi-parameters of biochemical substances, the rapid and accurate detection of deep tissues is realized, the detection complexity is reduced, and the detection accuracy is improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following introduces the drawings of the related technical solutions in the embodiments of the present application or the prior art. It should be understood that the drawings in the following introduction are only for the convenience of clearly describing some embodiments in the technical solutions of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0031] Figure 1 A perspective view of one embodiment of the magnetic driving multi-modal electronic catheter provided by the present application;

[0032] Figure 2 An axial cross-sectional view of one embodiment of the magnetic driving multi-modal electronic catheter provided by the present application;

[0033] Figure 3 A cross-sectional view of one embodiment of the magnetic driving multi-modal electronic catheter provided by the present application;

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

[0035] Figure 5 A magnetic deformation curve of the magnetic driving multi-modal electronic catheter provided by the present application;

[0036] Fig. 6(a) is a resistance curve of the magnetic driving multi-modal electronic catheter provided by the present application at different pH values;

[0037] Fig. 6(b) is a resistance curve of the magnetic driving multi-modal electronic catheter provided by the present application at different temperatures;

[0038] Figure 7(a) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to glucose;

[0039] Figure 7(b) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to creatinine;

[0040] Figure 7(c) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to uric acid;

[0041] Figure 7(d) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to hydrogen peroxide;

[0042] Figure 8(a) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to potassium ion;

[0043] Figure 8(b) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to sodium ion;

[0044] Figure 8(c) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to calcium ion;

[0045] Figure 8(d) is a plot of the electrochemical response of the magnetic driving multi-modal electronic catheter provided by the present application to pH;

[0046] Figure 9 Figure 9 is a schematic diagram showing the navigation of the magnetic driving multi-modal electronic catheter provided by the present application in the blood vessels of a pig. DETAILED DESCRIPTION

[0047] Embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or like reference numerals represent the same or like elements or components having the same or similar functions throughout the several several views. The embodiments described below with reference to the drawings are exemplary only, and are merely intended to explain the present application, and should not be understood as limiting the present application. For the step numbers in the following embodiments, they are only set 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 embodiments can be adaptively adjusted according to the understanding of those skilled in the art.

[0048] In-situ biochemical detection of human deep tissue (organs, mucosa or cavities) can directly reflect the physiological state of the target tissue, providing important information for the identification of cancerous or infectious diseases. Currently, the main method for in-situ biochemical detection of deep tissue in clinical practice is tissue biopsy: using surgical instruments to pinch, puncture, or other means to remove the target tissue, then performing lysis or sectioning of the tissue, and then checking the pathological or immunological state of the tissue to determine the pathological state of the tissue. However, this method has a long detection period, 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 integrated with micro / nano sensors have been gradually applied to measure biochemical information in target tissues. These electronic catheters integrate micro / nano sensing components and flexible electronic devices into interventional surgical catheters or guide wires, endowing the instrument with the function of real-time detection and digital communication. Compared with traditional tissue biopsy methods, the electronic catheter can more directly detect the state of the target organ or tissue during the interventional surgery, providing more timely and effective guidance for the disease. For example, some embodiments integrate a microelectrode array into a flexible balloon catheter to prepare a multi-channel electronic catheter for simultaneous monitoring of temperature and electrophysiological data. Some embodiments integrate a microneedle array with a surgical catheter to prepare a multi-parameter bioelectronic catheter. The catheter can effectively detect biochemical signals in the bladder and uterus, including ion and metabolite analytes. However, these electronic catheters rely on manual twisting to achieve steering, and this passive steering is often ineffective and inefficient, especially in narrow and curved paths (such as blood vessels or intestinal tracts). Because the catheter will produce sudden shaking or jerking due to friction, it is difficult to predict the direction of its movement, reducing the stability of the operation.

[0049] Magnetic actuation catheters with microscale dimensions can be actively navigated in complex in vivo environments in a remote-controlled manner. Magnetic actuation catheters are typically fabricated based on a flexible polymer matrix (e.g., polydimethylsiloxane) and ferromagnetic microparticles / nanoparticles (e.g., neodymium iron boron and magnetite). The flexible polymer matrix provides flexibility to the magnetic actuation catheter and immobilizes the dispersed ferromagnetic particles. The ferromagnetic particles are the main source of the magnetic actuation properties of the catheter, which can generate a magnetic dipole moment in the presence of an external magnetic field, and in turn, generate forces and torques between the particles. By precisely calculating these generated torques or forces, the arrangement and motion of the particles can be designed, and the deformation and motion of the whole catheter can be predicted. Therefore, these magnetic actuation catheters can be precisely encoded at the microscale, enabling precise magnetic navigation in complex in vivo environments to locate target tissues while minimizing damage to surrounding tissues. Some embodiments utilize a thermoset shape memory polymer to develop a variable stiffness magnetic actuation catheter that can be manipulated by a magnetic field to move in an open workspace. Some embodiments provide a self-lubricating magnetic actuation catheter that can quickly pass through the microvessels of a cerebral artery model, thereby facilitating remote therapeutic operations for ischemic stroke. Nonetheless, existing magnetic actuation catheters have not achieved the integration of biochemical sensing functions.

[0050] To achieve the integration of magnetic actuation catheters and biochemical sensing functions, rigid electronic components (such as electrodes, wires, and solder joints) typically need to be introduced, which is inconsistent with the high flexibility of the magnetic actuation catheter itself. Traditional methods embed wires inside the catheter or wrap wires around the surface of the catheter to achieve electrical conduction, and then solder 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) inside a magnetic actuation catheter to prepare a multifunctional magnetic actuation electronic catheter for electrocardiogram and bioimpedance monitoring. However, the integration of rigid electronic components reduces the flexibility of the catheter, resulting in a decrease in its magnetic-induced deformation, especially in multi-channel catheters. On the other hand, liquid metals have both metal electrical conductivity and fluid deformability, and are widely used in flexible electronic products. Liquid metals exhibit deformable, reconfigurable fluid properties like water at room temperature, while also exhibiting high electrical conductivity, thermal conductivity properties like metals. Using liquid metals instead of traditional rigid wires facilitates the electrical conductivity of magnetic actuation catheters without compromising their flexibility. However, it is difficult to integrate multiple liquid metal channels into a magnetic actuation catheter with microscale dimensions in terms of manufacturing technology. In summary, although magnetic actuation catheters have great potential in the biomedical field, several key issues hinder their application in the clinic. 1) Lack of integrated multi-modal sensing components limits the multifunctionality that can be achieved by magnetic actuation catheters; 2) embedding multiple rigid electronic wires and solder joints inside the catheter limits the flexibility of the magnetic catheter; 3) lack of advanced manufacturing technology to integrate multiple liquid metal bundles into a magnetic actuation catheter with microscale dimensions.

[0051] Here, we developed a novel magnetically actuated multi-modal electronic catheter based on liquid metal, flexible polymer and ferromagnetic particles. It is multi-modal in that it integrates magnetic actuation, electrical conductivity, multi-analyte detection, and drug delivery. It can navigate in confined environments by controlling the magnetic field and perform in-situ multi-analyte detection and drug delivery at the target site. The magnetically actuated multi-modal electronic catheter consists of two components: a super-flexible multi-channel ferromagnetic catheter and six multi-parameter microelectrodes at its tip. The super-flexible multi-channel ferromagnetic catheter adopts a "multi-channel core-sheath" structure, with a flexible polymer (polydimethylsiloxane) as the matrix and uniformly dispersed ferromagnetic micro / nano particles (neodymium-iron-boron particles). Unlike traditional rigid wires, the super-flexible multi-channel ferromagnetic catheter has six liquid metal wires embedded as conductive materials, which can fully contact the microelectrodes at the tip, thus eliminating the need for additional welding processes. In terms of manufacturing, we used a self-developed 4D multi-axis printing system to achieve one-step forming of the super-flexible multi-channel ferromagnetic catheter, with six liquid metal wires directly embedded in a micro magnetic tube with a diameter of less than 2.5 mm. The magnetically actuated multi-modal 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 summary, the magnetically actuated multi-modal electronic catheter opens up new avenues for precise positioning and in-situ biosensing of deep tissues. With features such as miniaturization, remote control, and multi-functionality, it can serve as an effective auxiliary means to address the challenges of current minimally invasive surgery.

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

[0053] Firstly, the common method for detecting deep tissues in clinical practice is tissue biopsy. This method requires the use of surgical instruments to extract target tissues through methods such as clamping and puncturing. Then, the target tissues are processed for in-vitro lysis or slicing, and the physiological information and pathological state of the target tissues are obtained through laboratory pathological or immunological examination. This method has a long detection cycle, is destructive to the body, and is difficult to obtain samples for deeper lesions, which limits its application in certain situations.

[0054] Secondly, based on the above limitations, electronic catheters integrated with micro-nano sensors are gradually applied to measure in-situ biochemical information in target tissues. Compared with tissue biopsy, the electronic catheter can more directly detect the state of the target organ or tissue, and provide more timely and effective disease guidance. However, when steering them, the proximal end of the catheter needs to be manually twisted towards the desired direction. This twisting operation is often inefficient and unpredictable, because friction can cause the pre-bent tip of the catheter to move suddenly, especially when passing through narrow and curved paths. Therefore, when operating these electronic catheters to reach some curved distal targets, a long guiding operation and constant rotation of the catheter are required to prevent the pre-bent tip from being stuck in the path.

[0055] Thirdly, the magnetic driven catheter can be controlled by an external magnetic field to produce active deformation and movement, and can navigate in a remote-controlled manner in a complex in-vivo environment. The movement direction can be predicted and calculated, and the target tissue can be accurately positioned while minimizing damage to the surrounding tissue. However, the existing magnetic driven catheter has not achieved functional integration, and cannot realize functions such as electrical conduction and biochemical sensing. Because the functionalization of the magnetic driven catheter usually requires embedding wires inside the catheter or winding wires on the surface of the catheter for electrical conduction, and then welding electrodes to the wires to realize biochemical detection functions. These rigid electronic components (such as electrodes, wires and welding points) are contradictory to the high flexibility of the magnetic driven catheter, which reduces the flexibility of the magnetic driven catheter and weakens the control of the magnetic field on the catheter, especially in the demand for multi-channel catheters.

[0056] Fourthly, on the other hand, liquid metal has both metal electrical conductivity and fluid deformation, and can replace traditional rigid wires as flexible conductor materials for magnetic driven catheters, achieving high electrical conductivity while not reducing the flexibility of the magnetic driven catheter. However, it is difficult to integrate multiple liquid metal channels into a small-sized magnetic driven catheter in terms of manufacturing technology.

[0057] Therefore, the present research develops a new type of magnetic driven multi-modal electronic catheter, which overcomes the problems that tissue biopsy methods cannot detect biochemical information of target tissues in-situ, existing electronic catheters are difficult to accurately control steering, and magnetic driven catheters lack multi-modal sensing functions, and opens up a new way for accurate positioning of deep tissues and in-situ biosensing.

[0058] The magnetic driven multi-modal electronic catheter and implementation method according to the embodiments of the present application are described in detail below with reference to the accompanying drawings. First, a magnetic driven multi-modal electronic catheter according to an embodiment of the present application is described with reference to the accompanying drawings.

[0059] Figure 1 is a structural schematic diagram of a magnetic driven multi-modal electronic catheter according to an embodiment of the present application, and the system specifically comprises:

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

[0061] The multi-channel ferromagnetic catheter is used for magnetic driving navigation and electric conduction of the magnetic driving multi-modal electronic catheter, the multi-parameter microelectrodes are inserted into the liquid metal channels, and the multi-parameter microelectrodes are used for biochemical detection.

[0062] The multi-channel ferromagnetic catheter comprises a magnetic response base 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 base outer sheath; and a material of the magnetic response base outer sheath comprises a composite material obtained from a thermoplastic flexible polymer and magnetic particles in a preset ratio.

[0063] Optionally, in the magnetic driving multi-modal electronic catheter, the thermoplastic flexible polymer comprises polydimethylsiloxane, and the magnetic particles comprise neodymium iron boron particles; and a material of the magnetic response base outer sheath comprises a composite material obtained from the polydimethylsiloxane and the neodymium iron boron particles in a weight ratio of 2:1.

[0064] Optionally, in the magnetic driving multi-modal electronic catheter, a material of the liquid metal channel comprises an alloy material, and a diameter of the liquid metal channel is a first diameter.

[0065] Optionally, in the magnetic driving multi-modal electronic catheter, an electrode diameter of the multi-parameter microelectrode is a first diameter; a base material of the multi-parameter microelectrode comprises gold wire; the multi-parameter microelectrode comprises a non-sensing area and a sensing area; the non-sensing area is insulated by an insulating coating material; and the non-sensing area is located on one side close to the multi-channel ferromagnetic catheter; and the sensing area is a gold wire of a preset length exposed on the other side.

[0066] Optionally, in the magnetic driving multi-modal electronic catheter, the multi-parameter microelectrode comprises a working electrode; an electrode surface of the working electrode is modified by an oxidizing material to the sensing area, and the working electrode is used for metabolite detection; and an electrode surface of the working electrode is modified by a conductive polymer film to the sensing area, and the working electrode is used for ion detection.

[0067] It can be understood that, based on the above-mentioned difficulty of in-situ biochemical detection in deep tissues, the technology develops a new type of magnetic driving multi-modal electronic catheter by using liquid metal, flexible polymer and ferromagnetic particles. The magnetic driving multi-modal electronic catheter mainly comprises two components: an ultra-flexible multi-channel ferromagnetic catheter and six multi-parameter microelectrodes located at a tip of the ultra-flexible multi-channel ferromagnetic catheter (see Figure 1 and Figure 2 ). The former is a main source of magnetic driving navigation and electric conduction performance of the catheter, and the latter is a source of biochemical detection function of the catheter.

[0068] For the super flexible multi-channel ferromagnetic catheter, it is a typical "multi-channel core-sheath" structure, which contains a magnetic response base outer sheath, six liquid metal channel cores and a hollow channel (Fig. 1). Figure 2 and Fig. 2. Figure 3 The main material of the magnetic response base outer sheath is a magnetic response ink, i.e. a composite material obtained by a certain proportion of polydimethylsiloxane and neodymium iron boron nanoparticles. After curing and magnetization by a pulsed magnetic field, it can produce a series of dynamic deformations such as swinging, turning, advancing or retreating 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 about 16℃), which not only provides 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 the transmission of external drugs. The diameter of the super flexible multi-channel ferromagnetic catheter is about 2.5mm, and the diameter of each liquid metal channel or hollow channel is about 200μm, and the length is not fixed and can be changed according to the application scene.

[0069] For the multi-parameter microelectrode of the application, four are working electrodes, one is a counter electrode and one is a reference electrode. The diameter of each microelectrode is about 200μm, which is consistent with the diameter of the liquid metal channel in the super 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 (Fig. 3), in order to ensure the accuracy and safety of the microelectrode. The sensing area of the microelectrode is concentrated on the exposed tip of the gold wire, with an exposed length of about 1mm, which needs to be modified with functional materials of the corresponding detection object in the subsequent process, in order to realize the simultaneous detection of the concentration of multiple biochemicals. Figure 4

[0070] For the multi-parameter microelectrode of the application, two sets of microelectrode combinations are provided to facilitate the detection of different biochemicals: metabolite detection microelectrode and ion detection microelectrode. The metabolite microelectrode combination includes four working electrodes (glucose, creatinine, uric acid and hydrogen peroxide electrodes), one counter electrode and one reference electrode; the ion microelectrode combination includes four working electrodes (potassium ion, sodium ion, calcium ion and pH electrode), one counter electrode and one reference electrode. At the same time, due to the small diameter of the single microelectrode wire, it is easy to cause low detection sensitivity. Therefore, in order to solve the problem of decreased sensing performance caused by small electrode area, the application uses carbon nanotubes as the electronic mediator 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, to realize high sensitivity detection of biochemicals by single microelectrode.

[0071] ​It should be noted that the magnetic response matrix material of the super-soft multi-channel ferromagnetic catheter in the present technology is polydimethylsiloxane doped with neodymium iron boron nanoparticles. Neodymium iron boron can be replaced by other magnetic particles such as magnetite, and polydimethylsiloxane can be replaced by SEBS thermoplastic elastomer, Ecoflex thermoplastic flexible polymer matrix, etc.

[0072] The ratio of polydimethylsiloxane and neodymium iron boron particles in the magnetic response matrix material of the super-soft multi-channel ferromagnetic catheter in the present technology is 2:1 by mass. This ratio can also be changed according to requirements. Increasing the number of neodymium iron boron particles will increase the magnetic properties of the catheter, but will weaken the mechanical toughness;

[0073] The super-soft multi-channel ferromagnetic catheter in the present technology has six liquid metal channels for multi-parameter biochemical detection, and the number of channels can be increased or decreased according to actual detection needs.

[0074] The super-soft multi-channel ferromagnetic catheter in the present technology has one liquid metal channel for in-situ drug delivery, and the number of channels can be increased or decreased according to actual drug delivery needs.

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

[0076] The multi-parameter microelectrode in the present technology has carbon nanotubes modified on the surface of the metabolite microelectrode as an electronic mediator material, which can be replaced by graphene, MXene, etc.

[0077] The multi-parameter microelectrode in the present technology has poly(3,4-ethylenedioxythiophene)-polystyrene sulfonic acid modified on the surface of the ion microelectrode as an ion-electron transducer, which can be replaced by conductive polymer films such as polypyrrole and polyaniline.

[0078] The multi-parameter microelectrode in the present technology uses Ag / AgCl paste to modify the surface of the gold wire as a reference electrode, which can also use Ag / AgCl electrode wire as a reference electrode.

[0079] The multi-parameter microelectrode in the present technology uses electrodeposition to modify platinum nanoparticles on the surface of the gold wire as a counter electrode, which can also use platinum electrode wire as a counter electrode.

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

[0081] The counter electrode in the present scheme is shared by multiple working electrodes. In the case of a large number of working electrodes or other situations, the number of counter electrodes can be increased.

[0082] The microelectrode insulation material selected in the present technology is parylene, and other biocompatible insulation coating materials such as polyimide and polydimethylsiloxane can also be selected.

[0083] In the present technology, only eight biochemicals such as glucose, creatinine, uric acid, hydrogen peroxide, potassium ions, sodium ions, calcium ions and pH are integrated as examples for sensing, and the microelectrodes can be arbitrarily combined, increased or reduced according to actual detection needs to realize simultaneous monitoring of multiple biochemicals. The detectable biochemicals of the microelectrode are not limited to the above eight, and can include urea, dopamine, adrenaline and other biochemical indicators.

[0084] Therefore, in view of the limitations of the prior art in the first aspect, the present application adopts a magnetic navigation multi-modal electronic catheter for micro-intervention surgery, which can directly reach the target tissue site and perform in-situ multi-parameter biochemical detection to realize real-time and continuous monitoring of the biochemical concentration of the target tissue. Without taking out the tissue for laboratory processing and inspection, a series of complex and time-consuming operations are avoided.

[0085] In view of the limitations of the prior art in the second aspect, the present application adopts a magnetic response material to prepare the catheter, which is solidified and magnetized by a pulsed magnetic field. Under the action of an external magnetic field, the catheter can produce a series of dynamic deformations such as swinging, turning, advancing or retreating. By remotely controlling the strength and direction of the external magnetic field, the catheter can be accurately magnetically navigated in a complex in-vivo environment to locate the target tissue while minimizing damage to the surrounding tissue.

[0086] In view of the limitations of the prior art in the third aspect, the present application uses liquid metal instead of traditional rigid wires as conductive material, which is embedded in the magnetic response matrix of the catheter. Not only can it provide comparable electrical conductivity to traditional wires (resistance of about 3.68Ω), but also protect the flexibility of the entire catheter. The present application uses a small-sized electrode wire as a sensing element, which is integrated into the catheter head without welding process and is subsequently modified for corresponding functions, realizing multi-parameter sensing of biochemicals such as glucose, creatinine, potassium ions, etc.

[0087] In view of the limitations of the prior art in the fourth aspect, the present application uses a self-developed 4D multi-axis printing technology to realize one-step forming of a super-flexible multi-channel ferromagnetic catheter. During the printing process, six liquid metal beams can be directly embedded in the magnetic response matrix tube.

[0088] The present application selects electrochemical detection method to detect the concentration of biochemicals. Since the detection sensitivity of the electrode is related to the size of the electrode sensing area, the microelectrode needs to be modified with functional materials according to the sensing situation to reserve appropriate sensing area. The present application reserves 1mm of the electrode tip as the sensing area. This length can meet the detection sensitivity and also ensure the sensing stability and anti-interference of the microelectrode.

[0089] Secondly, the application provides a preparation method of the magnetic driving multi-modal electronic catheter, mainly including the following steps:

[0090] The composite material is obtained by mixing the thermoplastic flexible polymer and the magnetic particles according to a preset ratio, and the multi-channel ferromagnetic catheter is prepared from the composite material;

[0091] The multi-parameter microelectrode is prepared and inserted into the liquid metal channel of the multi-channel ferromagnetic catheter to obtain the magnetic driving multi-modal electronic catheter.

[0092] Optionally, in the preparation method of the magnetic driving multi-modal electronic catheter, the thermoplastic flexible polymer includes polydimethylsiloxane, the magnetic particles include neodymium iron boron particles, and the composite material is obtained by mixing the thermoplastic flexible polymer and the magnetic particles according to a preset ratio, and the multi-channel ferromagnetic catheter is prepared from the composite material, including:

[0093] The polydimethylsiloxane and a curing agent are uniformly mixed according to a first preset ratio to obtain a prepolymer substrate;

[0094] The neodymium iron boron particles and the prepolymer substrate are uniformly mixed according to a second preset ratio to obtain a composite material;

[0095] The composite material and the liquid metal are respectively loaded into the barrels of the 4D multi-axis printing equipment for printing, and the obtained catheter is subjected to heating curing and magnetization treatment to obtain the multi-channel ferromagnetic catheter.

[0096] Optionally, in the preparation method of the magnetic driving multi-modal electronic catheter, 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, which is prepared by the following steps:

[0097] The gold wire of the non-sensing area is subjected to insulation treatment, and the gold wire of the sensing area is coated with a layer of carbon nanotube paste as an electronic mediator layer;

[0098] The carbon nanotube material is modified on the top end 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 drying treatment is performed to obtain a working electrode that can be used for metabolite detection.

[0100] Optionally, in the preparation method of the magnetic driving multi-modal electronic catheter, the base material of the multi-parameter microelectrode comprises a gold wire; the multi-parameter microelectrode comprises a non-sensing region and a sensing region, and the multi-parameter microelectrode comprises: a working electrode, which is prepared by the following steps:

[0101] insulating treatment is performed on the gold wire of the non-sensing region, and a conductive polymer film is electroplated on the surface of the gold wire in the sensing region;

[0102] According to the target detection object, a functionalized coating is modified on the surface of the gold wire in the sensing region and is subjected to drying treatment, so as to obtain a working electrode for ion detection.

[0103] Optionally, in the preparation method of the magnetic driving multi-modal electronic catheter, the multi-parameter microelectrode is prepared by the following steps:

[0104] The surface of the gold wire is modified with Ag / AgCl slurry to obtain a reference electrode; or, an Ag / AgCl electrode wire is used as the reference electrode; the base material of the multi-parameter microelectrode comprises a 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 the counter electrode.

[0106] It can be seen that the contents of the above electronic catheter embodiments are applicable to the method embodiments, the method embodiments specifically realize the same functions as the above electronic catheter embodiments, and achieve the same beneficial effects as the above system embodiments.

[0107] The magnetic driving multi-modal electronic catheter and the preparation method thereof provided in the application will be described in detail in specific embodiments as follows:

[0108] The magnetic navigation multi-modal electronic catheter for micro-interventional surgery multi-parameter in-situ detection of the application, as shown in Figures 1 to 2 The magnetic navigation multi-modal electronic catheter for micro-interventional surgery multi-parameter in-situ detection of the application, as shown in

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

[0110] First, the polydimethylsiloxane and curing agent are mixed uniformly according to a mass ratio of 10:1 (i.e., the first preset ratio of the present application), to obtain a prepolymer matrix. Then, the neodymium-iron-boron magnetic particles and the prepolymer matrix are mixed uniformly according to a mass ratio of 2:1 (i.e., the second preset ratio of the present application), to obtain the magnetic response ink (i.e., the composite material in the present application). The magnetic response ink is loaded into a No. 1 cartridge of a self-made 4D multi-axis printing device, and the liquid metal is loaded into No. 2 to No. 7 cartridges of the 4D multi-axis printing device, and No. 8 cartridge is left empty. The printing speed is set to 18 mm / s. After printing, the pre-printed super-soft multi-channel ferromagnetic catheter is placed in a hot oven at 40°C for 12 hours for curing, and then magnetized under a 3T pulse magnetic field, to obtain the final super-soft multi-channel ferromagnetic catheter with magnetic response and multi-channel conductive characteristics.

[0111] 2. Insulation of microelectrode.

[0112] The base material of the microelectrode is mainly gold wire 121 (electrode diameter ~ 200 microns). In order to avoid interference of external tissue signals or signal crosstalk caused by contact between electrodes, the non-sensing area of the microelectrode is modified with an insulating layer 122 (which can be a parylene insulating layer). Vacuum vapor deposition process is used to evaporate the insulating material parylene on the surface of the gold wire, and only the top 1 mm of the gold wire is exposed as the sensing area. Repeating the above operation can obtain multiple gold electrode wires with exposed top and insulated bottom.

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

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

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

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

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

[0118] A counter electrode is prepared by electroplating platinum nanoparticles on the surface of the gold wire in the non-insulated area. The above-mentioned microelectrode is placed in a platinum sulfite solution, with an electroplating current of -0.0001 A and an electroplating time of 500 s. To reduce the number of microelectrodes and improve the utilization rate of microelectrodes, the integrated microelectrode combination can use one counter electrode wire as a shared reference electrode.

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

[0120] The multi-parameter microelectrode 12 is vertically inserted into the liquid metal channel of the super flexible multi-channel ferromagnetic catheter. During the insertion, the insulating region 122 of the microelectrode 12 (i.e. the non-sensing region in the present application) is in contact with the liquid metal channel 111, and the non-insulating region (123 and 124, i.e. the sensing region in the present application) is exposed on the top of the super flexible multi-channel ferromagnetic catheter for the detection of biochemical substances. A thin layer of Ag paste can also be applied on the insulating region 122 of the microelectrode, which is dried before being inserted into the liquid metal channel 111 of the super flexible multi-channel ferromagnetic catheter, so that the combination of the two is more secure. After the insertion of multiple microelectrodes, a magnetic navigation multi-modal electronic catheter capable of realizing multi-parameter in-situ detection is obtained.

[0121] The performance of the electronic catheter prepared in the present application is detected in the following examples:

[0122] Example 1: A super flexible multi-channel ferromagnetic catheter is prepared using a magnetic response ink with a mass ratio of neodymium-iron-boron magnetic particles to pre-polymer matrix of 2:1. After curing and magnetizing, a metabolite microelectrode is inserted into the top end of the super flexible multi-channel ferromagnetic catheter to obtain the magnetic navigation multi-modal electronic catheter of the present application. The magnetic navigation performance of the magnetic navigation multi-modal electronic catheter is verified as follows: The tail part of the magnetic navigation multi-modal electronic catheter without the microelectrode is fixed, and one magnetic coil is placed on each side of the top end with the microelectrode. An alternating current voltage is applied to the magnetic coils to generate a magnetic field, thereby inducing the magnetic navigation multi-modal electronic catheter to twist and deform. The alternating current voltage is varied from 0 to 2000 mV, corresponding to a magnetic field of 0 to 150 mT, and the deformation angle of the tip of the magnetic navigation multi-modal electronic catheter is observed in real time. The results are shown in FIG. 5(a) and FIG. 5(b). Figure 5 The deformation angle of the magnetic navigation multi-modal electronic catheter increases with the increase of the magnetic field, and the deformation direction of the magnetic navigation multi-modal electronic catheter can be changed according to the direction of the magnetic field.

[0123] Example 2: The magnetic navigation multi-modal electronic catheter in Example 1. The electrical conductivity performance of the magnetic navigation multi-modal electronic catheter is verified as follows: The end of the magnetic navigation multi-modal electronic catheter is connected to a multimeter through a copper wire with a diameter of 0.2 mm. The magnetic navigation multi-modal electronic catheter is immersed in solutions with different pH values, so that the pH value changes from 3 to 14, and the electrical conductivity stability of the magnetic navigation multi-modal electronic catheter in different acid-base environments is tested (as shown in FIG. 6(a)). Then the magnetic navigation multi-modal electronic catheter is immersed in water with different temperatures, so that the temperature changes from 0 to 100 degrees Celsius, and the electrical conductivity stability of the magnetic navigation multi-modal electronic catheter at different temperatures is tested (as shown in FIG. 6(b)). According to FIG. 6, the magnetic navigation multi-modal electronic catheter can maintain stable resistance under extreme pH changes and extreme temperature changes, showing excellent environmental tolerance and electrical conductivity stability. The application range of the magnetic navigation multi-modal electronic catheter far exceeds the pH value range of 6-8 and the temperature range of 35-41 degrees Celsius of the human body.

[0124] Example 3: The same magnetic navigation multi-modal electronic catheter as in Example 1, the microelectrode head of which was immersed in a PBS solution, the end of which was led out by a copper wire with a diameter of 0.2 mm and connected to a Shanghai Chenhua electrochemical workstation, and the electrochemical current response of the four metabolites of glucose, creatinine, uric acid and hydrogen peroxide was detected, as shown in FIG. 7(a), FIG. 7(b), FIG. 7(c) and FIG. 7(d). The glucose detection performance test: different concentrations of glucose solution were added to the solution, so that the glucose concentration in the solution changed: 2mM, 4mM, 6mM, 8mM, 10mM, 12mM, 14mM, 16mM, 18mM, 20mM, and the current response under different glucose concentrations was measured. The creatinine detection performance test: different concentrations of creatinine solution were added to the solution, so that the creatinine concentration in the solution changed: 0.2mM, 0.4mM, 0.6mM, 0.8mM, 1mM, and the current response under different creatinine concentrations was measured. The uric acid detection performance test: different concentrations of uric acid solution were added to the solution, so that the uric acid concentration in the solution changed: 0.2mM, 0.4mM, 0.6mM, 0.8mM, 1mM, and the current response under different uric acid concentrations was measured. The hydrogen peroxide detection performance test: different concentrations of hydrogen peroxide solution were added to the solution, so that the hydrogen peroxide concentration in the solution changed: 2mM, 4mM, 6mM, 8mM, 10mM, and the current response under different hydrogen peroxide was measured.

[0125] Example 4: The same magnetic navigation multi-modal electronic catheter as in Example 1, the microelectrode head of which was immersed in deionized water, the end of which was led out by a copper wire with a diameter of 0.2 mm and connected to a Shanghai Chenhua electrochemical workstation, and the electrochemical voltage response of the four ions of potassium ion, sodium ion, calcium ion and pH was detected, as shown in FIG. 8(a), FIG. 8(b), FIG. 8(c) and FIG. 8(d). The potassium ion detection performance test: different concentrations of potassium ion solution were added to the solution, so that the potassium ion concentration in the solution changed: 1mM, 2mM, 4mM, 8mM, 16mM, and the voltage response under different potassium ion concentrations was measured. The sodium ion detection performance test: different concentrations of sodium ion solution were added to the solution, so that the sodium ion concentration in the solution changed: 10mM, 20mM, 40mM, 80mM, 160mM, 320mM, and the voltage response under different sodium ion concentrations was measured. The calcium ion detection performance test: different concentrations of calcium ion solution were added to the solution, so that the calcium ion concentration in the solution changed: 0.01mM, 0.1mM, 1mM, 10mM, 100mM, and the voltage response under different calcium ion concentrations was measured. The pH detection performance test: different concentrations of NaOH solution were added to the solution, so that the pH in the solution changed: 6, 6.5, 7, 7.5, 8, and the voltage response under different pH values was measured.

[0126] Example 5: The same magnetic navigation multi-modal electronic catheter as in Example 1 was used in the experiment. The catheter was applied in the blood vessels of a pig to observe its in-vivo navigation performance. After the pig was anesthetized and its vital signs were stable, the pig was placed on its back on the experimental bed. The flat panel detector of the angiography system was aimed at the area to be imaged, and the dynamic in-vessel was observed in real time on the monitor. The permanent magnet (150 mm in diameter and 20 mm in height) was operated to generate a magnetic field, and the multi-modal electronic catheter was navigated in the target blood vessel: from the inferior vena cava of the pig to the left renal vein branch. The results are shown in FIG. 8. Figure 9

[0127] In some alternative embodiments, the functions / operations described in the block diagrams can not occur in the order presented in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality / operations involved. Also, the embodiments presented and described in the flowcharts are only examples of implementations and are presented for purposes of providing a thorough and complete disclosure of the overall operation of the technology. The disclosed methods are not limited to the operations and logical flows presented in the flowcharts. Alternative embodiments are possible where the order of the various operations is changed and where some of the sub-operations described as part of a larger operation are performed independently of other sub-operations.

[0128] Further, while the present technology has been described in the context of functional modules, it is to be understood that one or more of the functions and / or features can be integrated in a single physical device and / or software module, or one or more functions and / or features can be implemented in separate physical devices or software modules. It is also to be understood that detailed discussion of the actual implementation of each module is unnecessary to an understanding of the technology. Rather, the actual implementation is within the routine of an engineer's knowledge given the property, functionality and internal relationships of the various functional modules disclosed herein. Accordingly, the technology illustrated in the claims appended hereto is not to be construed as being limited in scope by the illustrative embodiments. Further, the particular concepts disclosed herein are to be considered illustrative only and not restrictive of the scope of the technology as it can exclusively pertain to the claims and their equivalents.

[0129] ​If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts of the present application that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of programs for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0130] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a list of ordered steps for implementing logical functions, and can 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 take programs from a program execution system, device or apparatus and execute them) or in conjunction with these program execution systems, devices or apparatus. For the purpose of this specification, "computer readable medium" can be any device that can contain, store, communicate, propagate or transport programs for use by program execution systems, devices or apparatus or in conjunction with these program execution systems, devices or apparatus.

[0131] More specific examples (non-exhaustive list) of the computer readable medium include the following: an electrical connection having one or more wires (electrical devices), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium can even be paper or other suitable medium on which the program can be printed, because the program can be obtained electronically, for example, by optical scanning of the paper or other medium, followed by editing, interpreting or otherwise processing, if necessary, in other suitable ways, to be electronically obtained and then stored in the computer memory.

[0132] It should be understood that various parts of the present application can be implemented in hardware, software, firmware or a combination thereof. In the above embodiments, various steps or methods can be implemented in software or firmware that is stored in memory and executed by a suitable

[0133] In the above description of the present application, reference has been made to descriptive terms such as "one embodiment," "another embodiment," "certain embodiments," or the like, which is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. The illustrative appearances of the above-described terms in various places in the specification are not intended to exclude that the terms so described can be used, along with other terms that were described as being synonymous with them, in any suitable embodiment or example of the application. Furthermore, descriptions of a particular feature, structure, material, or characteristic in relation to an embodiment or example does not mean that it is a required feature, structure, material, or characteristic to that embodiment or example.

[0134] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that changes can be made in these embodiments without departing from the principles and spirit of the application, the scope of which is defined in the following claims and their equivalents.

[0135] The above is a specific description of the preferred embodiments of the present application, but the present application is not limited to the described embodiments, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application, and these equivalent modifications or replacements are included in the scope of the present application defined by the claims.

Claims

1. A magnetically actuated multi-modal electronic catheter, comprising: The magnetic driving multi-modal electronic catheter comprises a multi-channel ferromagnetic catheter and a plurality of multi-parameter microelectrodes at one end of the multi-channel ferromagnetic catheter; The multi-channel ferromagnetic catheter is used for magnetic driving navigation and electric conduction of the magnetic driving multi-modal electronic catheter, and the multi-parameter microelectrodes are used for biochemical detection; The multi-channel ferromagnetic catheter comprises a magnetic response base 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 base outer sheath; the multi-parameter microelectrodes are inserted into the liquid metal channels, and the material of the magnetic response base outer sheath comprises a composite material obtained by a thermoplastic flexible polymer and magnetic particles in a preset proportion; The electrode diameter of the multi-parameter microelectrodes is a first diameter; the base material of the multi-parameter microelectrodes comprises gold wire; the multi-parameter microelectrodes comprise a non-sensing area and a sensing area, the non-sensing area is insulated by an insulating coating material, and the non-sensing area is located on one side close to the multi-channel ferromagnetic catheter; the sensing area is a gold wire of a preset length exposed on the other side; The multi-parameter microelectrodes comprise a working electrode; an oxidizing material is modified to the surface of the microelectrode of the sensing area, and the working electrode is used for metabolite detection; a conductive polymer film is modified to the surface of the microelectrode of the sensing area, and the working electrode is used for ion detection.

2. The magnetically driven multi-modal electronic catheter of claim 1, wherein, The thermoplastic flexible polymer comprises polydimethylsiloxane, and the magnetic particles comprise neodymium iron boron particles; the material of the magnetic response base outer sheath comprises a composite material obtained by the polydimethylsiloxane and the neodymium iron boron particles in a weight ratio of 2:

1.

3. The magnetically driven multi-modal electronic catheter of claim 1, wherein, The material of the liquid metal channel comprises an alloy material, and the diameter of the liquid metal channel is a first diameter.

4. A method of making a magnetically actuated multi-modal electronic catheter, the method comprising: The method for preparing the magnetic driving multi-modal electronic catheter according to any one of claims 1-3 comprises: a composite material is obtained by a thermoplastic flexible polymer and magnetic particles in a preset proportion, and a multi-channel ferromagnetic catheter is prepared from the composite material; a multi-parameter microelectrode is prepared, and the multi-parameter microelectrode is inserted into the liquid metal channel of the multi-channel ferromagnetic catheter to obtain the magnetic driving multi-modal electronic catheter.

5. The method of claim 4, wherein the magnetic drive multi-modal electronic catheter is prepared by, The thermoplastic flexible polymer comprises polydimethylsiloxane, and the magnetic particles comprise neodymium iron boron particles; the composite material obtained by the thermoplastic flexible polymer and the magnetic particles in the preset proportion and the multi-channel ferromagnetic catheter prepared from the composite material comprise: polydimethylsiloxane and a curing agent are uniformly mixed in a first preset mass ratio to obtain a prepolymer substrate; neodymium iron boron particles and the prepolymer substrate are uniformly mixed in a second preset mass ratio to obtain a composite material; the composite material and liquid metal are respectively loaded into barrels of a 4D multi-axis printing device for printing, and the obtained catheter is subjected to heating and curing and magnetization treatment to obtain a multi-channel ferromagnetic catheter.

6. The method of claim 4, wherein the magnetic drive multi-modal electronic catheter is prepared by, The base material of the multi-parameter microelectrodes comprises gold wire; the multi-parameter microelectrodes comprise a non-sensing area and a sensing area, and the multi-parameter microelectrodes comprise a working electrode, which is prepared by the following steps: The gold wire of the non-sensing area is insulated, and the gold wire of the sensing area is coated with a layer of carbon nanotube paste as an electronic medium layer; The top of the microelectrode of the sensing area is modified with carbon nanotube material; According to the target detection object, the microelectrode surface of the sensing area is modified with a functional coating and dried to obtain a working electrode for metabolite detection.

7. The method of claim 4, wherein the magnetic drive multi-modal electronic catheter is prepared by, 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 prepared by the following steps: The gold wire of the non-sensing area is insulated, and the surface of the gold wire of the sensing area is electroplated with a conductive polymer film; According to the target detection object, the surface of the gold wire of the sensing area is modified with a functional coating and dried to obtain a working electrode for ion detection.

8. The method of claim 5, wherein the magnetic actuation multi-modal electronic catheter is prepared by, The multi-parameter microelectrode is prepared by the following steps: The surface of the gold wire is modified with Ag / AgCl paste to obtain a reference electrode; alternatively, an Ag / AgCl electrode wire is used as a reference electrode; the base material of the multi-parameter microelectrode includes a gold wire; The surface of the gold wire is modified with platinum nanoparticles by electrodeposition to obtain a counter electrode; alternatively, a platinum electrode wire is used as a counter electrode.

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