Adjustable skin and muscle tissue stratified sampling device and method

Abstract

The invention belongs to the technical field of skin and muscle sampling, particularly relates to an adjustable skin and muscle tissue stratified sampling device and method, and solves the problems of insufficient safety and easy infection in the prior art, the adjustable skin and muscle tissue stratified sampling device comprises a fixed base, the top of the fixed base is provided with a blood pressure detector and a forearm fixator, the blood pressure detector is used for detecting the blood pressure of a big arm in real time, the forearm fixing device is used for fixing a forearm, an extracting and cleaning assembly is installed on the top of the fixing base, and through arrangement of the forearm fixing device, the blood pressure detector and other structures, the planetary gear train drives the multiple sets of fixing pressing plates to be synchronously pushed outwards, so that the flexible envelope fixing effect is achieved; the pressure sensor is matched for closed-loop control, so that the pressure sore risk caused by traditional bandage fixation is avoided; a brachial artery pulse signal is monitored in real time through the photoplethysmography technology, a physiological basis is provided for calibration of the sampling depth of the mechanical arm, and excessive tissue damage caused by blood pressure fluctuation is prevented.

Description

Technical Field

[0001] This invention relates to the field of skin and muscle sampling technology, specifically to an adjustable skin and muscle tissue layered sampling device and method. Background Technology

[0002] Currently, the adjustable skin and muscle tissue stratified sampling device is a precision medical device integrating mechanical, electronic, and biomedical technologies, specifically designed for precise stratified sampling of skin and subcutaneous tissue. Its core function is to achieve non-invasive or minimally invasive extraction from the epidermis to muscle tissue through multi-system collaboration, while possessing real-time physiological monitoring and intelligent control capabilities to ensure the safety and operational accuracy of the sampling process.

[0003] In the field of skin and muscle tissue sampling, traditional sampling devices and methods have many limitations, making it difficult to meet the stringent requirements of modern medicine for accuracy, safety, and efficiency. Traditional devices typically employ an open design, lacking effective fixation of the subject's limbs and monitoring of physiological parameters. This makes the sampling quality susceptible to changes due to patient movement or physiological fluctuations, potentially even causing tissue damage. Furthermore, existing technologies largely rely on manual operation, resulting in coarse control of sampling depth and difficulty in achieving precise layered extraction of epidermis, dermis, and subcutaneous tissue. The post-extraction cleaning process is also cumbersome and prone to cross-contamination. Summary of the Invention

[0004] The purpose of this invention is to provide an adjustable skin and muscle tissue layered sampling device and method, which solves the problems of insufficient safety and easy infection.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an adjustable skin and muscle tissue layered sampling device and method, comprising a fixed base, wherein a blood pressure detector and a forearm fixator are respectively installed on the top of the fixed base, the blood pressure detector is used for real-time detection of upper arm blood pressure, and the forearm fixator is used for fixing the forearm.

[0006] The top of the fixed base is equipped with an extraction and cleaning assembly, which is used for the extraction of skin and muscle tissue and the subsequent cleaning.

[0007] As a preferred embodiment of the present invention, the top of the fixed base is fixedly connected to two symmetrically arranged side fixing plates and two symmetrically arranged end fixing plates, the top of the side fixing plates is fixedly connected to a limiting frame, and a side placement plate is fixedly connected to one side of the limiting frame.

[0008] In a preferred embodiment of the present invention, the blood pressure detector is composed of an annular detection frame, which is fixedly connected to the top of the end fixing plate. An annular blood pressure detection device is installed on the inner wall of the annular detection frame, and an external cable is installed on one side of the annular blood pressure detection device.

[0009] As a preferred embodiment of the present invention, the forearm fixator is composed of a fixed circular frame, which is fixedly connected to the top of one of the end fixing plates.

[0010] In a preferred embodiment of the present invention, a servo motor is installed on one side of the fixed circular frame, a transmission shaft is installed at the output end of the servo motor, a rotating gear is fixedly sleeved on the outer circumferential surface of the transmission shaft, an inner groove rotating frame is rotatably installed inside the fixed circular frame, an outer gear ring is fixedly sleeved on the outer circumferential surface of the inner groove rotating frame, the rotating gear meshes with the outer gear ring, a plurality of circumferentially evenly distributed sliding cylinders are slidably assembled inside the inner groove rotating frame, both ends of the sliding cylinders are fixedly connected to limit sliding plates, one end of the two limit sliding plates is fixedly connected to a fixed pressure plate, and a fixed soft pad is fixedly connected to one side of the fixed pressure plate.

[0011] In a preferred embodiment of the present invention, the extraction and cleaning assembly comprises two lead screw motors. A transmission lead screw is mounted on the output end of each lead screw motor. A sliding block is movably sleeved on the outer circumferential surface of the transmission lead screw. Limiting sliders are fixedly connected to both ends of the sliding block. A rotating base is mounted on the top of the limiting slider. A first rotating motor module is mounted on the top of the rotating base. A first robotic arm is mounted on the output end of the first rotating motor module. A second rotating motor module is mounted on one end of the first robotic arm. A second robotic arm is mounted on the output end of the second rotating motor module. A third rotating motor module is mounted on one end of each of the two third rotating motor modules. A negative pressure extraction head and a rinsing head are respectively mounted on one end of the negative pressure extraction head. A negative pressure pipe is mounted on one end of the negative pressure extraction head, and a rinsing pipe is mounted on one end of the rinsing head.

[0012] As a preferred embodiment of the present invention, a monitoring component is jointly installed on the top of the blood pressure detector and the forearm fixator. The monitoring component consists of two monitoring bases, which are respectively installed on the top of the blood pressure detector and the forearm fixator. A monitoring arc plate is fixedly connected to the top of the two monitoring bases, and a monitor body is installed at the bottom of the monitoring arc plate.

[0013] Instructions for using the adjustable skin and muscle tissue layered sampling device:

[0014] Step S1: Fix the subject's limbs:

[0015] S1.1 Place the subject's forearm horizontally within the fixed circular frame of the forearm fixator, and start the servo motor to drive the transmission shaft to rotate;

[0016] S1.2 The drive shaft drives the rotating gear to rotate, and the inner groove frame rotates through gear meshing transmission;

[0017] S1.3 When the inner groove rotating frame rotates, the sliding cylinder slides radially under the action of centrifugal force, pushing the fixed pressure plate to expand outward;

[0018] S1.4 The fixing pad forms a flexible contact with the surface of the subject's forearm, and the ring-shaped envelope fixation is achieved through the synergistic effect of multiple sets of fixing plates;

[0019] Step S2, physiological parameter monitoring:

[0020] S2.1 Place the ring-shaped detection frame on the subject's upper arm so that the ring-shaped blood pressure detection device corresponds to the position of the brachial artery;

[0021] S2.2 Connect the monitoring device via an external cable and start the real-time blood pressure monitoring function;

[0022] S2.3 Monitoring data is synchronously transmitted to the control system to provide physiological parameters for sampling depth control;

[0023] Step S3, Sampling component positioning:

[0024] S3.1 Start the lead screw motor to drive the transmission lead screw to rotate, which in turn causes the sliding block to move axially along the guide rail;

[0025] S3.2 The limit slider and the matching guide rail work together to ensure the movement accuracy and deliver the negative pressure extraction head or rinsing head to the top of the sampling area;

[0026] S3.3. Adjust the posture of the first and second robotic arms through the coordinated drive of the first rotary motor module, the second rotary motor module and the third rotary motor module;

[0027] S3.4. Align the execution end / rinsing head vertically with the target tissue layer, with the error range controlled within ±0.2mm;

[0028] Step S4, stratified sampling operation:

[0029] S4.1 When the negative pressure extraction head contacts the skin surface, the negative pressure pipeline is activated to form an adsorption force;

[0030] S4.2 The control system dynamically adjusts the negative pressure value according to the blood pressure parameters and performs layered data collection of the epidermis, dermis, and subcutaneous tissue according to the preset program;

[0031] S4.3 After each layer of tissue is collected, the third rotating motor module automatically switches the flushing head and cleans the sampling area through the flushing pipe;

[0032] S4.4 The cleaning solution is a physiological saline solution with good compatibility with human tissue, and the rinsing pressure is controlled within the safe threshold.

[0033] Step S5, Process Monitoring and Recording:

[0034] S5.1 The monitor body obtains a panoramic view through the monitoring arc plate and performs real-time imaging of the sampling area;

[0035] S5.2 Image data is synchronously transmitted to the control system for sampling quality assessment and operation process traceability;

[0036] S5.3 When an abnormal situation is detected, the control system automatically suspends operation and triggers an alarm.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0038] 1. This invention, through the design of a forearm fixator, a blood pressure detector, and other structures, uses a planetary gear system to drive multiple sets of fixing plates to push outward synchronously, forming a flexible envelope fixation effect. Combined with closed-loop control of the pressure sensor, it avoids the risk of pressure sores caused by traditional strap fixation. Photoplethysmography technology monitors the brachial artery pulsation signal in real time, providing a physiological basis for the calibration of the robotic arm's sampling depth and preventing excessive tissue damage caused by blood pressure fluctuations.

[0039] 2. This invention, through the design of monitoring components, extraction and cleaning components, etc., integrates a 4K camera and an LED ring light into the monitoring arc plate to provide a shadow-free field of view and reduce tissue exposure time caused by repeated operations; the irrigation channel adopts a Venturi tube structure, using compressed air to eject physiological saline to form a pulse jet, and with the help of an electric heating device, ensures that the irrigation fluid temperature is appropriate, thoroughly removing residual tissue fragments while avoiding low-temperature liquid stimulation of the wound, significantly reducing the risk of iatrogenic infection. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0041] Figure 2 This is a schematic diagram of the overall structure of the monitoring component of the present invention;

[0042] Figure 3 This is a schematic diagram of the overall structure of the inner groove rotating frame of the present invention;

[0043] Figure 4 This is a schematic diagram of the overall structure of the fixed pressure plate of the present invention;

[0044] Figure 5 This is a schematic diagram of the overall structure of the extraction and cleaning component of the present invention;

[0045] Figure 6 This is a schematic diagram of the bottom of the extraction and cleaning component of the present invention.

[0046] In the diagram: 1. Fixed base; 11. Side fixing plate; 12. End fixing plate; 13. Limiting frame; 14. Side placement plate;

[0047] 2. Blood pressure monitor; 21. Circular detection frame; 22. Circular blood pressure monitoring device; 23. External cable;

[0048] 3. Forearm fixation device; 31. Fixed circular frame; 32. Servo motor; 321. Drive shaft; 322. Rotating gear; 33. Inner groove rotating frame; 331. Outer gear ring; 332. Sliding cylinder; 333. Limiting sliding plate; 334. Fixed pressure plate; 335. Fixed soft pad;

[0049] 4. Extraction and cleaning components; 41. Lead screw motor; 411. Transmission lead screw; 42. Sliding block; 421. Limiting slider; 43. Rotating base; 431. First rotating motor module; 432. First robotic arm; 433. Second rotating motor module; 434. Second robotic arm; 435. Third rotating motor module; 436. Negative pressure extraction head; 437. Negative pressure pipeline; 438. Flushing head; 439. Flushing pipeline;

[0050] 5. Monitoring components; 51. Monitoring base; 52. Monitoring curved plate; 53. Monitor body. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] Please see Figure 1-6 An adjustable skin and muscle tissue layered sampling device and method, including a fixed base 1, with a blood pressure detector 2 and a forearm fixator 3 respectively installed on the top of the fixed base 1. The blood pressure detector 2 is used for real-time detection of blood pressure in the upper arm, and the forearm fixator 3 is used for fixing the forearm.

[0053] The top of the fixed base 1 is equipped with an extraction and cleaning component 4, which is used for the extraction of skin and muscle tissue and the cleaning after extraction.

[0054] Specifically, the fixed base 1 serves as the core support platform, with its top rigidly connected to the blood pressure detector 2 and the forearm fixator 3 via bolts. The annular detection frame 21 of the blood pressure detector 2 is fitted onto the subject's upper arm, and the built-in annular blood pressure detection device 22 uses photoplethysmography technology to transmit pulse wave signals to the control system in real time via an external cable 23. The fixed circular frame 31 of the forearm fixator 3 achieves a forearm-encircling fixation through a three-point positioning mechanism. The servo motor 32 drives the transmission shaft 321 to rotate the rotating gear 322, which, through the meshing transmission of the external gear ring 331, causes the inner groove rotating frame 33 to undergo planetary gear-like revolution. The evenly distributed sliding cylinders 332 within the inner groove rotating frame 33 are pushed outward synchronously along the radial guide groove under centrifugal force, pushing the fixing pressure plate 334 to conform to the forearm contour in a flexible envelope form. The fixing soft pad 335 is made of medical-grade silicone material, and the honeycomb-shaped pore distribution achieves pressure equalization. The extraction and cleaning component 4 is driven by a dual lead screw motor 41 to drive the transmission lead screw 411. The sliding block 42 is equipped with a six-degree-of-freedom robotic arm system. The negative pressure extraction head 436 and the flushing head 438 are switched through a quick-change interface. The negative pressure pipeline 437 uses a peristaltic pump to control the adsorption gradient. The flushing pipeline 439 integrates a pulse cleaning function. The adjustable sampling depth is calibrated by linking the robotic arm encoder with blood pressure data.

[0055] In this embodiment, the top of the fixed base 1 is fixedly connected to two symmetrically arranged side fixing plates 11 and two symmetrically arranged end fixing plates 12. The top of the side fixing plates 11 is fixedly connected to a limiting frame 13, and a side placement plate 14 is fixedly connected to one side of the limiting frame 13.

[0056] Specifically, the fixed base 1 adopts an aluminum alloy frame structure, with two symmetrically arranged side fixing plates 11 and end fixing plates 12 formed by precision machining on the top. A limiting frame 13 is welded to the top of the side fixing plate 11, and its inner cavity is equipped with double-row linear guide rails to constrain the movement trajectory of the sliding block 42 of the extraction and cleaning component 4. The side wall of the limiting frame 13 is bolted to the side placement plate 14, serving as an auxiliary operating platform. The end fixing plate 12 adopts a trapezoidal reinforcing rib design, with an annular positioning groove on the top for installing the annular detection frame 21 of the blood pressure detector 2 and the fixing circular frame 31 of the forearm fixator 3, respectively. The side fixing plate 11 and the end fixing plate 12 achieve rapid positioning through wedge-shaped pins. The overall frame stiffness has been optimized by finite element analysis, and the deformation is less than 0.05mm when the robotic arm is running under full load. The open design of the limiting frame 13 facilitates the collection of medical waste, and the side placement plate 14 is equipped with tool slots to fix spare sampling heads and disinfection equipment.

[0057] In this embodiment, the blood pressure detector 2 is composed of an annular detection frame 21, which is fixedly connected to the top of the end fixing plate 12. An annular blood pressure detection device 22 is installed on the inner wall of the annular detection frame 21, and an external cable 23 is installed on one side of the annular blood pressure detection device 22.

[0058] Specifically, the annular detection frame 21 of the blood pressure detector 2 adopts a split structure, consisting of two semi-circular rings connected by a hinge, with a quick-release latch enabling rapid opening and closing. An annular blood pressure detection device 22 is embedded in the inner wall of the annular detection frame 21, whose photosensitive sensor array is arranged at 120° intervals, acquiring brachial artery pulsation signals through infrared spectroscopy analysis. The external cable 23 adopts a helical spring structure, with built-in differential signal transmission lines and power lines, and an aviation plug at the end for connection to the monitor. The radial dimension of the annular detection frame 21 is electrically adjusted by a stepper motor driving a lead screw to accommodate subjects with different arm circumferences. The inner wall of the detection frame is coated with an anti-fouling coating to prevent body fluid penetration from affecting optical performance, and a disinfectant drainage channel is provided on the surface for easy and quick cleaning after use.

[0059] In this embodiment, the forearm fixator 3 is composed of a fixed circular frame 31, which is fixedly connected to the top of one of the end fixing plates 12.

[0060] Specifically, the fixing frame 31 of the forearm fixator 3 is made of 316L stainless steel, and its inner wall is equipped with 12 sets of pressure sensors in a ring array to monitor the force of the fixing plate 334 in real time. The fixing frame 31 is precisely installed through the positioning boss of the end fixing plate 12, and a drainage hole is provided at the bottom to prevent liquid accumulation. The servo motor 32 is a brushless DC motor, which drives the transmission shaft 321 through a planetary reducer. The rotating gear 322 and the outer gear ring 331 adopt a helical gear meshing design, and the meshing clearance is controlled within 0.1mm. The inner groove rotating frame 33 is equipped with a three-stage planetary gear system, the sliding cylinder 332 uses a self-lubricating copper alloy bearing, and the limit sliding plate 333 is equipped with a bidirectional damper to prevent the fixing plate 334 from impacting during sudden stops. The fixing pad 335 has a built-in electric heating film, which is controlled at a constant temperature of 37°C through a temperature sensor to avoid muscle spasms caused by low temperature stimulation.

[0061] In this embodiment, a servo motor 32 is installed on one side of the fixed circular frame 31, and a transmission shaft 321 is installed at the output end of the servo motor 32. A rotating gear 322 is fixedly sleeved on the outer circumferential surface of the transmission shaft 321. An inner groove rotating frame 33 is rotatably installed inside the fixed circular frame 31. An outer gear ring 331 is fixedly sleeved on the outer circumferential surface of the inner groove rotating frame 33. The rotating gear 322 and the outer gear ring 331 mesh with each other. Several circumferentially distributed sliding cylinders 332 are slidably assembled inside the inner groove rotating frame 33. Both ends of the sliding cylinders 332 are fixedly connected to limit sliding plates 333. One end of the two limit sliding plates 333 is fixedly connected to a fixed pressure plate 334. A fixed soft pad 335 is fixedly connected to one side of the fixed pressure plate 334.

[0062] Specifically, the fixing plate 334 of the forearm retainer 3 adopts an arc-shaped biomimetic design with longitudinal guide grooves on its surface, forming an interlocking structure with the wave-shaped protrusions of the fixing pad 335. When the sliding cylinder 332 moves within the inner groove rotating frame 33, the limiting sliding plate 333 achieves axial constraint through a double-row angular contact ball bearing. The servo motor 32 control system integrates a pressure feedback loop, automatically stopping the drive and maintaining the current position when the contact pressure between the fixing pad 335 and the forearm reaches a preset threshold. The outer gear ring 331 is equipped with a zero-position marking sensor, automatically calibrating the initial angle each time it starts. The rotation speed of the inner groove rotating frame 33 is controlled by a closed-loop encoder to ensure a smooth and impact-free fixing process.

[0063] In this embodiment, the extraction and cleaning component 4 consists of two lead screw motors 41. A transmission lead screw 411 is installed at the output end of the lead screw motor 41. A sliding block 42 is movably sleeved on the outer circumferential surface of the transmission lead screw 411. Limiting sliders 421 are fixedly connected to both ends of the sliding block 42. A rotating base 43 is installed on the top of the limiting slider 421. A first rotating motor module 431 is installed on the top of the rotating base 43. A first robotic arm 432 is installed at the output end of the first rotating motor module 431. A second rotating motor module 433 is installed at one end of the first robotic arm 432. A second robotic arm 434 is installed at the output end of the second rotating motor module 433. A third rotating motor module 435 is installed at one end of the two third rotating motor modules 435. A negative pressure extraction head 436 and a rinsing head 438 are respectively installed at one end of the two third rotating motor modules 435. A negative pressure pipe 437 is installed at one end of the negative pressure extraction head 436, and a rinsing pipe 439 is installed at one end of the rinsing head 438.

[0064] Specifically, the lead screw motor 41 of the extraction and cleaning component 4 uses a double-lead ball screw, and the sliding block 42 is equipped with a bidirectional hydraulic damper, reducing the speed of the motion terminal to 0.5 mm / s. Limit switches are installed at both ends of the transmission lead screw 411 to prevent the robotic arm from overtraveling. The rotating base 43 uses crossed roller bearings. The first rotating motor module 431 achieves ±180° pitch movement, the second rotating motor module 433 provides ±90° yaw adjustment, and the third rotating motor module 435 controls the rotation of the tool head. The negative pressure extraction head 436 has a built-in multi-layer filter to prevent tissue from clogging the channel, and the negative pressure channel 437 is equipped with a pressure regulating valve, which can be steplessly adjusted within the range of -50 kPa to -10 kPa according to the tissue type. The irrigation head 438 adopts a Venturi tube structure, using compressed air to eject physiological saline, and the irrigation channel 439 is equipped with an electric heating device to avoid low-temperature liquid irritating the wound.

[0065] In this embodiment, a monitoring component 5 is installed on the top of the blood pressure detector 2 and the forearm fixation device 3. The monitoring component 5 consists of two monitoring bases 51, which are respectively installed on the top of the blood pressure detector 2 and the forearm fixation device 3. A monitoring arc plate 52 is fixedly connected to the top of the two monitoring bases 51, and a monitor body 53 is installed at the bottom of the monitoring arc plate 52.

[0066] Specifically, the monitoring arc plate 52 of the monitoring component 5 is made of carbon fiber composite material and is fixed to the top of the annular detection frame 21 and the fixed circular frame 31 respectively by two monitoring bases 51. The monitoring base 51 is equipped with a three-degree-of-freedom adjustment mechanism, which can achieve ±15° pitch and 360° rotation adjustment. The monitor body 53 uses a 4K resolution CMOS sensor and is equipped with an F1.4 large aperture lens, covering the entire sampling area. The image processing unit integrates AI recognition algorithms, which can automatically mark the boundaries of the epidermis, dermis, and subcutaneous tissue, and overlay and display the sampling depth parameters. The monitoring arc plate 52 is equipped with an LED ring light with a color temperature of 5000K±300K and a color rendering index Ra>90 to ensure a clear and shadow-free intraoperative field of view.

[0067] Instructions for using the adjustable skin and muscle tissue layered sampling device:

[0068] Step S1: Fix the subject's limbs:

[0069] S1.1 Place the subject's forearm horizontally within the fixed circular frame 31 of the forearm fixator 3, and start the servo motor 32 to drive the transmission shaft 321 to rotate;

[0070] S1.2 The drive shaft 321 drives the rotating gear 322 to rotate, and drives the inner groove rotating frame 33 to rotate through gear meshing transmission;

[0071] S1.3 When the inner groove rotating frame 33 rotates, the sliding cylinder 332 slides radially under the action of centrifugal force, pushing the fixed pressure plate 334 to expand outward;

[0072] S1.4 The fixing pad 335 forms a flexible contact with the surface of the subject's forearm, and achieves ring-shaped envelope fixation through the synergistic effect of multiple sets of fixing pressure plates 334;

[0073] Step S2, physiological parameter monitoring:

[0074] S2.1 Place the ring detection frame 21 on the subject's upper arm so that the ring blood pressure detection device 22 corresponds to the position of the brachial artery;

[0075] S2.2 Connect the monitoring device via external cable 23 and start the real-time blood pressure monitoring function;

[0076] S2.3 Monitoring data is synchronously transmitted to the control system to provide physiological parameters for sampling depth control;

[0077] Step S3, Sampling component positioning:

[0078] S3.1 Start the lead screw motor 41 to drive the transmission lead screw 411 to rotate, which in turn drives the sliding block 42 to move axially along the guide rail;

[0079] S3.2 The limiting slider 421 works with the matching guide rail to ensure movement accuracy and deliver the negative pressure extraction head 436 or the rinsing head 438 to the area above the sampling area;

[0080] S3.3, The postures of the first robotic arm 432 and the second robotic arm 434 are adjusted by the coordinated drive of the first rotary motor module 431, the second rotary motor module 433 and the third rotary motor module 435.

[0081] S3.4. Ensure that the negative pressure extraction head 436 / rinsing head 438 at the end of the execution is vertically aligned with the target tissue layer, with the error range controlled within ±0.2mm;

[0082] Step S4, stratified sampling operation:

[0083] S4.1 When the negative pressure extraction head 436 contacts the skin surface, the negative pressure pipe 437 is activated to form an adsorption force;

[0084] S4.2 The control system dynamically adjusts the negative pressure value according to the blood pressure parameters and performs layered data collection of the epidermis, dermis, and subcutaneous tissue according to the preset program;

[0085] S4.3 After each layer of tissue is collected, the third rotating motor module 435 automatically switches the flushing head 438 and cleans the sampling area through the flushing pipe 439;

[0086] S4.4 The cleaning solution is a physiological saline solution with good compatibility with human tissue, and the rinsing pressure is controlled within the safe threshold.

[0087] Step S5, Process Monitoring and Recording:

[0088] S5.1 The monitor body 53 obtains a panoramic view through the monitoring arc plate 52 and performs real-time imaging of the sampling area;

[0089] S5.2 Image data is synchronously transmitted to the control system for sampling quality assessment and operation process traceability;

[0090] S5.3 When an abnormal situation is detected, the control system automatically suspends operation and triggers an alarm.

[0091] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adjustable skin and muscle tissue layered sampling device, comprising a fixed base (1), characterized in that: The top of the fixed base (1) is respectively equipped with a blood pressure detector (2) and a forearm fixation device (3). The blood pressure detector (2) is used for real-time detection of upper arm blood pressure, and the forearm fixation device (3) is used for fixing the forearm. The top of the fixed base (1) is equipped with an extraction and cleaning assembly (4), which is used for the extraction of skin and muscle tissue and the cleaning after extraction.

2. The adjustable skin and muscle tissue layered sampling device according to claim 1, characterized in that: The top of the fixed base (1) is fixedly connected to two symmetrically arranged side fixing plates (11) and two symmetrically arranged end fixing plates (12). The top of the side fixing plates (11) is fixedly connected to a limiting frame (13), and a side placement plate (14) is fixedly connected to one side of the limiting frame (13).

3. The adjustable skin and muscle tissue layered sampling device according to claim 2, characterized in that: The blood pressure detector (2) consists of a ring detection frame (21), which is fixedly connected to the top of the end fixing plate (12). A ring blood pressure detection device (22) is installed on the inner wall of the ring detection frame (21), and an external cable (23) is installed on one side of the ring blood pressure detection device (22).

4. The adjustable skin and muscle tissue layered sampling device according to claim 2, characterized in that: The forearm fixation device (3) consists of a fixed circular frame (31), which is fixedly connected to the top of one of the end fixing plates (12).

5. The adjustable skin and muscle tissue layered sampling device according to claim 4, characterized in that: A servo motor (32) is installed on one side of the fixed circular frame (31). A transmission shaft (321) is installed at the output end of the servo motor (32). A rotating gear (322) is fixedly sleeved on the outer circumferential surface of the transmission shaft (321). An inner groove rotating frame (33) is rotatably installed inside the fixed circular frame (31). An outer gear ring (331) is fixedly sleeved on the outer circumferential surface of the inner groove rotating frame (33). The rotating gear (322) meshes with the outer gear ring (331). Several circumferentially distributed sliding cylinders (332) are slidably assembled inside the inner groove rotating frame (33). Both ends of the sliding cylinders (332) are fixedly connected to limit sliding plates (333). One end of the two limit sliding plates (333) is fixedly connected to a fixed pressure plate (334). A fixed soft pad (335) is fixedly connected to one side of the fixed pressure plate (334).

6. The adjustable skin and muscle tissue layered sampling device according to claim 1, characterized in that: The extraction and cleaning assembly (4) consists of two lead screw motors (41). A transmission lead screw (411) is installed at the output end of each lead screw motor (41). A sliding block (42) is movably sleeved on the outer circumferential surface of the transmission lead screw (411). Limiting sliders (421) are fixedly connected to both ends of the sliding block (42). A rotating base (43) is installed on the top of the limiting slider (421). A first rotating motor module (431) is installed on the top of the rotating base (43). A first robotic arm (432) is installed at the output end of the first rotating motor module (431). The first robotic arm (432) is equipped with a second rotary motor module (433) at one end, and a second robotic arm (434) is installed at the output end of the second rotary motor module (433). A third rotary motor module (435) is installed at one end of the second robotic arm (434). A negative pressure extraction head (436) and a rinsing head (438) are respectively installed at one end of the two third rotary motor modules (435). A negative pressure pipe (437) is installed at one end of the negative pressure extraction head (436), and a rinsing pipe (439) is installed at one end of the rinsing head (438).

7. The adjustable skin and muscle tissue layered sampling device according to claim 6, characterized in that: A monitoring component (5) is installed on the top of the blood pressure detector (2) and the forearm fixation device (3). The monitoring component (5) consists of two monitoring bases (51). The two monitoring bases (51) are respectively installed on the top of the blood pressure detector (2) and the forearm fixation device (3). A monitoring arc plate (52) is fixedly connected to the top of the two monitoring bases (51). A monitor body (53) is installed at the bottom of the monitoring arc plate (52).

8. The method of using the adjustable skin and muscle tissue layered sampling device according to any one of claims 1-7, characterized in that: Step S1: Fix the subject's limbs: S1.1 Place the subject's forearm horizontally within the fixed circular frame (31) of the forearm fixation device (3), and start the servo motor (32) to drive the transmission shaft (321) to rotate; S1.2 The drive shaft (321) drives the rotating gear (322) to rotate, and drives the inner groove rotating frame (33) to rotate through gear meshing transmission; S1.3 When the inner groove rotating frame (33) rotates, the sliding cylinder (332) slides radially under the action of centrifugal force, pushing the fixed pressure plate (334) to expand outward; S1.4 The fixing pad (335) forms a flexible contact with the surface of the subject's forearm, and achieves ring-shaped envelope fixation through the synergistic effect of multiple sets of fixing plates (334); Step S2, physiological parameter monitoring: S2.1 Place the ring detection frame (21) on the subject's upper arm so that the ring blood pressure detection device (22) corresponds to the position of the brachial artery; S2.2 Connect the monitoring device via the external cable (23) and start the real-time blood pressure monitoring function; S2.3 Monitoring data is synchronously transmitted to the control system to provide physiological parameters for sampling depth control; Step S3, Sampling component positioning: S3.1 Start the lead screw motor (41) to drive the transmission lead screw (411) to rotate, which in turn drives the sliding block (42) to move axially along the guide rail; S3.2 The limiting slider (421) works with the matching guide rail to ensure the movement accuracy and deliver the negative pressure extraction head (436) or rinsing head (438) to the area above the sampling area; S3.3, The postures of the first robotic arm (432) and the second robotic arm (434) are adjusted by the coordinated drive of the first rotary motor module (431), the second rotary motor module (433) and the third rotary motor module (435); S3.

4. Align the negative pressure extraction head (436) / rinsing head (438) at the end of the execution vertically with the target tissue layer, with the error range controlled within ±0.2mm; Step S4, stratified sampling operation: S4.1 When the negative pressure extraction head (436) comes into contact with the skin surface, the negative pressure pipe (437) is activated to form an adsorption force; S4.2 The control system dynamically adjusts the negative pressure value according to blood pressure parameters and performs layered data collection of epidermis, dermis, and subcutaneous tissue according to a preset program; S4.3 After each layer of tissue is collected, the third rotating motor module (435) automatically switches the flushing head (438) and cleans the sampling area through the flushing pipe (439); S4.4 The cleaning solution is a physiological saline solution with good compatibility with human tissue, and the rinsing pressure is controlled within the safe threshold. Step S5, Process Monitoring and Recording: S5.1 The monitor body (53) obtains a panoramic view through the monitoring arc plate (52) and performs real-time imaging of the sampling area; S5.2 Image data is synchronously transmitted to the control system for sampling quality assessment and operation process traceability; S5.3 When an abnormal situation is detected, the control system automatically suspends operation and triggers an alarm.

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