Sampling robot

Abstract

The utility model belongs to the technical field of medical equipment, and discloses a sampling robot, which comprises: a shell, the shell defines an accommodating cavity, the shell is provided with a communicating hole, and the communicating hole communicates the accommodating cavity with the exterior of the shell; the multiple liquid pumping devices are arranged in the containing cavity, and each liquid pumping device is provided with a liquid pumping opening; the rotation driving part is arranged in the containing cavity, the rotation driving part is connected with the multiple liquid pumping devices, and the rotation driving part is used for driving the multiple liquid pumping devices to rotate to the positions where the liquid pumping openings face the communicating holes, so that the multiple liquid pumping devices sample from the communicating holes. The technical problem that the intestinal juice biopsy capsule robot needs to be put into a human body for multiple times when performing biopsy liquid taking at different positions can be solved.

Description

Sampling robot Technical Field

[0001] This application belongs to the field of medical device technology, specifically relating to a sampling robot. Background Technology

[0002] Each intestinal fluid biopsy capsule robot can only complete one biopsy and fluid collection at a time. When it is necessary to obtain body fluid samples from different locations, the intestinal fluid biopsy capsule robot needs to be inserted into the body multiple times for biopsy and fluid collection, which increases the patient's pain. Summary of the Invention

[0003] The purpose of this application is to provide a sampling robot to solve the technical problem that existing intestinal fluid biopsy capsule robots need to be inserted into the human body multiple times when performing biopsy and fluid collection at different locations.

[0004] To achieve the above objectives, this application provides a sampling robot, comprising: a shell forming a receiving cavity, the shell having a connecting hole connecting the receiving cavity and the outside of the shell; multiple liquid extractors disposed within the receiving cavity, each liquid extractor having a liquid extraction port; and a rotation drive unit disposed within the receiving cavity, the rotation drive unit being connected to the multiple liquid extractors, the rotation drive unit being used to drive the multiple liquid extractors to rotate to a position where their liquid extraction ports face the connecting hole, so that the multiple liquid extractors respectively extract samples from the connecting hole.

[0005] In some embodiments, the pump includes a pumping cylinder, a piston, a spring, and a stop. The pumping cylinder extends along a first direction, and a sliding hole is provided on the cylinder wall extending along the first direction, intersecting the first direction. The piston is slidably disposed within the pumping cylinder along the first direction. The two ends of the spring along the first direction abut against the cylinder wall and the piston, respectively, and the spring is disposed on the side of the piston near the pumping port along the first direction. The stop is slidably disposed within the sliding hole, and the stop abuts against the side of the piston away from the spring along the first direction. The sampling robot also includes a driving device disposed within a receiving cavity, the driving device being used to drive the stop away from the piston, so that the spring pushes the piston.

[0006] In some embodiments, the driving device includes a support member, a plurality of first magnets, a movable driving assembly, and at least one second magnet. The support member is connected to the rotary driving member and has a plurality of receiving holes extending along a first direction. A plurality of pumping cylinders are slidably disposed within the plurality of receiving holes along the first direction. The plurality of first magnets are respectively connected to the ends of a plurality of stop members away from the piston along the length direction of the sliding holes. The second magnet is connected to the support member and is located on the side of the first magnets close to the piston along the first direction. The second magnet is used to attract the first magnets away from the piston. The movable driving assembly is disposed on the side of the pumps away from the communicating hole along the first direction. The movable driving assembly is used to drive the plurality of pumps to move the first magnets closer to the second magnets along the first direction. The rotary driving member is used to drive the support member to rotate each pump sequentially to a position facing the movable driving assembly.

[0007] In some embodiments, the stop member includes a stop portion and a sliding portion. The stop portion abuts against the piston, and the sliding portion is connected between the stop portion and the first magnet. The cross-sectional area of ​​the sliding portion is smaller than the cross-sectional area of ​​the stop portion and the cross-sectional area of ​​the first magnet. A flange is provided on the wall of the sliding hole. The flange is located between the first magnet and the stop portion and is used to prevent the stop portion and the first magnet from moving along the length direction of the sliding hole.

[0008] In some embodiments, the extractor further includes an extraction needle communicating with an extraction cylinder, and an extraction port is located at the end of the extraction needle away from the extraction cylinder along a first direction; in the first direction, the distance between the extraction needle and the communicating hole is less than the distance between the first magnet and the second magnet, so that the extraction needle can sample from outside the housing; a third magnet is provided at the end of the motion drive assembly near the extractor along the first direction, and a magnetic element is provided at the end of the extractor near the motion drive assembly along the first direction, the magnetic element being used to attract the third magnet; the motion drive assembly can pull the magnetic element to move the extraction needle from outside the housing to inside the housing.

[0009] In some embodiments, a second magnet is provided, which is connected to the end of the support member away from the moving drive assembly along the first direction, and the rotation axis of the rotating drive member passes through the second magnet; in a direction perpendicular to the first direction, the first magnets are all provided on the side of the pumping cylinder close to the second magnet, and the second magnet can attract multiple first magnets respectively.

[0010] In some embodiments, the first magnet is bonded to the stop member, and the support member is capable of preventing the first magnet from moving from outside the receiving hole to inside the receiving hole, so as to separate the first magnet from the stop member.

[0011] In some embodiments, on a projection plane perpendicular to the first direction, both the receiving hole and the orthographic projection of the pumping cylinder are polygons, and the wall of the receiving hole is used to prevent the pumping cylinder from rotating relative to the support.

[0012] In some embodiments, the sampling robot further includes a bearing connected between the support and the housing, wherein the rotation axis of the bearing coincides with the rotation axis of the rotation drive.

[0013] In some embodiments, the sampling robot further includes a permanent magnet connected to the inner surface of the housing, the permanent magnet being disposed on the side of the support member close to the motion drive assembly along a first direction.

[0014] The beneficial effects of the sampling robot provided in this application are as follows: The outer shell separates the fluid aspirator and rotating drive mechanism inside the cavity from the outside, preventing the internal components from scratching tissues and preventing bodily fluids from affecting the operation of the components. The rotating drive mechanism rotates multiple fluid aspirators, allowing their ports to connect to communicating holes. Each aspirator can then extract bodily fluid samples from different locations within the body. The sampling robot can perform multiple biopsies at different locations each time it enters the body. This application solves the technical problem of requiring multiple insertions of the intestinal fluid biopsy capsule robot into the body for biopsies at different locations, reducing the cost of multiple samplings and minimizing patient discomfort. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 is a schematic diagram of the structure of a sampling robot provided in some embodiments of this application;

[0017] Figure 2 is a schematic diagram of the internal structure of a sampling robot provided in some embodiments of this application;

[0018] Figure 3 is a schematic diagram of the connection between the pump and the support provided in some embodiments of this application;

[0019] Figure 4 is a schematic diagram of the connection between the liquid extractor and the first magnet provided in some embodiments of this application;

[0020] Figure 5 is a schematic diagram of the internal structure of a liquid extractor provided in some embodiments of this application;

[0021] Figure 6 is a schematic diagram of the disassembled state of the liquid extraction cylinder, the stop member, and the first magnet provided in some embodiments of this application;

[0022] Figure 7 is a schematic diagram showing the positions of the mobile drive assembly and the liquid pump provided in some embodiments of this application;

[0023] Figure 8 is a schematic diagram of the internal structure of the sampling robot provided in some embodiments of this application.

[0024] The following are the labeling elements in the figure:

[0025] 100. Sampling robot;

[0026] 10. Liquid extractor; 11. Liquid extraction cylinder; 111. Annular wall; 1111. Sliding hole; 1112. Flange; 112. Baffle; 12. Piston; 13. Spring; 14. Stop; 141. Stop part; 142. Sliding part; 15. Liquid extraction needle; 151. Liquid extraction port; 16. Magnetic component;

[0027] 20. Drive unit; 21. Support member; 211. Receiving hole; 212. Mounting rod; 22. First magnet; 23. Second magnet; 24. Motion drive assembly; 241. Drive motor; 242. Lead screw; 243. Nut; 244. Push rod; 245. Third magnet;

[0028] 30. Rotation drive component;

[0029] 40. Outer shell; 41. Receiving cavity; 42. Guide wall; 43. Communicating hole;

[0030] 50. Permanent magnet;

[0031] 60. Bearings. Detailed Implementation

[0032] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0033] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0034] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] The gastrointestinal tract, a vital component of the human digestive system, has a crucial impact on overall health. The large intestine consists of the cecum, appendix, colon, and rectum. The colon plays a key role in the absorption and secretion of water and sodium, as well as assisting in defecation. It also absorbs small amounts of potassium, chloride, urea, glucose, and certain medications. The rectum's primary function is to store feces and control defecation through coordination of the anal sphincter, thus completing the digestive and excretory processes. Globally, due to changes in lifestyle and dietary habits, the incidence of gastrointestinal diseases has increased significantly, especially colorectal cancer, which has become one of the diseases that seriously threaten human health and life expectancy.

[0037] Currently, the primary method for preventative screening of rectal and colon cancers in medical practice is colonoscopy. This involves inserting a flexible endoscope through the anus into the large intestine, guided by a doctor, to locate potentially lesioned polyps or tumors. This examination is essentially a minimally invasive procedure, requiring patients to undergo complex pre-operative preparations such as laxatives and enemas. During the procedure, sedation may be necessary depending on the location reached by the endoscope. Furthermore, due to the length of the instruments and the complex intestinal environment, the procedure carries significant risks and is challenging; endoscopic examination may lead to intestinal wall perforation or tearing. Based on these characteristics, the American Gastroenterological Association recommends that healthy individuals not undergo repeat endoscopic examinations for 10 years after a normal result. Middle-aged and elderly individuals over 45 years of age are a high-risk group for colorectal cancer, but due to their weakened immune systems, they face higher risks during endoscopic examinations. This fear often leads some patients and their families to forgo colonoscopy, potentially missing the opportunity for early diagnosis and treatment of colorectal cancer.

[0038] Intestinal fluid biopsy capsule robots, as a novel non-invasive diagnostic method, can effectively compensate for the shortcomings of traditional colonoscopy, providing a more comfortable and safer option. Unlike colonoscopy, intestinal fluid biopsy, by taking intestinal fluid samples, can directly analyze pathological changes in the digestive tract, such as cancer, inflammation, and infection. Gastrointestinal fluid contains abundant biomarkers that can reflect early lesions and disease progression in the intestine, thus enabling more accurate disease monitoring and early diagnosis. However, current intestinal fluid biopsy capsule robots suffer from the problem of single sampling points, meaning the intestinal fluid they bring out may not be from the lesion site. Furthermore, multiple samplings by intestinal fluid biopsy capsule robots are costly, causing significant challenges to clinical treatment.

[0039] To address the aforementioned issues, this application provides a sampling robot capable of collecting bodily fluid samples such as gastric juice and intestinal fluid from the human body.

[0040] Please refer to Figures 1 to 3. The sampling robot 100 of this embodiment includes a housing 40, a plurality of liquid extractors 10, and a rotation drive 30. The housing 40 forms a receiving cavity 41, and a communicating hole 43 is provided on the housing 40, which connects the receiving cavity 41 and the outside of the housing 40. The plurality of liquid extractors 10 are disposed in the receiving cavity 41, and each liquid extractor 10 has a liquid extraction port 151. The rotation drive 30 is disposed in the receiving cavity 41 and is connected to the plurality of liquid extractors 10. The rotation drive 30 is used to drive the plurality of liquid extractors 10 to rotate to a position where the liquid extraction port 151 faces the communicating hole 43, so that the plurality of liquid extractors 10 respectively extract samples from the communicating hole 43.

[0041] The outer casing 40 is used to separate the space inside the receiving cavity 41 from the space outside the outer casing 40. The connecting hole 43 extends from the outer surface of the outer casing 40 to the inner surface of the outer casing 40. The diameter of the connecting hole 43 is small, making it difficult for bodily fluids outside the outer casing 40 to flow directly into the receiving cavity 41 through the connecting hole 43.

[0042] The extractor 10 is used to extract bodily fluid samples and can generate suction. The extraction port 151 connects the inside and outside of the extractor 10, allowing bodily fluid from outside the extractor 10 to enter through the extraction port 151. Multiple extractors 10 are distributed around the rotation axis of the rotation drive 30. Optionally, the extraction port 151 of one extractor 10 is positioned facing the connecting hole 43, allowing direct extraction of bodily fluid samples from outside the housing 40. Optionally, two or more extractors 10 can be provided. For example, four extractors 10 can be provided. Optionally, a piston can be provided inside the extractor 10, and a driving component such as an electric push rod can move the piston to extract bodily fluid.

[0043] The rotation drive 30 is used to drive multiple liquid extractors 10 to rotate. When the liquid extractor 10 rotates to the point where the liquid extraction port 151 faces the connecting hole 43, the liquid extraction port 151 of the liquid extractor 10 is connected to the outside of the outer shell 40 through the connecting hole 43. The liquid extractor 10 can draw body fluid from the outside of the outer shell 40 through the connecting hole 43 to obtain a body fluid sample.

[0044] Optionally, one end opening of the connecting hole 43 can be located on the rotation path of the suction port 151. For example, the opening of one end of the connecting hole 43 can be located on a plane of the housing 40, with the suction ports 151 of the multiple suction devices 10 contacting this plane. When the suction port 151 is directly opposite the connecting hole 43, the suction device 10 can stably draw body fluid from outside the housing 40 into itself through the connecting hole 43. Optionally, the rotation drive 30 can be a motor, with its housing fixed to the housing 40 and its shaft fixedly connected to the multiple suction devices 10. For example, the rotation drive 30 is a two-phase four-wire stepper motor, capable of precisely controlling the rotation angle.

[0045] In use, the sampling robot 100 is inserted into the human body. After the sampling robot 100 reaches the predetermined area, the rotation drive 30 is controlled to rotate the extractor 10. When the extraction port 151 of one extractor 10 faces the connecting hole 43, the rotation drive 30 stops rotating, and the extractor 10 is controlled to draw body fluid from outside the shell into the extractor 10. After the sampling robot 100 reaches the next predetermined position, the rotation drive 30 is controlled to rotate the extractor 10, so that the extraction port 151 of the next extractor 10 faces the connecting hole 43, and the next extractor 10 is controlled to draw body fluid from outside the shell into the extractor 10. Body fluid samples from different locations inside the human body are drawn into different extractors 10.

[0046] The beneficial effects of this embodiment are as follows: The outer shell 40 separates the fluid extractor 10 and the rotating drive unit 30 within the receiving cavity 41 from the outside of the shell 40, preventing the internal components of the receiving cavity 41 from scratching tissues and preventing bodily fluids from affecting the operation of the components within the receiving cavity 41. The rotating drive unit 30 drives multiple fluid extractors 10 to rotate, allowing the extraction ports 151 of each extractor 10 to connect with the connecting holes 43. Each extractor 10 can then extract bodily fluid samples from different locations within the body, enabling the sampling robot 100 to perform multiple biopsies at different locations each time it enters the body. This embodiment solves the technical problem of requiring multiple insertions of the intestinal fluid biopsy capsule robot into the body when performing biopsies at different locations, reducing the cost of multiple samplings and minimizing patient discomfort.

[0047] In some embodiments, referring to Figures 2 to 5, the liquid extractor 10 includes a liquid extraction cylinder 11, a piston 12, a spring 13, and a stop 14. The liquid extraction cylinder 11 extends along a first direction X, and a sliding hole 1111 is provided on the cylinder wall extending along the first direction X, intersecting the first direction X. The piston 12 is slidably disposed within the liquid extraction cylinder 11 along the first direction X. The two ends of the spring 13 along the first direction X respectively abut against the cylinder wall of the liquid extraction cylinder 11 and the piston 12, and the spring 13 is disposed on the side of the piston 12 along the first direction X near the liquid extraction port 151. The stop 14 is slidably disposed within the sliding hole 1111, and the stop 14 abuts against the side of the piston 12 along the first direction X away from the spring 13. The sampling robot 100 also includes a drive device 20 disposed within the receiving cavity 41, the drive device 20 being used to drive the stop 14 away from the piston 12, so that the spring 13 pushes the piston 12.

[0048] The suction tube 11 is capable of storing bodily fluid samples. The tube wall extending along the first direction X of the suction tube 11 is an annular wall 111. The suction tube 11 also includes a baffle 112 connected to the end of the annular wall 111 along the first direction X. A sliding hole 1111 extends from the inner surface to the outer surface of the annular wall 111, communicating between the internal space of the suction tube 11 and the outside of the suction tube 11. Optionally, the length direction of the sliding hole 1111 is perpendicular to the first direction X.

[0049] The piston 12 abuts against the annular wall 111 of the pumping cylinder 11 and divides the space inside the pumping cylinder 11 into two parts along the first direction X.

[0050] In the first direction X, the piston 12 faces the baffle 112 of the suction cylinder 11, and the spring 13 abuts against the piston 12 and the baffle 112 at both ends along the first direction X. The spring 13 abuts against the baffle 112 and the piston 12, meaning the spring 13 is in a compressed state. The spring 13 is located on the side of the piston 12 along the first direction X near the suction port 151. This means the suction port 151 communicates with the space between the piston 12 and the baffle 112 inside the suction cylinder 11. When the spring 13 extends, it can push the piston 12 away from the suction port 151 along the first direction X, increasing the space between the piston 12 and the baffle 112 and decreasing the air pressure, thereby allowing the body fluid sample to be drawn through the suction port 151. Optionally, the suction port 151 can be located on the baffle 112.

[0051] A portion of the stop member 14 is disposed within the sliding hole 1111, and the stop member 14 is slidably disposed along the length direction of the sliding hole 1111. The wall of the sliding hole 1111 can prevent the stop member 14 from moving along the first direction X. Another portion of the stop member 14 abuts against the side of the piston 12 away from the spring 13 along the first direction X, and can prevent the piston 12 from moving away from the stop wall 112 along the first direction X, thereby keeping the spring 13 in a compressed state. Optionally, in the length direction of the sliding hole 1111, the distance between the end of the stop member 14 near the piston 12 and the annular wall 111 is 3mm.

[0052] The driving device 20 drives the stop member 14 to move away from the piston 12 along the length direction of the sliding hole 1111. After the stop member 14 disengages from the piston 12, the spring 13 releases its elastic potential energy and pushes the piston 12 away from the baffle 112. Optionally, the stop member 14 can be made of a magnetic metal that attracts a magnet. The driving device 20 can include multiple electromagnets corresponding to the multiple stop members 14. Energizing different electromagnets can attract the stop members 14 in different pumps 10 to move.

[0053] When the pump 10 draws in a bodily fluid sample, the drive device 20 moves the stop 14 away from the piston 12. The spring 13 releases its elastic potential energy and extends, pushing the piston 12 away from the baffle 112 along the first direction X. The space between the piston 12 and the baffle 112 increases and the air pressure decreases. Under the action of the pressure difference, bodily fluid outside the outer casing 40 enters the space between the piston 12 and the baffle 112 through the connecting hole 43 and the suction port 151.

[0054] The beneficial effects of this embodiment are as follows: by setting the stop member 14 to restrict the movement of the piston 12 and keeping the spring 13 in a compressed state, the pump 10 can remain stable when not in use. By setting the drive device 20 to drive the stop member 14 away from the piston 12, the spring 13 releases its elastic potential energy and drives the piston 12 to move, thereby stably controlling the pump 10 to draw body fluid samples.

[0055] In some embodiments, referring to Figures 2 to 5, the drive device 20 includes a support member 21, a plurality of first magnets 22, a movement drive assembly 24, and at least one second magnet 23. The support member 21 is connected to the rotation drive member 30 and has a plurality of receiving holes 211 extending along a first direction X. A plurality of liquid suction cylinders 11 are slidably disposed within the plurality of receiving holes 211 along the first direction X. The plurality of first magnets 22 are respectively connected to one end of a plurality of stop members 14 away from the piston 12 along the length direction of the sliding hole 1111.

[0056] The second magnet 23 is connected to the support member 21. The second magnet 23 is located on the side of the first magnet 22 along the first direction X, close to the piston 12. The second magnet 23 is used to attract the first magnet 22 away from the piston 12. The moving drive assembly 24 is located on the side of the pump 10 along the first direction X, away from the connecting hole 43. The moving drive assembly 24 is used to drive multiple pumps 10 to move the first magnet 22 along the first direction X, close to the second magnet 23. The rotation drive member 30 is used to drive the support member 21 to rotate each pump 10 sequentially to a position facing the moving drive assembly 24.

[0057] The support member 21 is connected to the rotation drive member 30, meaning that the rotation drive member 30 can drive the support member 21 to rotate.

[0058] The receiving hole 211 is a through hole structure, and multiple pumping cylinders 11 are respectively arranged in multiple receiving holes 211. The support member 21 can support the pumping cylinders 11. The hole wall of the receiving hole 211 is in contact with the outer surface of the annular wall 111, which can prevent the pumping cylinders 11 from moving in a direction perpendicular to the first direction X, so that the pumping cylinders 11 can only move in the first direction X.

[0059] Multiple first magnets 22 are respectively connected to stop members 14 in multiple liquid extraction cylinders 11, and the first magnets 22 are connected to the end of the stop member 14 away from the piston 12 along the length direction of the sliding hole 1111.

[0060] The second magnet 23 is used to attract the first magnet 22 away from the piston 12, meaning that the second magnet 23 can attract the first magnet 22 to move the stop member 14 away from the piston 12. Along the length of the sliding hole 1111, the second magnet 23 is located on the side of the first magnet 22 away from the piston 12. In the first direction X, the second magnet 23 is located on the side of the first magnet 22 closer to the piston 12 along the first direction X, that is, the second magnet 23 is located on the side of the piston 12 closer to the connecting hole 43. When the first magnet 22 moves along the first direction X and approaches the second magnet 23, the second magnet 23 can attract the first magnet 22 to move and cause the first magnet 22 to move the stop member 14. Optionally, multiple second magnets 23 can be provided, each second magnet 23 being used to attract one first magnet 22. Optionally, only one second magnet 23 can be provided, one second magnet 23 being used to attract multiple first magnets 22 respectively. Optionally, the second magnet 23 can be connected to the wall of the receiving hole 211. Optionally, the second magnet 23 can also be connected to one end of the support member 21 along the first direction X.

[0061] The motion drive assembly 24 can drive the pump 10 to move along the first direction X, and cause the pump 10 to move the first magnet 22 towards the second magnet 23. The first magnet 22 and the pump 10 move simultaneously towards the connecting hole 43. Optionally, the motion drive assembly 24 may include an electric push rod, a lead screw mechanism, etc.

[0062] Optionally, the motion drive assembly 24 is positioned directly opposite one of the pumps 10 along the first direction X, and the motion drive assembly 24 can directly drive the pump 10 facing it to move. In this embodiment, the pumping port 151 is located at one end of the pump 10 along the first direction X, and the pumping port 151 can communicate with the connecting hole 43 when the pump 10 moves close to the connecting hole 43.

[0063] The rotation drive 30 is used to drive the support 21 to rotate each pump 10 sequentially to the position facing the moving drive assembly 24. That is, the rotation axis of the rotation drive 30 extends along the first direction X, and multiple receiving holes 211 are distributed around the axis of the rotation drive 30. Multiple pumps 10 in the multiple receiving holes 211 are distributed around the axis of the rotation drive 30. The rotation drive 30 can drive multiple pumps 10 to rotate through the support 21, so that the multiple pumps 10 are respectively rotated to the position facing the moving drive assembly 24 along the first direction X, so that the moving drive assembly 24 can drive each pump 10 to move.

[0064] When the drive device 20 moves the stop 14 away from the piston 12, the control rotation drive 30 drives the support 21 to rotate, causing the support 21 to rotate a pump 10 to a position facing the movement drive assembly 24. Then, the movement drive assembly 24 drives the pump 10 to move along the first direction X toward the connecting hole 43, and the pump 10 moves the first magnet 22 toward the second magnet 23. When the sliding hole 1111 is facing the second magnet 23, the second magnet 23 attracts the first magnet 22 away from the piston 12 along the length of the sliding hole 1111, and the first magnet 22 moves the stop 14 away from the piston 12.

[0065] The beneficial effects of this embodiment are as follows: The support member 21 connects the extractor 10 and the rotation drive member 30, allowing the rotation drive member 30 to drive multiple extractors 10 to rotate via the support member 21. The receiving hole 211 guides the extractor 10 to move along the first direction X. The moving drive assembly 24 drives multiple extractors 10 to move along the first direction X, enabling the second magnet 23 to attract the first magnet 22, thereby moving the stop member 14 away from the piston 12, allowing the extractor 10 to draw body fluid samples. One moving drive assembly 24, in cooperation with the rotation drive member 30, can drive multiple extractors 10 to move along the first direction X, allowing each extractor 10 to draw body fluid samples. The structure of the drive device 20 is relatively simple.

[0066] In some embodiments, referring to Figures 4 to 6, the stop member 14 includes a stop portion 141 and a sliding portion 142. The stop portion 141 abuts against the piston 12, and the sliding portion 142 is connected between the stop portion 141 and the first magnet 22. The cross-sectional area of ​​the sliding portion 142 is smaller than the cross-sectional area of ​​the stop portion 141 and the cross-sectional area of ​​the first magnet 22. A flange 1112 is provided on the wall of the sliding hole 1111. The flange 1112 is located between the first magnet 22 and the stop portion 141. The flange 1112 is used to block the stop portion 141 and the first magnet 22 from moving along the length direction of the sliding hole 1111.

[0067] Along the length of the sliding hole 1111, the sliding part 142 is connected to the end of the stop part 141 away from the piston 12, and the sliding part 142 is disposed inside the sliding hole 1111. The cross-sections of the sliding part 142, the stop part 141, and the first magnet 22 are all perpendicular to the length of the sliding hole 1111.

[0068] Along the length of the sliding hole 1111, the flange 1112 is located between the first magnet 22 and the stop portion 141. The flange 1112 prevents the first magnet 22 from moving to the side of the flange 1112 closest to the second magnet 23, so that the first magnet 22 can only move on the side of the flange 1112 closest to the inside of the suction cylinder 11. Along the length of the sliding hole 1111, the flange 1112 also prevents the second magnet 23 from moving to the side of the flange 1112 closest to the first magnet 22, so that the second magnet 23 can only move on the side of the flange 1112 closest to the outside of the suction cylinder 11.

[0069] Optionally, the flange 1112 can be an annular structure surrounding the sliding portion 142, with the inner annular surface of the flange 1112 contacting the outer surface of the sliding portion 142 to prevent the sliding portion 142 from moving in a direction perpendicular to the length direction of the sliding hole 1111, allowing the sliding portion 142 to slide along the length direction of the sliding hole 1111. Optionally, the flange 1112 can also be a block structure, with the sliding portion 142 sliding between the flange 1112 and the wall of the sliding hole 1111.

[0070] The beneficial effects of this application embodiment are as follows: the cross-sectional area of ​​the sliding part 142 is smaller than the cross-sectional area of ​​the stop part 141 and the cross-sectional area of ​​the first magnet 22, and a flange 1112 is provided between the stop part 141 and the first magnet 22, which can restrict the position of the first magnet 22 and the stop part 141, so that the first magnet 22 and the stop part 141 are respectively located on both sides of the flange 1112, so that the sliding part 142 is always located in the sliding hole 1111 and the sliding hole 1111 is closed, preventing external air from entering the liquid suction cylinder 11 from the sliding hole 1111 when aspirating body fluid, so that the liquid suction cylinder 11 maintains a negative pressure state and stably aspirates liquid.

[0071] In some embodiments, referring to Figures 2, 4, and 7, the extractor 10 further includes an extraction needle 15 communicating with the extraction cylinder 11, with an extraction port 151 located at the end of the extraction needle 15 away from the extraction cylinder 11 along a first direction X. In the first direction X, the distance between the extraction needle 15 and the communicating hole 43 is less than the distance between the first magnet 22 and the second magnet 23, so that the extraction needle 15 can sample from outside the housing 40.

[0072] The moving drive assembly 24 is provided with a third magnet 245 at one end of the pump 10 along the first direction X. The pump 10 is provided with a magnetic element 16 at one end of the moving drive assembly 24 along the first direction X. The magnetic element 16 is used to attract the third magnet 245. The moving drive assembly 24 can pull the magnetic element 16 to move the pump needle 15 from outside the housing 40 to inside the housing 40.

[0073] A suction needle 15 is connected to one end of a suction cylinder 11 along a first direction X, and the suction needle 15 extends along the first direction X. The suction cylinder 11 has an opening communicating with the suction needle 15. For example, the length of the suction needle 15 can be 7 mm.

[0074] In the first direction X, the distance between the aspiration needle 15 and the connecting hole 43 is less than the distance between the first magnet 22 and the second magnet 23. That is, during the movement of the pump 10 along the first direction X towards the connecting hole 43 by the moving drive assembly 24, the aspiration needle 15 has already passed through the connecting hole 43 and reached the outside of the housing 40 when the first magnet 22 moves to the position corresponding to the second magnet 23. After the second magnet 23 attracts the first magnet 22 to move, the pump 10 draws bodily fluid samples from the outside of the housing 40 through the aspiration needle 15.

[0075] The moving drive assembly 24 is located on the side of the extractor 10 away from the connecting hole 43 along the first direction X. After the moving drive assembly 24 contacts the ends of the extractor 10 that are close to each other along the first direction X, the moving drive assembly 24 can push the extractor 10 to move. A third magnet 245 and a magnetic element 16 are respectively provided at the ends of the moving drive assembly 24 and the extractor 10 that are close to each other along the first direction X. The moving drive assembly 24 can be connected to the extractor 10 through the third magnet 245 and the magnetic element 16. When the moving drive assembly 24 resets and drives the third magnet 245 away from the connecting hole 43, the third magnet 245 can drive the extractor 10 to move synchronously through the magnetic element 16, so that the extraction needle 15 can move from the outside of the housing 40 to the inside of the housing 40.

[0076] Optionally, the magnetic component 16 can be a magnet or a magnetic metal plate, etc.

[0077] When the moving drive assembly 24 drives the different pumps 10 to move, it first drives the third magnet 245 to push the magnetic element 16, causing the aspiration needle 15 of one pump 10 to pass through the connecting hole 43 and draw body fluid samples from outside the housing 40. Then, the moving drive assembly 24 controls the third magnet 245 to move away from the connecting hole 43. The third magnet 245 drives the pumps 10 to move synchronously through the magnetic element 16, causing the aspiration needle 15 to move from outside the housing 40 to inside the housing 40. Then, the rotation drive assembly 30 drives multiple pumps 10 to rotate through the support member 21, causing the magnetic element 16 to disengage from the third magnet 245, and causing the next pump 10 to rotate to a position facing the moving drive assembly 24. The moving drive assembly 24 can then drive the next pump 10 to draw body fluid again.

[0078] The beneficial effects of this embodiment are as follows: The distance between the aspiration needle 15 and the connecting hole 43 is set smaller than the distance between the first magnet 22 and the second magnet 23, so that the moving drive assembly 24 drives the aspiration needle 15 to move to the outside of the housing 40 to aspirate bodily fluids. When the aspirator 10 aspirates bodily fluids, it prevents bodily fluids from entering the receiving cavity 41 through the gap between the aspirator 10 and the connecting hole 43, thus preventing bodily fluids from damaging the components in the receiving cavity 41. The third magnet 245 and the magnetic element 16 enable the moving drive assembly 24 to move the aspirator 10, allowing the aspiration needle 15 to move from the outside of the housing 40 into the receiving cavity 41, preventing the aspiration needle 15 from damaging human tissue.

[0079] In some embodiments, the magnetic element 16 is a plate-like structure. The magnetic element 16 is connected to the opening of the suction cylinder 11 at one end along the first direction X and blocks the opening of the suction cylinder 11, thereby preventing the body fluid sample from flowing out of the suction cylinder 11. For example, the distance between the magnetic element 16 and the baffle 112 is 6 mm, and the distance between the magnetic element 16 and the sliding hole 1111 is 5 mm.

[0080] In some embodiments, referring to Figures 2, 7, and 8, the moving drive assembly 24 includes a drive motor 241, a lead screw 242, a nut 243, and a push rod 244. The drive motor 241 is connected to the housing 40. The lead screw 242 is connected to the shaft of the drive motor 241 and extends along a first direction X. The nut 243 is sleeved on the lead screw 242 and screwed to it. The push rod 244 is connected to the nut 243 and extends along the first direction X, and is used to drive the pump 10 to move. The housing 40 includes a guide wall 42, which is parallel to and contacts one side of the nut 243. The guide wall 42 is used to prevent the nut 243 from rotating and guide the nut 243 to move along the first direction X.

[0081] Optionally, the drive motor 241 can be a two-phase four-wire stepper motor, which can precisely control the rotation angle of the lead screw 242, thereby accurately controlling the movement distance of the nut 243 and the push rod 244.

[0082] When the moving drive assembly 24 includes the third magnet 245, the third magnet 245 is connected to the end of the push rod 244 near the support member 21 along the first direction X. Forward rotation of the drive motor 241 drives the nut 243 closer to the extractor 10, causing the push rod 244 to push the extractor 10 away from the drive motor 241; reverse rotation of the drive motor 241 drives the nut 243, push rod 244, and third magnet 245 closer to the motor, causing the extractor 10 to approach the drive motor 241 and reset.

[0083] In some embodiments, a second magnet 23 is provided, which is connected to one end of the support member 21 away from the moving drive assembly 24 along the first direction X, and the rotation axis of the rotation drive member 30 passes through the second magnet 23; in a direction perpendicular to the first direction X, the first magnets 22 are all provided on the side of the liquid extraction cylinder 11 close to the second magnet 23, and the second magnet 23 can attract multiple first magnets 22 respectively.

[0084] The rotation axis of the rotating drive 30 passes through the second magnet 23. That is, on the plane perpendicular to the first direction X, the orthographic projections of multiple pumping cylinders 11 are distributed around the orthographic projection of the second magnet 23. The pumping cylinders 11 are respectively located on one side of the second magnet 23 along different directions perpendicular to the first direction X.

[0085] In the direction perpendicular to the first direction X, the second magnets 23 are all located on the side of the pumping cylinder 11 closest to the first magnet 22. That is, in the plane perpendicular to the first direction X, along the interval between the orthographic projection of the pumping cylinder 11 and the orthographic projection of the second magnet 23, the orthographic projection of the first magnet 22 is located on the side of the orthographic projection of the pumping cylinder 11 closest to the orthographic projection of the second magnet 23. In the first direction X, when the first magnet 22 in different pumping cylinders 11 moves to the same position as the second magnet 23, the distance between the first magnet 22 and the second magnet 23 is relatively small, and there is a large magnetic attraction between the second magnet 23 and the first magnet 22. One second magnet 23 can attract multiple magnets to move, and the structure of the driving device 20 is simpler.

[0086] In some embodiments, the support member 21 includes a mounting rod 212 extending along a first direction X. The mounting rod 212 is disposed at one end of the support member 21 away from the motion drive assembly 24 along the first direction X, and a second magnet 23 is connected to the end of the mounting rod 212 away from the motion drive assembly 24 along the first direction X. The mounting rod 212 can increase the distance between the first magnet 22 and the second magnet 23, facilitating control of the distance between the first magnet 22 and the second magnet 23 along the first direction X.

[0087] In some embodiments, the first magnet 22 is bonded to the stop member 14, and the support member 21 can prevent the first magnet 22 from moving from outside the receiving hole 211 to inside the receiving hole 211, so that the first magnet 22 is separated from the stop member 14.

[0088] The second magnet 23 is connected to the end of the support member 21 away from the movement drive assembly 24 along the first direction X. Therefore, the first magnet 22 needs to be moved outside the receiving hole 211 for the second magnet 23 to attract the first magnet 22 to move. When the movement drive assembly 24 pulls the pump 10 to reset, the first magnet 22 may be outside the sliding hole 1111, interfering with the support member 21 and preventing the pump 10 from resetting.

[0089] The first magnet 22 is bonded to the stop member 14, meaning the connection between the first magnet 22 and the stop member 14 is not secure. After the first magnet 22 interferes with the support member 21, the first magnet 22 will detach from the stop member 14 under the force of the support member 21, allowing the pump 10 to be stably reset. After the first magnet 22 detaches from the stop member 14, the sliding hole 1111 enters the receiving hole 211, and the wall of the receiving hole 211 seals the opening of the sliding hole 1111, preventing the fluid from flowing out.

[0090] In other embodiments, the first magnet 22 is located between the receiving hole 211 and the second magnet 23. The first magnet 22 does not need to enter the receiving hole 211 and does not affect the resetting process of the pump 10.

[0091] In some embodiments, please refer to Figures 3 and 4. On the projection plane perpendicular to the first direction X, the orthographic projections of the receiving hole 211 and the liquid extraction cylinder 11 are both polygons. The hole wall of the receiving hole 211 is used to prevent the liquid extraction cylinder 11 from rotating relative to the support member 21, so that the relative positions of the first magnet 22 and the second magnet 23 remain stable, and the second magnet 23 can stably attract the first magnet 22 to move.

[0092] Optionally, on the projection plane perpendicular to the first direction X, the orthographic projection of the receiving hole 211 and the orthographic projection of the pumping cylinder 11 can both be quadrilaterals, hexagons, etc.

[0093] In some embodiments, referring to FIG2, the sampling robot 100 further includes a bearing 60, which is connected between the support member 21 and the housing 40. The rotation axis of the bearing 60 coincides with the rotation axis of the rotation drive member 30. The inner ring of the bearing 60 is fixed to the support member 21, and the outer ring of the bearing 60 is fixed to the housing 40. The bearing 60 can support the support member 21, reducing the pressure of the support member 21 on the rotation drive member 30. Moreover, the friction between the inner and outer rings of the bearing 60 is small, and its influence on the rotation of the support member 21 is small.

[0094] In some embodiments, please refer to FIG2, the sampling robot 100 further includes a permanent magnet 50 connected to the inner surface of the housing 40. The permanent magnet 50 is disposed on the side of the support member 21 close to the moving drive assembly 24 along the first direction X, which can prevent the permanent magnet 50 from affecting the first magnet 22, so that the first magnet 22 can stably drive the stop member 14 to move.

[0095] Applying a magnetic field to the outside of the human body can drive the permanent magnet 50 to move, which in turn drives the sampling robot 100 to move, making it easier to control the sampling robot 100 to move to the designated position and improving the accuracy of sampling.

[0096] In some embodiments, referring to Figures 1 to 5, the sampling robot 100 includes a housing 40, a plurality of liquid extractors 10, and a rotation drive 30. The housing 40 forms a receiving cavity 41, and the housing 40 has a communicating hole 43 connecting the receiving cavity 41 and the outside of the housing 40. The plurality of liquid extractors 10 are disposed within the receiving cavity 41, and each liquid extractor 10 has a liquid extraction port 151. The rotation drive 30 is disposed within the receiving cavity 41 and is connected to the plurality of liquid extractors 10. The rotation drive 30 drives the plurality of liquid extractors 10 to rotate to a position where the liquid extraction port 151 faces the communicating hole 43, so that the plurality of liquid extractors 10 respectively extract samples from the communicating hole 43.

[0097] The liquid extractor 10 includes a liquid extraction cylinder 11, a piston 12, a spring 13, and a stop 14. The liquid extraction cylinder 11 extends along a first direction X, and a sliding hole 1111 is provided on the cylinder wall extending along the first direction X, intersecting with the first direction X. The piston 12 is slidably disposed within the liquid extraction cylinder 11 along the first direction X. The two ends of the spring 13 along the first direction X respectively abut against the cylinder wall of the liquid extraction cylinder 11 and the piston 12, with the spring 13 disposed on the side of the piston 12 along the first direction X near the extraction port 151. The stop 14 is slidably disposed within the sliding hole 1111, and abuts against the side of the piston 12 along the first direction X away from the spring 13. The sampling robot 100 also includes a drive device 20 disposed within the receiving cavity 41, which drives the stop 14 away from the piston 12, so that the spring 13 pushes the piston 12.

[0098] The drive unit 20 also includes a support member 21, a plurality of first magnets 22, a moving drive assembly 24, and at least one second magnet 23. The support member 21 is connected to the rotating drive member 30 and has a plurality of receiving holes 211 extending along a first direction X. A plurality of liquid suction cylinders 11 are respectively slidably disposed within the plurality of receiving holes 211 along the first direction X. The plurality of first magnets 22 are respectively connected to one end of a plurality of stop members 14 away from the piston 12 along the length direction of the sliding hole 1111.

[0099] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A sampling robot, characterized in that, include: An outer shell, the outer shell forming a receiving cavity, the outer shell having a communicating hole connecting the receiving cavity and the outside of the outer shell; Multiple liquid extractors are disposed within the receiving cavity, each liquid extractor having a liquid extraction port; A rotation drive is disposed within the receiving cavity. The rotation drive is connected to a plurality of the liquid extractors. The rotation drive is used to drive the plurality of liquid extractors to rotate to a position where the liquid extraction port faces the connecting hole, so that the plurality of liquid extractors take samples from the connecting hole respectively.

2. The sampling robot as described in claim 1, characterized in that, The liquid extractor includes a liquid extraction cylinder, a piston, a spring, and a stop. The liquid extraction cylinder extends along a first direction, and a sliding hole is provided on the cylinder wall extending along the first direction. The sliding hole intersects with the first direction. The piston is slidably disposed within the suction cylinder along the first direction. The two ends of the spring along the first direction respectively abut against the cylinder wall of the suction cylinder and the piston. The spring is disposed on the side of the piston along the first direction near the suction port. The stop is slidably disposed within the sliding hole. The stop abuts against the side of the piston along the first direction away from the spring. The sampling robot also includes a driving device disposed within the receiving cavity. The driving device is used to drive the stop away from the piston so that the spring pushes the piston.

3. The sampling robot as described in claim 2, characterized in that, The driving device includes a support member, a plurality of first magnets, a movable driving assembly, and at least one second magnet. The support member is connected to the rotary driving member and has a plurality of receiving holes extending along the first direction. The plurality of liquid extraction cylinders are slidably disposed within the plurality of receiving holes along the first direction. The plurality of first magnets are respectively connected to the ends of the plurality of stop members away from the piston along the length direction of the sliding hole. The second magnet is connected to the support member and is located on the side of the first magnets close to the piston along the first direction. The second magnet is used to attract the first magnets away from the piston. The movable driving assembly is disposed on the side of the liquid extractor away from the communicating hole along the first direction. The movable driving assembly is used to drive the plurality of liquid extractors to move the first magnets closer to the second magnets along the first direction. The rotary driving member is used to drive the support member to rotate each of the liquid extractors sequentially to a position facing the movable driving assembly.

4. The sampling robot as described in claim 3, characterized in that, The stop member includes a stop portion and a sliding portion. The stop portion abuts against the piston, and the sliding portion is connected between the stop portion and the first magnet. The cross-sectional area of ​​the sliding portion is smaller than the cross-sectional area of ​​the stop portion and the cross-sectional area of ​​the first magnet. A flange is provided on the wall of the sliding hole. The flange is located between the first magnet and the stop portion and is used to prevent the stop portion and the first magnet from moving along the length direction of the sliding hole.

5. The sampling robot as described in claim 3, characterized in that, The liquid extractor further includes a liquid extraction needle communicating with the liquid extraction cylinder, and the liquid extraction port is located at the end of the liquid extraction needle away from the liquid extraction cylinder along the first direction; in the first direction, the distance between the liquid extraction needle and the communicating hole is less than the distance between the first magnet and the second magnet, so that the liquid extraction needle can sample from outside the housing; a third magnet is provided at the end of the moving drive assembly near the liquid extractor along the first direction, and a magnetic element is provided at the end of the liquid extractor near the moving drive assembly along the first direction, the magnetic element being used to attract the third magnet; the moving drive assembly can pull the magnetic element to move the liquid extraction needle from outside the housing to inside the housing.

6. The sampling robot as described in claim 3, characterized in that, The second magnet is provided and connected to one end of the support member away from the moving drive assembly along the first direction, and the rotation axis of the rotating drive member passes through the second magnet; in a direction perpendicular to the first direction, the first magnets are all provided on the side of the pumping cylinder close to the second magnet, and the second magnet can attract multiple first magnets respectively.

7. The sampling robot as described in claim 6, characterized in that, The first magnet is bonded to the stop member, and the support member can prevent the first magnet from moving from outside the receiving hole to inside the receiving hole, so as to separate the first magnet from the stop member.

8. The sampling robot as described in claim 3, characterized in that, On a projection plane perpendicular to the first direction, both the receiving hole and the orthographic projection of the pumping cylinder are polygons, and the wall of the receiving hole is used to prevent the pumping cylinder from rotating relative to the support.

9. The sampling robot as described in claim 3, characterized in that, The sampling robot also includes a bearing connected between the support and the housing, wherein the rotation axis of the bearing coincides with the rotation axis of the rotation drive.

10. The sampling robot as described in any one of claims 3-9, characterized in that, The sampling robot also includes a permanent magnet connected to the inner surface of the outer shell, the permanent magnet being disposed on the side of the support member close to the motion drive assembly along the first direction.

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