CN111216145A

CN111216145A - Artificial intelligence formula respiratory track sample collection double-arm robot

Info

Publication number: CN111216145A
Application number: CN202010170183.7A
Authority: CN
Inventors: 张春霖; 张笑凯
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2020-03-12
Filing date: 2020-03-12
Publication date: 2020-06-02

Abstract

The invention relates to an artificial intelligent respiratory tract specimen collecting double-arm robot, which comprises a robot body, wherein the robot body is provided with a fixed arm, and the artificial intelligent respiratory tract specimen collecting double-arm robot comprises: the fixed arm is connected with an operating arm, the fixed arm comprises a support frame, a denture ring height adjusting mechanism is installed on the support frame, and a forehead fixing mechanism is connected to the denture ring height adjusting mechanism. Therefore, under the monitoring of the endoscope head, the local automatic operation or remote control in different places can be realized under the coordination of the controller, and the occupational exposure risk of medical staff is reduced or even avoided. The fixed arm is connected with the operation arm, realizes "both arms" cooperative operation, both can improve the reliability of sample collection, also can further reduce medical staff's access operation, alleviates intensity of labour. 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.

Description

Artificial intelligence formula respiratory track sample collection double-arm robot

Technical Field

The invention relates to respiratory tract specimen collecting equipment, in particular to an artificial intelligent respiratory tract specimen collecting double-arm robot.

Background

In recent years, the outbreak of new coronavirus pneumonia causes great loss to China and even the world. According to the novel diagnosis and treatment scheme of the coronavirus infection pneumonia, a suspected case needs to be diagnosed with one of the following etiological evidences:

1. detecting the positive of the novel coronavirus nucleic acid by a respiratory tract specimen or a blood specimen through real-time fluorescence RT-PCR;

2. sequencing of viral genes in respiratory tract specimens or blood specimens is highly homologous to known novel coronaviruses.

Therefore, specimen collection is an essential link for accurate diagnosis of the novel coronavirus pneumonia, but the specimen collection is a high-risk and repeated operation, needs to be in close contact with a patient, can cause severe cough of the patient, splashes around during sampling processes such as cotton swabs and the like, and has extremely high infection risk. Medical personnel are at great occupational exposure because of the high infectivity and mortality associated with coronaviruses.

Meanwhile, the collection and examination of the respiratory tract specimen determine the diagnosis and discharge standards of the patient, and is an examination which has to be done.

In view of the above-mentioned defects, the present designer actively makes research and innovation to create an artificial intelligent type respiratory tract specimen collecting double-arm robot, so that the robot can be operated remotely or remotely, thereby improving the reliability of specimen collection, reducing or even avoiding the occupational exposure risk of medical staff, improving the safety of operation, and reducing the labor intensity.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide an artificial intelligent respiratory tract specimen collecting double-arm robot.

The invention discloses an artificial intelligent respiratory tract specimen collecting double-arm robot, which comprises a robot body, wherein the robot body is provided with a fixed arm, and the artificial intelligent respiratory tract specimen collecting double-arm robot comprises: the operating arm is connected on the fixed arm, the fixed arm comprises a supporting frame, a denture ring height adjusting mechanism is installed on the supporting frame, a forehead fixing mechanism is connected on the denture ring height adjusting mechanism, the supporting frame is in a D-shaped structure, a pillow plate is arranged below the supporting frame, a cross beam is arranged above the supporting frame,

the operation arm comprises a sheath lifting mechanism, an endoscope lens is arranged on the sheath lifting mechanism, a guide tube posture adjusting mechanism is connected outside the sheath lifting mechanism, a throat swab connecting pipe is connected on the guide tube posture adjusting mechanism, a hose fixing and propelling mechanism is connected on the throat swab connecting pipe, the sheath lifting mechanism comprises a connecting plate, a propelling motor is arranged on the connecting plate, a steel wire winding wheel is arranged on a shaft head of the propelling motor and connected with a connecting rod through a second steel wire, a guide rod is arranged above the connecting plate, a second reset spring is arranged on the guide rod, a guide post is arranged below the connecting plate, a sheath component is arranged on one side of the connecting plate, the bottom of the sheath component is arranged, a first reset spring is arranged between the connecting plate and the operating arm, and a catheter motor is arranged on the connecting plate, the shaft head of the catheter motor is provided with a steel wire winding wheel which is connected with the connecting plate through a first steel wire,

the guide tube posture adjusting mechanism comprises a guide tube seat, the guide tube seat is arranged on a cross beam through an X-direction rotating shaft, a guide tube component is connected onto the guide tube seat and is connected with a motor fixing seat plate, the X-direction rotating shaft is connected with an X-direction driving motor, a groove is arranged in the middle of the guide tube seat, the guide tube is arranged in the groove through a Y-direction rotating shaft, the Y-direction rotating shaft is connected with a Y-direction driving motor,

the robot comprises a robot body and is characterized in that a controller is arranged on the robot body, or the outside of the robot body is connected with the controller, related software is arranged in the controller, the controller comprises one or more of a motor driver, a computer, an AI chip and a hand controller, and the related software comprises one or more of motor motion control software, image recognition software and calculation software.

Further, foretell two-armed robot is gathered to artificial intelligence formula respiratory track sample, wherein, denture ring height adjustment mechanism is including the guide rail that links to each other with the support frame, altitude mixture control motor is installed to the one end of guide rail, install the slider on the guide rail, be provided with quick change coupler on the slider, be connected with denture ring subassembly on the quick change coupler.

Furthermore, foretell two-armed robot is gathered to artificial intelligence formula respiratory track sample, wherein, forehead fixed establishment is including the U type extension board that links to each other with the support frame, be provided with rectangular form adjustment tank on the U type extension board, wear to be equipped with adjusting screw in the rectangular form adjustment tank, adjusting screw's upper end is provided with the handle, adjusting screw's lower extreme is connected with the forehead fixed plate through forehead fixed subassembly.

Furthermore, the above-mentioned artificial intelligence formula respiratory track sample collection both arms robot, wherein, the hose is fixed and advancing mechanism includes the outer tube, the outer tube passes through connecting rod and lock nut and is connected with the connecting rod, be provided with hose and hose locking device in the outer tube.

Furthermore, the artificial intelligent type respiratory tract specimen collecting double-arm robot is characterized in that the connecting rod is provided with a threaded hole, and the hose is a sputum suction tube or a fiberoptic bronchoscope.

Still further, foretell artificial intelligence formula respiratory track sample collection both arms robot, wherein, the mirror sheath subassembly is including fixed pipe, the afterbody of fixed pipe is provided with the step, the stalk portion that has the pharynx swab is inserted to fixed intraductal the hub, the overhead work hole of having seted up of endoscope.

By the scheme, the invention at least has the following advantages:

1. under the monitoring of the endoscope head, the automatic operation can be realized locally under the cooperation of the controller, or remote control can be realized at different places, so that the occupational exposure risk of medical staff is reduced or even avoided.

2. The fixed arm is connected with the operation arm, realizes "both arms" cooperative operation, both can improve the reliability of sample collection, also can further reduce medical staff's access operation, alleviates intensity of labour.

3. 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.

4. The whole structure is simple, the manufacture is easy, and the use and the implementation are more rapid.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the artificial intelligent respiratory tract specimen collecting double-arm robot.

Fig. 2 is a schematic front structural diagram of the artificial intelligent respiratory tract specimen collecting double-arm robot (without a controller).

Fig. 3 is a schematic side view of the present artificial intelligent respiratory tract specimen collecting double-arm robot (without a controller).

Fig. 4 is a front partial sectional view of the present artificial intelligent airway specimen collecting two-arm robot (without a controller).

Fig. 5 is a plan view of the present artificial intelligent airway specimen collecting two-arm robot (without a controller).

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

1 fixed arm 2 operating arm

3 height adjusting mechanism for 4 denture collars of support frame

5 forehead fixing mechanism 6 pillow board

7 8 denture ring components on crossbeam

9 forehead fixing assembly 10 guide rail

11 height adjusting motor 12 quick change coupler

13U-shaped extension plate 14 forehead fixing plate

15 adjusting screw 16 handle

17 long strip shape regulating groove 18 endoscope head

19 sheath elevating system 20 stand pipe posture adjustment mechanism

21 pharynx swab connecting pipe 22 hose is fixed and advancing mechanism

23 working hole 24 sheath assembly

25 connecting plate 26 guide post

27 first wire 28 duct motor

29 first return spring 30 catheter hub

31 conduit assembly 32 motor fixing seat board

33X-direction rotation shaft 34Y-direction rotation shaft

35 groove 36Y-direction driving motor

37 throat swab 38 fixed tube

39 step 40 engagement guide rod

41 outer sleeve 42 connecting rod

43 guide bar 44 second wire

45 propulsion motor 46 second return spring

47 connecting rod 48 locking screw

49 controller

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with 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.

An artificial intelligence formula respiratory track sample collection double-armed robot as figure 1 to 5, including the robot, the robot is provided with fixed arm 1, and its distinctive and distinctive part lies in: the fixed arm 1 is connected with an operating arm 2 to realize 'double-arm' cooperative operation. Specifically, the fixed arm 1 comprises a support frame 3, a denture ring height adjusting mechanism 4 is installed on the support frame 3, and a forehead fixing mechanism 5 is connected to the denture ring height adjusting mechanism 4. Like this, be convenient for realize the location of forehead and oral cavity during the actual implementation, be convenient for respiratory track sample's smooth and easy collection. Meanwhile, in order to reserve a proper space to facilitate abdicating of a human body, the support frame 3 adopted by the invention is in a D-shaped structure, the pillow plate 6 is arranged below the support frame 3, and the cross beam 7 is arranged above the support frame 3. Like this, if adopt the flat mode of lying, can let patient's head rely on pillow board 6 to lie down, and the existence of crossbeam 7 can realize effectual spaced apart placing support to the all kinds of subassemblies of follow-up assembly.

In view of the convenience of autonomous control operation of the robot, the selected operation arm 2 includes a sheath lifting mechanism 19. Specifically, in order to achieve smooth image observation and improve the acquisition accuracy, the sheath elevating mechanism 19 is provided with the endoscope head 18. Meanwhile, in order to adapt to the physiological structures of different patients to realize the adjustment of collection such as angle and depth, a guide tube posture adjusting mechanism 20 is connected outside the endoscope sheath lifting mechanism 19. Specifically, a throat swab connecting tube 21 is connected to the guide tube posture adjusting mechanism 20, and a tube fixing and pushing mechanism 22 is connected to the throat swab connecting tube 21.

In a preferred embodiment of the present invention, the sheath lifting mechanism 19 comprises a connecting plate 25, a pushing motor 45 is disposed on the connecting plate 25, and the pushing motor 45 is connected to the connecting rod 42 via a second wire 44. Meanwhile, a guide rod 43 is arranged above the connecting plate 25, and a second reset spring 46 is arranged on the guide rod 43, so that effective elastic reset force can be provided, and smooth reset is ensured. And, the guide post 26 is provided below the connecting plate 25, the sheath assembly 24 is provided on one side of the connecting plate 25, the engagement guide rod 40 is provided at the bottom of the sheath assembly 24, and the first return spring 29 is provided between the engagement guide rod 40 and the connecting plate 25. In consideration of the driving control of the up-and-down movement of the sheath assembly 24, the outer tube 41, the throat swab, etc., the catheter motor 28 is mounted on the engaging guide rod 40, and the catheter motor 28 is connected to the connecting plate 25 via the first wire 27.

Further, in order to achieve quick and effective posture adjustment and provide a proper angle for subsequent acquisition, the guide tube posture adjustment mechanism 20 adopted by the invention comprises a catheter holder 30, and the catheter holder 30 is mounted on the cross beam 7 through an X-direction rotating shaft 33. Meanwhile, a catheter assembly 31 is connected to the catheter holder 30, the catheter assembly 31 is connected to a motor fixing seat plate 32, and an X-direction rotating shaft 33 is connected to the X-direction driving motor 9. Thus, catheter hub 30 and catheter assembly 31 can be rotated about X-axis of rotation 33. Furthermore, a groove 35 is provided in the middle of the catheter holder 30, the catheter 30 is mounted in the groove 35 via a Y-axis shaft 34, and the Y-axis shaft 34 is connected to a Y-axis driving motor 36 to rotate the catheter assembly 31 about the Y-axis shaft 34.

In order to effectively control the robot through artificial intelligence, a controller 49 is arranged on the robot body, or the controller 49 is connected outside the robot body, and related software is arranged in the controller 49. Specifically, during implementation, the controller 49 includes one or more of a motor driver, a computer, an AI chip, and a hand controller, and any controller that can implement the load-bearing operation of various types of software and effectively control various types of components provided by the robot may be adopted. Meanwhile, in consideration of image processing required by automatic acquisition, the selected related software comprises one or more of motor motion control software, image recognition software and calculation software. Thus, when the device is used, the endoscope head 18 acquires image data of the pharyngeal portion of a patient, the controller 49 automatically selects the collection position after big data accumulation and automatic learning, the pharyngeal swabs touch ideal positions to acquire specimens, two or more pharyngeal swabs can be installed, the positions are adjusted to touch for multiple times, and the collection efficiency and the collection reliability are greatly improved.

In combination with practical use, the denture ring height adjusting mechanism 4 adopted by the invention comprises a guide rail 10 connected with the support frame 3, and a height adjusting motor 11 is arranged at one end of the guide rail 10, so that the height adjustment is convenient to realize. Meanwhile, a slide block is installed on the guide rail 10, a quick-change connector 12 is arranged on the slide block, and a denture ring component 8 is connected onto the quick-change connector 12. Therefore, by means of the quick-change connector 12, the denture ring component 8 can be quickly replaced while being positioned, cross infection cannot occur, and the denture ring component is convenient and sanitary.

In consideration of proper positioning and guiding of the head of the patient during collection, the forehead fixing mechanism 5 selected by the invention comprises a U-shaped extension plate 13 connected with the support frame 3, and the U-shaped extension plate 13 is provided with a strip-shaped adjusting groove 17 so as to facilitate the guiding and positioning. Specifically, an adjusting screw 15 is inserted into the elongated adjusting groove 17, and a handle 16 is provided at the upper end of the adjusting screw 15. The lower end of the adjusting screw 15 is connected with a forehead fixing plate 14 through the forehead fixing assembly 9. In this way, it is possible to let the medical staff manually adjust the actual height of the forehead fixing assembly 9 during fitting. During the use, the pillow plate 6, the denture ring component 8 and the forehead fixing component 9 can fix the robot and the head of the patient into a whole in a triangular mode from three positions, and the danger caused by the relative displacement of the robot and the head of the patient when the patient is in accidental restlessness due to coughing and the like is prevented.

In order to smoothly guide the throat swab 37, the tube fixing and advancing mechanism 22 includes an outer tube 41, the outer tube 41 is connected to the rod 42 via a connecting rod 47 and a lock nut 48, and a tube lock device are provided in the outer tube 41. Specifically, the rod 42 is provided with a screw hole for fixing the pharyngeal swab connecting tube 21 by a screw. Meanwhile, in order to have better function expansion, the selected hose is a sputum suction tube or a fiber bronchoscope. Thus, the lower respiratory tract can be treated by relying on the use of a hose. Of course, the pharyngeal swab 37 and the hose cannot be used simultaneously during actual use, and the invention aims to improve the universality of the robot so that the pharyngeal swab 37 or the hose can be used compatibly to meet different use requirements of the lower respiratory tract and the upper respiratory tract.

The sheath assembly 24 of the present invention includes a fixing tube 38, a step 39 is provided at the end of the fixing tube 38, and a throat swab 37 is inserted into the fixing tube 38, so that the fixing tube and the throat swab are connected to each other. In view of the possibility of resistance to spring back during use, the endoscope head 18 is provided with a working hole 23 to avoid unnecessary damage to the person. During actual use, the fixed tube 38 and the pharyngeal swab 37 are prevented from falling out of the working hole 23 of the endoscope head by the presence of the step 39. Moreover, the fixed pipe 38 adopted by the invention has small mass, almost no friction damping exists between the fixed pipe and the working hole 23, and the operation is safe and convenient.

The working principle of the invention is as follows:

when collecting the upper airway specimen, the patient leans his head on the pillow plate 6 with the face facing upward. The head is positioned by relying on the forehead fixing mechanism 5. The opening of the mouth is assured in cooperation with the denture ring assembly 8, and with the participation of the controller 49, the sheath assembly 24 is lowered to a depth where the intraoral pharyngeal swab 37 can reach the pharyngeal cavity wall but the sheath assembly 24 cannot. In this process, the pharyngeal swab 37 comes into contact with the pharyngeal cavity wall first, in a nearly vertical position.

During use, if the sheath assembly 24 is lowered too far, the pharyngeal swab 37 and mounting tube 38 may be lifted together. Meanwhile, because the fixed tube 38 adopted by the invention has small mass and almost no friction damping with the working hole 23, the impact force of the throat swab 37 on the pharyngeal cavity wall tissue is extremely small, and the pharyngeal cavity wall tissue cannot be damaged. Therefore, the requirement of the control precision of the robot is reduced, the reliable and safe sample collection is ensured, the state of gently wiping the collected sample by a similar artificial throat swab can be achieved by adjusting the position for multiple times of touch, and the collection efficiency and the collection reliability are greatly improved.

Meanwhile, if cough and restlessness occur in the collection process of a patient, the fixing protection effect of the fixing arm 1 can enable the robot body and the head of the patient to keep relatively static, so that accidental injury is avoided, and the safety of the specimen collection process can be ensured.

When the respiratory tract specimen is taken down for collection, the posture of the guide tube posture adjusting mechanism 20 is adjusted, and the endoscope sheath assembly 24 is firstly descended to a desired position. Then, the propulsion motor 45 is made to push the outer sleeve 41 to continuously descend, so that the hose can reach an ideal position, and the lower respiratory tract deep specimen can be collected through the negative pressure connected with the hose, and the process is safe and effective.

The invention has the following advantages by the aid of the character expression and the accompanying drawings:

Furthermore, the indication of the orientation or the positional relationship described in the present invention is based on the orientation or the positional relationship shown in the drawings, and is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or configuration must have a specific orientation or be operated in a specific orientation configuration, and thus, 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 defined 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 fixedly connected, detachably connected, or integrally formed; 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 meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. 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, refer to an orientation or positional relationship illustrated in the drawings, which are used for convenience in describing the invention and to simplify the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed 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, it should be noted that, for those skilled in the art, many 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. The utility model provides an artificial intelligence formula respiratory track sample collection double-arm robot, including the robot, the robot is provided with fixed arm (1), its characterized in that: the fixed arm (1) is connected with an operating arm (2),

the fixing arm (1) comprises a support frame (3), a denture ring height adjusting mechanism (4) is arranged on the support frame (3), a forehead fixing mechanism (5) is connected on the denture ring height adjusting mechanism (4),

the support frame (3) is in a D-shaped structure, a pillow plate (6) is arranged below the support frame (3), a cross beam (7) is arranged above the support frame (3),

the endoscope device is characterized in that the operating arm (2) comprises an endoscope sheath lifting mechanism (19), an endoscope lens (18) is arranged on the endoscope sheath lifting mechanism (19), a guide tube posture adjusting mechanism (20) is connected outside the endoscope sheath lifting mechanism (19), a pharynx swab connecting pipe (21) is connected on the guide tube posture adjusting mechanism (20), a hose fixing and propelling mechanism (22) is connected on the pharynx swab connecting pipe (21), the endoscope sheath lifting mechanism (19) comprises a connecting plate (25), a propelling motor (45) is arranged on the connecting plate (25), the propelling motor (45) is connected with a connecting rod (42) through a second steel wire (44), a guide rod (43) is arranged above the connecting plate (25), a second reset spring (46) is arranged on the guide rod (43), and a guide column (26) is arranged below the connecting plate (25), a sheath assembly (24) is arranged on one side of the connecting plate (25), a connecting guide rod (40) is arranged at the bottom of the sheath assembly (24), a first return spring (29) is arranged between the connecting guide rod (40) and the connecting plate (25), a catheter motor (28) is arranged on the connecting guide rod (40), the catheter motor (28) is connected with the connecting plate (25) through a first steel wire (27),

the guide pipe posture adjusting mechanism (20) comprises a guide pipe seat (30), the guide pipe seat (30) is installed on a cross beam (7) through an X-direction rotating shaft (33), a guide pipe component (31) is connected onto the guide pipe seat (30), the guide pipe component (31) is connected with a motor fixing seat plate (32), the X-direction rotating shaft (33) is connected with an X-direction driving motor (9), a groove (35) is formed in the middle of the guide pipe seat (30), the guide pipe (30) is installed in the groove (35) through a Y-direction rotating shaft (34), and the Y-direction rotating shaft (34) is connected with a Y-direction driving motor (36),

the robot body is provided with a controller (49), or the outside of the robot body is connected with the controller (49), the controller (49) is internally provided with related software,

the controller (49) comprises one or more of a motor driver, a computer, an AI chip and a hand controller,

the related software comprises one or more of motor motion control software, image recognition software and calculation software.

2. The artificial intelligent respiratory tract specimen collection double-arm robot of claim 1, wherein: denture ring height adjustment mechanism (4) are including guide rail (10) that link to each other with support frame (3), altitude mixture control motor (11) are installed to the one end of guide rail (10), install the slider on guide rail (10), be provided with quick-change coupler (12) on the slider, be connected with denture ring subassembly (8) on quick-change coupler (12).

3. The artificial intelligent respiratory tract specimen collection double-arm robot of claim 1, wherein: forehead fixing mechanism (5) are including U type extension board (13) that link to each other with support frame (3), be provided with rectangular form adjustment tank (17) on U type extension board (13), wear to be equipped with adjusting screw (15) in rectangular form adjustment tank (17), the upper end of adjusting screw (15) is provided with handle (16), the lower extreme of adjusting screw (15) is connected with forehead fixed plate (14) through forehead fixed subassembly (9).

4. The artificial intelligent respiratory tract specimen collection double-arm robot of claim 1, wherein: the hose fixing and pushing mechanism (22) comprises an outer sleeve (41), the outer sleeve (41) is connected with a connecting rod (42) through a connecting rod (47) and a locking nut (48), and a hose locking device are arranged in the outer sleeve (41).

5. The artificial intelligent respiratory tract specimen collection double-arm robot according to claim 4, wherein: the connecting rod (42) is provided with a threaded hole, and the hose is a sputum suction tube or a fiber bronchoscope.

6. The artificial intelligent respiratory tract specimen collection double-arm robot of claim 1, wherein: the endoscope sheath assembly (24) comprises a fixing tube (38), a step (39) is arranged at the tail of the fixing tube (38), and a handle part of a throat swab (37) is inserted into the fixing tube (38).