WO2023207305A1 - Robot d'échantillonnage souple et son procédé de fonctionnement - Google Patents
Robot d'échantillonnage souple et son procédé de fonctionnement Download PDFInfo
- Publication number
- WO2023207305A1 WO2023207305A1 PCT/CN2023/078607 CN2023078607W WO2023207305A1 WO 2023207305 A1 WO2023207305 A1 WO 2023207305A1 CN 2023078607 W CN2023078607 W CN 2023078607W WO 2023207305 A1 WO2023207305 A1 WO 2023207305A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sampling
- chamber
- soft
- anchoring
- variable
- Prior art date
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 134
- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 109
- 238000004873 anchoring Methods 0.000 claims abstract description 103
- 210000001035 gastrointestinal tract Anatomy 0.000 claims abstract description 24
- 239000007779 soft material Substances 0.000 claims abstract description 8
- 238000000429 assembly Methods 0.000 claims abstract description 7
- 230000000712 assembly Effects 0.000 claims abstract description 7
- 210000000936 intestine Anatomy 0.000 claims description 41
- 239000007788 liquid Substances 0.000 claims description 22
- 230000008261 resistance mechanism Effects 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 15
- 238000005452 bending Methods 0.000 claims description 9
- 238000011017 operating method Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 3
- 239000002923 metal particle Substances 0.000 claims description 3
- 230000008855 peristalsis Effects 0.000 claims description 3
- 238000011065 in-situ storage Methods 0.000 abstract description 7
- 230000000968 intestinal effect Effects 0.000 description 26
- 241000894006 Bacteria Species 0.000 description 7
- 238000011160 research Methods 0.000 description 7
- 230000001788 irregular Effects 0.000 description 4
- 230000037303 wrinkles Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000813 microbial effect Effects 0.000 description 3
- 230000002572 peristaltic effect Effects 0.000 description 3
- 230000001580 bacterial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001072 colon Anatomy 0.000 description 2
- 230000001066 destructive effect Effects 0.000 description 2
- 210000003608 fece Anatomy 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000024827 Alzheimer disease Diseases 0.000 description 1
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010058467 Lung neoplasm malignant Diseases 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000018737 Parkinson disease Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 241000256247 Spodoptera exigua Species 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000013153 catheter ablation Methods 0.000 description 1
- 238000002052 colonoscopy Methods 0.000 description 1
- 238000011109 contamination Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 201000005202 lung cancer Diseases 0.000 description 1
- 208000020816 lung neoplasm Diseases 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 210000003097 mucus Anatomy 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M33/00—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus
- C12M33/04—Means for introduction, transport, positioning, extraction, harvesting, peeling or sampling of biological material in or from the apparatus by injection or suction, e.g. using pipettes, syringes, needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/0038—Devices for taking faeces samples; Faecal examination devices
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M23/00—Constructional details, e.g. recesses, hinges
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M29/00—Means for introduction, extraction or recirculation of materials, e.g. pumps
- C12M29/20—Degassing; Venting; Bubble traps
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12M—APPARATUS FOR ENZYMOLOGY OR MICROBIOLOGY; APPARATUS FOR CULTURING MICROORGANISMS FOR PRODUCING BIOMASS, FOR GROWING CELLS OR FOR OBTAINING FERMENTATION OR METABOLIC PRODUCTS, i.e. BIOREACTORS OR FERMENTERS
- C12M37/00—Means for sterilizing, maintaining sterile conditions or avoiding chemical or biological contamination
- C12M37/04—Seals
-
- C—CHEMISTRY; METALLURGY
- C12—BIOCHEMISTRY; BEER; SPIRITS; WINE; VINEGAR; MICROBIOLOGY; ENZYMOLOGY; MUTATION OR GENETIC ENGINEERING
- C12Q—MEASURING OR TESTING PROCESSES INVOLVING ENZYMES, NUCLEIC ACIDS OR MICROORGANISMS; COMPOSITIONS OR TEST PAPERS THEREFOR; PROCESSES OF PREPARING SUCH COMPOSITIONS; CONDITION-RESPONSIVE CONTROL IN MICROBIOLOGICAL OR ENZYMOLOGICAL PROCESSES
- C12Q1/00—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions
- C12Q1/02—Measuring or testing processes involving enzymes, nucleic acids or microorganisms; Compositions therefor; Processes of preparing such compositions involving viable microorganisms
- C12Q1/24—Methods of sampling, or inoculating or spreading a sample; Methods of physically isolating an intact microorganisms
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Definitions
- the front and rear air bags of the robot alternately inflate and deflate. It is used for anchoring robots.
- By controlling the expansion coefficient of the two anchoring parts of the soft robot it can move freely within variable-diameter rigid pipes and multi-angle elastic intestinal prostheses [H.Heung, et al, ROBIO, 2016] .
- the robot has realized the movement of variable aperture and flexible angle pipes, the feasibility of movement in complex pipeline environments containing viscous liquids has not yet been verified.
- most of the soft robots used in the intestine move in the isolated dry intestine.
- soft robots for intestinal applications are still mainly at the stage of realizing free movement in the intestinal tract and achieving bacterial sampling in the intestinal tract. Research is still blank.
- soft robots have great potential for sampling in complex intestinal environments due to their flexibility and theoretically unlimited degrees of freedom.
- current research on soft robots is still unable to achieve movement and sampling in the intestinal environment with comprehensive characteristics such as long depth, sharp turns, variable apertures, and multiple wrinkles; and the achievements of soft robots in microbial sampling in the intestines are still It has not been reported yet.
- the present invention provides a soft sampling robot, including a pneumatic driven robot made of soft materials:
- a turning mechanism is provided between the two variable-diameter anchoring mechanisms.
- the turning mechanism includes a cylindrical bending braking flexible body.
- the flexible body is divided into two semicircular pneumatic chambers.
- Each pneumatic chamber Second air inlets are respectively provided;
- Figure 1 is a schematic diagram of the overall structure of the present invention.
- FIG. 3 is a schematic diagram of the variable diameter anchoring mechanism of the present invention.
- Figure 4 is a cross-sectional view of the turning mechanism of the present invention.
- Figure 6 is a cross-sectional view of the sampling arm of the present invention.
- the soft sampling robot of the present invention includes a gas-driven robot made of soft materials:
- the sampler 30 includes a hollow sampling body 31 .
- One end of the sampling body 31 is connected to the variable diameter anchoring mechanism 10 and is provided with a fifth air inlet 32 .
- the other end of the sampling body 31 is It is provided as a sampling port 33.
- the sampling body 31 is divided into a control chamber and a sampling chamber by a piston 34.
- the air inlet is connected to the control chamber.
- the sampling port 33 is sealed by a sealing cover 35.
- the sealing cover 35 is connected to the piston 34 through a connecting rod 36 .
- the pressure of the control chamber is adjusted by controlling the air pressure of the fifth air inlet 32 , thereby pushing the piston 34 to drive the sampling chamber to suck the sample from the sampling port 33 .
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Engineering & Computer Science (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- General Health & Medical Sciences (AREA)
- Biotechnology (AREA)
- Microbiology (AREA)
- Biomedical Technology (AREA)
- Genetics & Genomics (AREA)
- Biochemistry (AREA)
- General Engineering & Computer Science (AREA)
- Sustainable Development (AREA)
- Molecular Biology (AREA)
- Proteomics, Peptides & Aminoacids (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Analytical Chemistry (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Immunology (AREA)
- Clinical Laboratory Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
La présente invention concerne un robot d'échantillonnage souple et un procédé de fonctionnement, et appartient au domaine technique des robots souples. Le robot d'échantillonnage souple comprend : les deux mécanismes d'ancrage à diamètre variable comprenant une pluralité d'ensembles d'ancrage à contact ponctuel, chacun des ensembles d'ancrage à contact ponctuel comprenant une chambre cylindrique et une pluralité de chambres en saillie, les chambres en saillie étant réparties symétriquement à la périphérie de la chambre cylindrique, la profondeur de chacune des chambres en saillie étant progressivement réduite dans une direction circonférentielle de la chambre cylindrique, les chambres en saillie étant en communication avec la chambre cylindrique, et la pluralité d'ensembles d'ancrage à contact ponctuel étant superposés d'une manière décalée ; un mécanisme de rotation situé entre les deux mécanismes d'ancrage à diamètre variable, le mécanisme de rotation étant divisé en deux chambres pneumatiques semi-circulaires, et chacune des chambres pneumatiques étant pourvue d'une seconde entrée de gaz ; et un échantillonneur monté au niveau de l'extrémité arrière de l'un des deux mécanismes d'ancrage à diamètre variable, l'échantillonneur étant pourvu d'une chambre d'échantillonnage. Le robot d'échantillonnage souple de la présente invention peut effectuer un mouvement libre sans perte dans un environnement de tractus intestinal complexe, et peut effectuer un échantillonnage in situ sans pollution à n'importe quelle position dans le tractus intestinal.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210461325.4A CN115029223B (zh) | 2022-04-28 | 2022-04-28 | 一种软体采样机器人及操作方法 |
| CN202210461325.4 | 2022-04-28 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023207305A1 true WO2023207305A1 (fr) | 2023-11-02 |
Family
ID=83118588
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/CN2023/078607 WO2023207305A1 (fr) | 2022-04-28 | 2023-02-28 | Robot d'échantillonnage souple et son procédé de fonctionnement |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115029223B (fr) |
| WO (1) | WO2023207305A1 (fr) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115029223B (zh) * | 2022-04-28 | 2023-05-02 | 江南大学 | 一种软体采样机器人及操作方法 |
Citations (5)
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| CN112461585A (zh) * | 2020-11-25 | 2021-03-09 | 宁夏农林科学院动物科学研究所(宁夏草畜工程技术研究中心) | 兽医用动物粪便采集装置 |
| CN112998860A (zh) * | 2020-12-11 | 2021-06-22 | 北京信息科技大学 | 一种用于微创外科手术单节软体操作器 |
| CN113056225A (zh) * | 2018-08-27 | 2021-06-29 | 驱动医疗公司 | 用于体腔的设备和系统以及使用的方法 |
| CN114007487A (zh) * | 2019-06-22 | 2022-02-01 | 敦提大学 | 用于内窥镜检查的机器人 |
| CN115029223A (zh) * | 2022-04-28 | 2022-09-09 | 江南大学 | 一种软体采样机器人及操作方法 |
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| ATE495697T1 (de) * | 2005-12-28 | 2011-02-15 | Era Endoscopy S R L | Selbstfortbewegende endoskopische vorrichtung |
| CN103231747B (zh) * | 2013-04-26 | 2015-08-26 | 上海交通大学 | 一种柔顺型尺蠖蠕动机器人 |
| CA2998170C (fr) * | 2015-09-15 | 2023-10-03 | Savage Medical, Inc. | Dispositifs et procedes d'ancrage de gaine dans une cavite tissulaire |
| EP3367875A1 (fr) * | 2015-10-29 | 2018-09-05 | Elwha LLC | Dispositif de déplacement dans une lumière |
| CN105500383B (zh) * | 2016-02-23 | 2018-12-07 | 哈尔滨工业大学 | 一种具有多种运动形式的软体机器人模块 |
| WO2017185003A1 (fr) * | 2016-04-21 | 2017-10-26 | Massachusetts Institute Of Technology | Robots et systèmes origamis |
| GB201703056D0 (en) * | 2017-02-24 | 2017-04-12 | King S College London | Soft locomotive device for endoscopy with adaptive anchoring |
| CN208435601U (zh) * | 2017-04-24 | 2019-01-29 | 曹炳鑫 | 一种蠕动自定位胶囊内镜 |
| CN108451488B (zh) * | 2018-05-04 | 2020-02-14 | 哈尔滨工业大学深圳研究生院 | 一种具有多方向活体采样功能的肠道微型胶囊机器人 |
| CN109745083B (zh) * | 2019-02-28 | 2021-08-17 | 哈尔滨工业大学（深圳） | 一种具有锚定功能的肠道活检施药胶囊机器人 |
| US20210086351A1 (en) * | 2019-09-19 | 2021-03-25 | The Board Of Trustees Of The University Of Alabama | Soft robotic tools with sequentially underactuated magnetorheological fluidic joints |
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| GB202110576D0 (en) * | 2021-07-22 | 2021-09-08 | Univ Dundee | Inspection robot |
| CN113927616A (zh) * | 2021-11-11 | 2022-01-14 | 江南大学 | 一种软体爬行机器人及其控制方法 |
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- 2022-04-28 CN CN202210461325.4A patent/CN115029223B/zh active Active
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2023
- 2023-02-28 WO PCT/CN2023/078607 patent/WO2023207305A1/fr unknown
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113056225A (zh) * | 2018-08-27 | 2021-06-29 | 驱动医疗公司 | 用于体腔的设备和系统以及使用的方法 |
| CN114007487A (zh) * | 2019-06-22 | 2022-02-01 | 敦提大学 | 用于内窥镜检查的机器人 |
| CN112461585A (zh) * | 2020-11-25 | 2021-03-09 | 宁夏农林科学院动物科学研究所(宁夏草畜工程技术研究中心) | 兽医用动物粪便采集装置 |
| CN112998860A (zh) * | 2020-12-11 | 2021-06-22 | 北京信息科技大学 | 一种用于微创外科手术单节软体操作器 |
| CN115029223A (zh) * | 2022-04-28 | 2022-09-09 | 江南大学 | 一种软体采样机器人及操作方法 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115029223A (zh) | 2022-09-09 |
| CN115029223B (zh) | 2023-05-02 |
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