CN212521836U

CN212521836U - Touch automatic protection type nasopharynx swab specimen collecting robot

Info

Publication number: CN212521836U
Application number: CN202021054029.5U
Authority: CN
Inventors: 张春霖
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2020-06-10
Filing date: 2020-06-10
Publication date: 2021-02-12
Anticipated expiration: 2030-06-10

Abstract

The utility model relates to a touching automatic protection formula nasopharynx swab sample acquisition robot, including the robot, the robot is including box-shaped fixing base, installs X in the box-shaped fixing base to guide rail and actuating mechanism, and X installs Z to longmen elevating system through the diaphragm to the X that guide rail and actuating mechanism installed on to the slider, and Z disposes the crossbeam to longmen elevating system, installs on the crossbeam to Y to guide rail and actuating mechanism, and Y installs nasopharynx examination sub-device to the slider to guide rail and actuating mechanism's Y. Therefore, through the automatic control of the controller, local automatic operation can be realized under blind vision, or remote control in different places is realized, and the occupational exposure risk of medical staff is reduced or even avoided. Under the monitoring of the endoscope head, the oropharynx swab can be automatically operated locally or remotely operated in different places. The standardization of sample collection can be realized, the reliability of collection can be improved, the access operation of medical personnel can be further reduced, and the labor intensity is reduced.

Description

Touch automatic protection type nasopharynx swab specimen collecting robot

Technical Field

The utility model relates to an upper respiratory tract examination son sample acquisition robot especially relates to a touching automatic protection formula nasopharynx swab sample acquisition robot.

Background

Limited by structure and principle, the existing collection robot for upper respiratory tract swab specimens is mainly divided into two types, and the collection robot needs to collect the upper respiratory tract specimens through oral cavities but not through nasal cavities during the use period, particularly:

one is that a throat swab and an endoscope are arranged at the tail end of a mechanical arm, and the throat swab is manually operated in a visual monitoring and remote operation mode of a hand controller to touch an ideal position of the rear wall of the pharynx for specimen collection. However, this robot is bulky and expensive.

The other type is an artificial intelligent respiratory tract specimen collecting robot, and the self weight of the throat swab handle part is utilized to realize the touch of the throat swab touching the ideal position of the pharyngeal wall in the supine position of the patient and under the almost frictionless damping state of the throat swab handle part and the guide mechanism, so that the specimen collection of the upper respiratory tract is carried out. Although this robot is small in size, can be portable, but when the robot work moved in people's facial top, some patients easily produced oppression and felt, are unfavorable for gathering.

In view of the above defects, the designer actively makes research and innovation to invent a touch automatic protection type nasopharynx swab specimen collection robot, so that the robot can be operated remotely or remotely, can naturally collect upper respiratory tract specimens through the nasal cavity, broaden the collection mode of the respiratory tract specimens of the robot, better realize the standardization and diversity of specimen collection, avoid the occupational exposure risk of medical staff, improve the operation safety and reduce the labor intensity.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing a touching automatic protection formula nasopharynx swab specimen collecting robot.

The utility model discloses a touching automatic protection formula nasopharynx swab specimen acquisition robot, including the robot, its characterized in that: the robot body comprises a box-type fixed seat, an X-direction guide rail and a driving mechanism are installed in the box-type fixed seat, a Z-direction gantry lifting mechanism is installed on an X-direction sliding block installed on the X-direction guide rail and the driving mechanism through a transverse plate, the Z-direction gantry lifting mechanism is provided with a cross beam, a Y-direction guide rail and the driving mechanism are installed on the cross beam, a nasopharynx test device is installed on the Y-direction guide rail and the Y-direction sliding block of the driving mechanism,

the nasopharynx testing device comprises a damping rotating shaft assembly, a propelling mechanism and a rotating device are arranged on the damping rotating shaft assembly, a nasopharynx swab connecting assembly is connected onto the propelling mechanism and the rotating device, a nasopharynx swab single body is mounted on the nasopharynx swab connecting assembly,

the nasopharynx swab connecting assembly is a nasopharynx swab connecting pipe, the nasopharynx swab connecting pipe is a hollow pipe, the hollow pipe comprises a front end round pipe, a middle section hexagonal pipe and a rear end round pipe, the inner diameter of the rear end round pipe is larger than that of the middle section hexagonal pipe, the middle section hexagonal pipe forms a step in the rear end round pipe, a push rod is arranged in the nasopharynx swab connecting pipe, positioning protrusions are distributed at the tail part of the push rod, a second reset spring is sleeved outside the push rod, and when the push rod descends, the nasopharynx swab monomer is separated from the nasopharynx swab connecting pipe,

and the robot body or the outside of the robot body is provided with a controller, and the controller is connected with respective control ports of the X-direction guide rail and driving mechanism, the Z-direction gantry lifting mechanism, the Y-direction guide rail and driving mechanism, the propelling mechanism and the rotating device.

Further, foretell touching automatic protection formula nasopharynx swab specimen collection robot, wherein, damping pivot subassembly is including the pivot seat, wear to be equipped with the adjustable pivot of damping on the pivot seat, one side of the adjustable pivot of damping is provided with damping adjusting nut I, still install the pivot swing arm in the adjustable pivot of damping, install L type connecting plate in the pivot swing arm, advancing mechanism and rotary device and endoscope mounting hole are installed to L type connecting plate dorsad patient's one side.

Furthermore, in the above robot for collecting a specimen of a nasopharyngeal swab with an automatic touch protection function, a boss is disposed on a side of the L-shaped connecting plate facing a patient, and a tongue pressing tube is mounted on the boss.

Furthermore, the robot for collecting the nasopharynx swab specimen with the automatic touch protection function comprises a pushing mechanism and a rotating mechanism, wherein the pushing mechanism and the rotating device comprise a screw motor, the screw motor is connected with a guide post, a damping connector is arranged on the guide post in a penetrating mode, and a screw nut is arranged at the tail end of the damping connector; the rotating mechanism comprises a rotating motor, a gear seat is arranged in front of the working end of the rotating motor, a transmission gear is meshed on the gear seat, a hexagonal hole is formed in the transmission gear, the nasopharynx swab connecting pipe penetrates through the hexagonal hole, and the tail end of the nasopharynx swab connecting pipe is connected with the damping connector.

Furthermore, foretell touching automatic protection formula nasopharynx swab specimen collection robot, wherein, the damping connector includes the gland, be provided with first reset spring in the gland, swing joint has damping adjusting nut II on the gland.

Furthermore, the robot for collecting nasopharyngeal swab specimens with automatic touch protection function is described, wherein a mandible bracket is mounted on the box-shaped fixing seat.

Still further, the robot for collecting specimen of nasopharyngeal swab with touch automatic protection function, wherein the controller comprises one or more of a motor driver, a computer, an AI chip and a hand controller.

Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage:

1. through the automatic control of the controller, local automatic operation can be realized under blind vision, or remote control in different places is realized, and the occupational exposure risk of medical staff is reduced or even avoided.

2. The oropharynx swab local automatic operation or remote control in different places can be realized under the monitoring of the endoscope head, and the occupational exposure risk of medical staff is reduced or even avoided.

3. The standard and the reliability of sample collection can be improved, the access operation of medical personnel can be further reduced, and the labor intensity is reduced.

4. Through the cooperation of the controller and corresponding software, the automatic learning of artificial intelligence under big data accumulation can be realized, and the precision, the efficiency and the reliability of gathering are improved.

5. The whole structure is simple, and the manufacture and the use are easy.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic view of the whole structure of the robot for collecting nasopharyngeal swab specimens with automatic touch protection.

Fig. 2 is a schematic side view of the present touch-based robot for collecting nasopharyngeal swab specimens.

Fig. 3 is a schematic rear view of the present touch automatic protection type nasopharyngeal swab specimen collection robot.

Fig. 4 is a schematic top view of the present touch auto-protected nasopharyngeal swab specimen collection robot.

The meanings of the reference symbols in the drawings are as follows.

1 box type fixed seat 2X-direction guide rail and driving mechanism

3 transverse plate 4Z-direction gantry lifting mechanism

5Y-direction guide rail and driving mechanism 6 damping rotating shaft assembly

7 nasopharyngeal swab monomer 8 nasopharyngeal swab connecting tubes

9 push rod 10 rotating shaft seat

11 damping adjustable rotating shaft 12 damping adjusting nut

13-rotating-shaft swing arm 14L-shaped connecting plate

15 endoscope mounting hole 16 boss

17 tongue pressing tube 18 screw rod motor

19 guide post 20 damping connector

21 feed screw nut 22 rotating electric machine

23 gear seat 24 drive gear

25 pressing cover 26 first return spring

27 damping adjusting nut 28 mandible bracket

29 second return spring 30 control

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

The touch automatic protection type nasopharyngeal swab specimen collection robot as shown in fig. 1 to 4 comprises a robot body, and is characterized in that: the robot body comprises a box-type fixed seat 1, and an X-direction guide rail and a driving mechanism 2 are installed in the box-type fixed seat 1 and used for realizing X-direction guide driving. Meanwhile, in order to adjust the acquisition of patients with different heights, a Z-direction gantry lifting mechanism 4 is arranged on an X-direction slide block arranged on the X-direction guide rail and driving mechanism 2 through a transverse plate 3. In consideration of the head position of the patient, the Z-direction gantry lifting mechanism 4 is provided with a beam on which a Y-direction guide rail and a driving mechanism 5 are mounted. In addition, in consideration of the automatic realization of the collection and sampling, a nasopharynx testing device is arranged on the Y-direction guide rail and the Y-direction slide block of the driving mechanism 5. Particularly, the nasopharynx sub-device comprises a damping rotating shaft assembly 6, wherein a propelling mechanism and a rotating device are arranged on the damping rotating shaft assembly 6. The propelling mechanism and the rotating device are connected with a nasopharyngeal swab connecting assembly, and a nasopharyngeal swab monomer 7 is arranged on the nasopharyngeal swab connecting assembly. Therefore, the damping device has proper damping when the relative position is adjusted, and an overlarge adjusting gap can not occur. Combine actual implementation to see, nasopharynx swab coupling assembling is nasopharynx swab connecting pipe 8, nasopharynx swab connecting pipe 8 is the hollow tube, the hollow tube includes the front end pipe, six square pipes in middle section, the rear end pipe constitutes, rear end pipe internal diameter is greater than middle section hexagonal pipe internal diameter, make six square pipes in middle section form a step (not shown in the figure) in the rear end pipe, be provided with push rod 9 in the nasopharynx swab connecting pipe 8, the afterbody distribution of push rod 9 has the location arch (not shown in the figure), push rod 9 overcoat has put second reset spring 29, the push rod 9 of being convenient for resets. Thus, when the push rod 9 descends, the nasopharyngeal swab single body 7 can be separated from the nasopharyngeal swab connecting tube 8. Furthermore, in order to realize automatic collection, realize the relative isolation between doctor and the patient, improve the safety protection effect of using, the utility model discloses be provided with controller 30 on the robot or the outside, controller 30 and X link to each other to guide rail and actuating mechanism 2, Z to longmen elevating system 4, Y to guide rail and actuating mechanism 5, advancing mechanism and the respective control port of rotary device. When the robot is used, the controller 30 is internally provided with related software which can include one or more of motor motion control software, image recognition software and calculation software, so that the robot can be controlled autonomously. Of course, in consideration of convenience of implementation, the controller 30 may be data-compatible with various types of controllers 30 that are currently conventional, and the controller 30 may include one or more of a motor driver, a computer, an AI chip, and a hand controller.

Combine the utility model discloses an embodiment of preferred sees, in order to carry out more accurate angle modulation to the position of different patient's heads, and the damping pivot subassembly 6 of adoption wears to be equipped with damping adjustable pivot 11 including pivot seat 10 on the pivot seat 10, and one side of damping adjustable pivot 11 is provided with damping adjusting nut I12. Meanwhile, in consideration of the stable installation of the nasopharynx sub-device and the effective driving and guiding of the subsequent sampling guiding, a rotating shaft swing arm 13 is further installed on the damping adjustable rotating shaft 11, and an L-shaped connecting plate 14 is installed on the rotating shaft swing arm 13.

Specifically, a pushing mechanism and a rotating device are attached to the side of the L-shaped link plate 14 facing away from the patient, and an endoscope attachment hole 15 is attached. Thus, the nasopharyngeal swab connecting tube 8 rotates around the damping adjustable rotating shaft 11 to adapt to the inclination angle of the conventional nasal cavity, and can smoothly enter the nasal cavity. Moreover, the damping adjusting nut 2712 can control the damping applied to the damping adjustable rotating shaft 11 to obtain the best rotating effect. By means of the existence of the endoscope mounting hole 15, the installation and the positioning of the endoscope can be realized, the nasopharynx sub-robot can be converted into the oropharynx swab specimen collecting robot for use, and the expansibility of the use function is improved. Furthermore, in order to facilitate the collection of oropharyngeal swab specimens, the utility model discloses can be provided with boss 16 in L type connecting plate 14 towards the patient one side, install tongue depressor 17 on the boss 16. Like this, can make nasopharynx swab sample collection robot switch to touching automatic protection oropharynx swab robot.

Further, the present invention provides a propulsion mechanism and a rotating device including the propulsion mechanism and the rotating mechanism. Specifically, the propelling mechanism comprises a screw motor 18, a guide post 19 is connected to the screw motor 18, a damping connector 20 penetrates through the guide post 19, and a screw nut 21 is arranged at the tail end of the damping connector 20. The rotating mechanism comprises a rotating motor 22, a gear seat 23 is arranged in front of the working end of the rotating motor 22, a transmission gear 24 is engaged on the gear seat 23, a hexagonal hole (not shown in the figure) is arranged in the transmission gear 24, the nasopharynx swab connecting pipe 8 passes through the hexagonal hole, and the tail end of the nasopharynx swab connecting pipe 8 is connected with the damping connector 20. In order to have better travel damping control, the damping connector 20 comprises a gland 25, a first return spring 26 is arranged in the gland 25, and a damping adjusting nut II 27 is movably connected to the gland 25. Thus, damping adjustment can be conveniently realized by rotating the damping adjusting nut II 27.

Further, in order to facilitate better positioning of the head of the patient, improve acquisition accuracy and avoid accidental injury, the box-type fixing seat 1 is provided with a mandible bracket 28. In this way, the patient's lower jaw can be guided to rest on the lower jaw carrier 28, satisfying an effective prepositioning.

The working principle of the utility model is as follows:

when the robot works, the head of the patient leans backwards by about 70 degrees. The handle of the nasopharyngeal swab single body 7 is inserted into the corresponding nasopharyngeal swab connecting pipe 8, the damping adjusting nut 2712 is adjusted, and the pressing cover 25 presses the rear end round pipe of the nasopharyngeal swab connecting pipe 8 with proper pressure.

Then, with the screw motor 18 started, the screw nut 21 starts to move, pushing the nasopharyngeal swab connecting tube 8 into the nasal cavity. When the nasopharyngeal swab touches the posterior pharyngeal wall and is subjected to resistance, the rotating motor 22 is started, and the transmission gear 24 of the rotating motor enables the nasopharyngeal swab connecting pipe 8 to rotate forward and backward in the nasal cavity through the six square pipes at the middle section of the nasopharyngeal swab connecting pipe 8, so that the upper respiratory tract sample is collected.

When the resistance of the transmission gear 24 seat 23 is larger than the damping of the gland 25 applied to the back end circular tube, the nasopharyngeal swab single body 7 can not go deep into the nasal cavity any more, thereby realizing automatic protection and ensuring the safety of the patient. In this period, because the gland 25 can be a definite value with the damping that proper pressure compressed tightly the rear end pipe produced, avoid artifical collection pharynx swab to touch behind the pharynx wall strength probably not enough time spent to can standardize the collection under the state of deciding the damping value, improve the precision, the efficiency and the reliability of gathering.

Through foretell expression of characters and combination of the attached drawing can be seen, adopt the utility model discloses afterwards, possess following advantage:

5. The whole structure is simple, and the manufacture and the use are easy.

Furthermore, the indication directions or positional relationships described in the present invention are directions or positional relationships based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the indicated device or structure must have a specific direction or operate in a specific directional configuration, and therefore, should not be construed as limiting the present invention.

The terms "primary" and "secondary" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "primary" or "secondary" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Also, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating 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 the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "disposed" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. And it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or component so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. Touching automatic protection formula nasopharynx swab specimen acquisition robot, including the robot body, its characterized in that: the robot body comprises a box-shaped fixed seat (1), an X-direction guide rail and a driving mechanism (2) are installed in the box-shaped fixed seat (1), a Z-direction gantry lifting mechanism (4) is installed on an X-direction sliding block installed on the X-direction guide rail and the driving mechanism (2) through a transverse plate (3), the Z-direction gantry lifting mechanism (4) is provided with a transverse beam, a Y-direction guide rail and a driving mechanism (5) are installed on the transverse beam, a nasopharynx testing device is installed on a Y-direction sliding block of the Y-direction guide rail and the driving mechanism (5), the nasopharynx testing device comprises a damping rotating shaft assembly (6), a propelling mechanism and a rotating device are arranged on the damping rotating shaft assembly (6), a nasopharynx swab connecting assembly is connected onto the propelling mechanism and the rotating device, and a nasopharynx swab connecting assembly is installed on the nasopharynx swab connecting assembly and a nasopharynx swab single,

the nasopharynx swab connecting assembly is a nasopharynx swab connecting pipe (8), the nasopharynx swab connecting pipe (8) is a hollow pipe, the hollow pipe comprises a front end round pipe, a middle section hexagonal pipe and a rear end round pipe, the inner diameter of the rear end round pipe is larger than that of the middle section hexagonal pipe, the middle section hexagonal pipe forms a step in the rear end round pipe, a push rod (9) is arranged in the nasopharynx swab connecting pipe (8), positioning bulges are distributed at the tail part of the push rod (9), a second reset spring (29) is sleeved outside the push rod (9), and when the push rod (9) descends, the nasopharynx swab single body (7) is separated from the nasopharynx swab connecting pipe (8),

and a controller (30) is arranged on or outside the robot body, and the controller (30) is connected with respective control ports of the X-direction guide rail and driving mechanism (2), the Z-direction gantry lifting mechanism (4), the Y-direction guide rail and driving mechanism (5), the propelling mechanism and the rotating device.

2. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 1, wherein: damping pivot subassembly (6) is including pivot seat (10), wear to be equipped with damping adjustable pivot (11) on pivot seat (10), one side of damping adjustable pivot (11) is provided with damping adjusting nut I (12), still install pivot swing arm (13) on damping adjustable pivot (11), install L type connecting plate (14) on pivot swing arm (13), advancing mechanism and rotary device and endoscope mounting hole (15) are installed to L type connecting plate (14) patient's one side dorsad.

3. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 2, wherein: a boss (16) is arranged on one surface, facing a patient, of the L-shaped connecting plate (14), and a tongue pressing pipe (17) is mounted on the boss (16).

4. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 2, wherein: the propelling mechanism and the rotating device comprise a propelling mechanism and a rotating mechanism, the propelling mechanism comprises a screw motor (18), a guide post (19) is connected to the screw motor (18), a damping connector (20) penetrates through the guide post (19), and a screw nut (21) is arranged at the tail end of the damping connector (20); the rotating mechanism comprises a rotating motor (22), a gear seat (23) is arranged in front of the working end of the rotating motor (22), a transmission gear (24) is meshed on the gear seat (23), a hexagonal hole is formed in the transmission gear (24), the nasopharynx swab connecting pipe (8) penetrates through the hexagonal hole, and the tail end of the nasopharynx swab connecting pipe (8) is connected with the damping connector (20).

5. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 4, wherein said robot comprises: damping connector (20) are including gland (25), be provided with first reset spring (26) in gland (25), swing joint has damping adjusting nut II (27) on gland (25).

6. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 1, wherein: and a mandible bracket (28) is arranged on the box-type fixed seat (1).

7. The touch-operated robot for collecting nasopharyngeal swab specimens as recited in claim 1, wherein: the controller (30) comprises one or more of a motor driver, a computer, an AI chip and a hand controller.