CN112545574A

CN112545574A - Intelligence pharynx swab acquisition robot

Info

Publication number: CN112545574A
Application number: CN202110007109.8A
Authority: CN
Inventors: 王黎芳; 赵宏光
Original assignee: Hangzhou Medical College
Current assignee: Hangzhou Medical College
Priority date: 2021-01-05
Filing date: 2021-01-05
Publication date: 2021-03-26

Abstract

The invention provides an intelligent throat swab collecting robot which comprises a box body, wherein a cavity is formed in the box body and is divided into a control cavity, a storage cavity and a recovery cavity, a processor is arranged in the control cavity, and the processor is connected with an identity recognition device. The storage cavity stores cotton swab, bottle lid, bottle, tongue depressor and micro printer in proper order, retrieves the cavity and retrieve the cavity including pharynx swab. The two sides of the box body are respectively provided with a manipulator, and the two manipulators are respectively provided with a recognition device and connected with a processor. According to the throat swab recovery device, a first mechanical arm grabs a cotton swab, a second mechanical arm grabs a tongue depressor and enters the oral cavity of a patient, the identification device identifies the rear pharyngeal wall and the tonsil, the head of the cotton swab is placed at the position, the tongue depressor and the cotton swab are taken out after the first mechanical arm rotates for a certain angle, the second mechanical arm throws the tongue depressor into a garbage cavity to obtain a bottle body, the first mechanical arm puts the cotton swab into the bottle body to obtain a bottle cap, and after the bottle cap and the bottle body are screwed tightly, the first mechanical arm puts the stored throat swab into the throat swab recovery cavity, so that infection of medical staff is.

Description

Intelligence pharynx swab acquisition robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to an intelligent throat swab collecting robot.

Background

In the historical long river, various infectious diseases and parasitic diseases are spread in different sizes in different periods and different regions, and the survival and the development of human beings are seriously threatened. To date, the human fight against infectious and parasitic diseases has had great success, but some new problems have arisen. There are significant challenges facing medical practitioners working with infectious and infectious diseases.

In the early 2020, the new coronavirus pneumonia is abused worldwide due to complex transmission path and high transmission speed, and infected patients need to be detected quickly, so that patients who are diagnosed can be treated in time, and meanwhile, the disease is prevented from further spreading. The method is a main means for detecting the novel coronavirus by carrying out nucleic acid detection after collecting throat swabs of a patient.

Traditional pharynx swab gathers and mostly needs medical personnel directly to face the patient, when doing the pharynx swab sample and draw materials, the gauze mask need be plucked to the patient, and medical personnel dips in the saliva of getting wall and tonsil department behind the pharynx in patient's oropharynx through the cotton-tipped swab. Because certain stimulation is generated to the pharynx during sampling, the patient can have reactions such as cough, sneeze, breathe out, vomit and the like, which means that a large amount of spray carrying pathogens can be spread, and the infection risk of medical staff is increased. Medical personnel need to wear the protective clothing of airtight and airtight for everybody to gather the pharynx swab sample for reducing the risk of infecting, and the comfort level is poor and working strength is big, consequently needs to improve medical personnel's working method urgently.

Disclosure of Invention

The invention provides a robot; especially use the collection of medical field's pharynx swab, degree of automation is high, multiple functional, the high intelligent pharynx swab collection robot of factor of safety.

In order to solve the technical problems, the invention adopts the technical scheme that: an intelligent pharynx swab collecting robot comprises a box body, wherein the box body is a square cylindrical body, the front lower portion of the box body is connected with a sitting stool through a first connecting rod, the front middle portion of the box body is connected with a chin pad through a second connecting rod, a display screen is arranged on the front upper portion of the box body, an identity recognition device is arranged on the display screen, when a patient sits on the sitting stool, the chin of the patient is arranged on the chin pad, the face of the patient is right opposite to the display screen, a cavity is arranged inside the box body and is sequentially divided into a control cavity, a storage cavity and a recovery cavity from top to bottom, a processor is arranged in the control cavity and is respectively connected with the display screen and the identity recognition device, the storage cavity comprises a cotton swab cavity, a bottle cover cavity, a bottle cavity, a tongue pressing plate cavity and a label printing cavity, cotton swabs are stored in the cotton swab cavity, bottle covers are stored in the bottle cover cavity, a bottle body is stored in the bottle body cavity, a tongue depressor is stored in the tongue depressor cavity, a micro printer is arranged in the label printing cavity, the micro printer is connected with the processor, the front of the box body is provided with corresponding outlets corresponding to the storage cavities respectively, the back of the box body is provided with corresponding inlets corresponding to the storage cavities respectively, the recovery cavities comprise a throat swab recovery cavity, a medical waste recovery cavity and a disinfectant placing cavity, a first manipulator and a second manipulator are respectively arranged on two side surfaces of the box body, the first manipulator and the second manipulator are respectively connected with the processor, the first mechanical arm and the second mechanical arm are respectively provided with a recognition device for recognizing a collection part, the top of the box body is connected with a spraying device through a third connecting rod, and the spraying device is communicated with the disinfectant containing cavity through a pipeline.

Furthermore, the first connecting rod is "L" shape setting, first connecting rod one end is connected the box, the first connecting rod other end is connected sit bench bottom surface, sit bench and ground parallel arrangement, the second connecting rod is "1" font setting, second connecting rod one end is connected the box, the second connecting rod other end is connected chin underlying surface side, the third connecting rod is "U" font setting, third connecting rod one end is connected the box, the third connecting rod other end is connected spray set.

Furthermore, the chin underlying seat is a square column-shaped body, the upper surface of the chin underlying seat is an arc concave surface, a pressure sensor is arranged on the upper surface of the chin underlying seat and connected with the processor, the spraying device is a spray head, an electric control valve is arranged at the joint of the spray head and the pipeline, and the electric control valve is connected with the processor.

Further, the first mechanical arm is arranged on the right side surface of the box body, the second mechanical arm is arranged on the left side surface of the box body, the storage cavity is sequentially provided with the cotton swab cavity, the bottle cap cavity, the bottle body cavity, the tongue depressor cavity and the label printing cavity from right to left, a cotton swab outlet is arranged at the position of the box body corresponding to the cotton swab cavity, a cotton swab opening and closing device is arranged at the cotton swab outlet, a bottle cap outlet is arranged at the position of the box body corresponding to the bottle cap cavity, a bottle cap opening and closing device is arranged at the bottle cap outlet, the box body is provided with a bottle body outlet corresponding to the bottle body cavity, the bottle body outlet is provided with a bottle body opening and closing device, a tongue depressor outlet is arranged at the position of the box body corresponding to the tongue depressor cavity, a tongue depressor opening and closing device is arranged at the tongue depressor outlet, the cotton swab opening and closing device, the bottle cap opening and closing device, the bottle body opening and closing device and the tongue depressor opening and closing device are all electrically connected with the processor.

Further, first manipulator includes mount pad and actuating arm, the actuating arm includes the multisection, the multisection the actuating arm is articulated in proper order, be equipped with telescopic machanism on the actuating arm, the top the actuating arm passes through rotary device and connects mount pad one end, the mount pad other end with the box is connected, and is terminal clamping jaw mechanism is connected to the actuating arm.

Furthermore, the rotating device, the telescopic mechanism and the clamping jaw mechanism are respectively connected with the processor, and the second manipulator structure is the same as the first manipulator structure.

Furthermore, the recognition device is an infrared camera, the infrared camera is connected with the processor, the infrared camera is arranged on the clamping jaw mechanism, and the infrared camera acquires infrared images in the oral cavity of the patient.

Further, retrieve the chamber from right to left do in proper order the chamber is retrieved to the pharynx swab the antiseptic solution place the chamber with medical waste retrieves the chamber, the box right flank corresponds the chamber department is retrieved to the pharynx swab is equipped with the pharynx swab entry, pharynx swab entrance is equipped with the pharynx swab and opens and shuts the device, the box left surface corresponds medical waste retrieves chamber department and is equipped with rubbish entry, the rubbish entrance is equipped with rubbish and opens and shuts the device, the pharynx swab open and shut the device with rubbish open and shut the device all with the treater electricity is connected.

Furthermore, the bottom surface of the box body is provided with a moving device which is a universal wheel, the universal wheel comprises a support, a roller, a support seat and a brake device, the roller is installed on the support, the support is installed on the support seat, the support seat is provided with the brake device, and the support seat is connected with the bottom surface of the box body.

Further, the front top of the box body is provided with a camera, a voice broadcasting device and a lighting device, the camera, the voice broadcasting device and the lighting device are respectively connected with the processor, the processor is connected with the background control end, and the camera is provided with a wiping device.

The invention has the advantages and positive effects that:

1. the invention holds the chin of a patient by a chin pad, a pressure sensor senses that the patient is in place, a processor drives a cotton swab opening and closing device and a tongue depressor opening and closing device to open, a first mechanical arm grabs a cotton swab and then enters the oral cavity of the patient, a second mechanical arm grabs the tongue depressor and then enters the oral cavity of the patient, an infrared camera intelligently identifies the pharyngeal back wall and the tonsil of the patient according to images of all parts of the oral cavity of the patient, a cotton swab head is arranged at the position, the tongue depressor and the cotton swab are taken out after the first mechanical arm rotates for a certain angle, the tongue depressor is thrown into a garbage cavity by the second mechanical arm, the bottle body is obtained by the second mechanical arm, the cotton swab is placed into the bottle body by the first mechanical arm, the bottle cover is obtained by the first mechanical arm, the patient identity label is obtained by the second mechanical arm after the bottle cover is screwed with the bottle body, the second mechanical, medical personnel of being convenient for retrieve the detection, when avoiding medical personnel to infect, avoid gathering the sample and infected, guarantee the rate of accuracy of sample collection, improve collection efficiency.

2. The identity recognition device records the identity information of the patient, the identity recognition device sends the information to the processor, the processor drives the micro printer to print the identity label of the patient, the label is popped up through the label outlet and is used for corresponding to the pharynx swab protected after the detection of the patient, the confusion of the detection result is avoided, the identity recognition device comprises but is not limited to identity card recognition, face recognition, fingerprint recognition, in-hospital or out-patient identity recognition code recognition, and the safety and flexibility are realized.

3. The invention plays the matching operation steps needed by the patient through the processor, improves the detection efficiency, the processor is connected with the background control end, the real-time condition of the front detection is recorded through the camera, when the machine breaks down, the processor drives the voice broadcasting device to alarm, the background control end can operate in real time, the fault is solved by matching with the lighting device, and the safety coefficient is high.

4. The multifunctional mobile stool can move the machine to a required position through the moving device, is flexible and convenient, has a wide application range, is convenient to move, has a wide application range, and is suitable for popularization and application, and the box body is respectively connected with the stool and the chin pad integrally.

5. The top of the invention is provided with the disinfection device, after one person finishes the detection, the disinfection device is started, and after the disinfection treatment, the next person detects, thereby avoiding the cross infection caused by the contact of the box body and a plurality of persons, and being clean and sanitary.

Drawings

Fig. 1 is a schematic view of the overall structure of the embodiment of the present invention.

Fig. 2 is a schematic diagram of a cavity distribution structure according to an embodiment of the present invention.

Fig. 3-6 are operational state diagrams of embodiments of the present invention.

Fig. 7 is a schematic structural diagram of a micro printer according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of a robot according to an embodiment of the present invention.

Fig. 9 is a schematic structural diagram of a mobile device according to an embodiment of the invention.

Fig. 10 is an overall operational schematic diagram of an embodiment of the present invention.

In the figure:

1. case 2, third connecting rod 3 and second connecting rod

4. A second manipulator 5, a tongue depressor opening and closing device 6 and a bottle body opening and closing device

7. Garbage opening and closing device 8, moving device 9 and first connecting rod

10. Stool 11, throat swab opening and closing device 12, and chin pad

13. Bottle cap opening and closing device 14, first manipulator 15 and cotton swab opening and closing device

16. Nozzle 17, display screen 18 and pipeline

19. Tongue depressor cavity 20, bottle body cavity 21 and medical waste recovery cavity

22. Disinfectant placing cavity 23, throat swab recycling cavity 24 and bottle cap cavity

25. Cotton swab cavity 26, control cavity 27 and cotton swab

28. Tongue depressor 29, bottle body 30 and bottle cap

31. Pressure sensor 32, mounting base 33, and rotary device

34. Drive arm 35, telescoping mechanism 36, gripper mechanism

37. Infrared camera 38, support 39, gyro wheel

40. Support base 41, brake device 42 and label printing cavity

43. Label outlet 44, heat-sensitive sheet 45 and rubber roller

46. Print head 47, cover 48, base

49. Paper feed path 50, paper outlet 51, identity label.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Embodiments of the invention are further described below with reference to the accompanying drawings:

as shown in fig. 1, an intelligence throat swab collection robot, including box 1, box 1 is the square columnar body, and the stool 10 is connected through first connecting rod 9 in the lower part before box 1, and the preceding middle part of box 1 passes through second connecting rod 3 and connects chin rest 12, and the preceding upper portion of box 1 is equipped with display screen 17, is equipped with identification device on the display screen 17. Patient's identity information is passed through identification device record to this embodiment for the pharynx swab of protection after corresponding the patient and detecting avoids the testing result confusion, and identification device includes but not limited to ID card identification, face identification, fingerprint identification, identification code identification of being in hospital or outpatient service, and is safe nimble. The processor predicts the pharyngeal depth of the patient according to the sex, age, height, weight and other identity information of the patient.

When the patient sits on the bench 10, the patient's chin rests on the chin rest 12 and the patient's face faces the display screen 17. The inside cavity that is equipped with of box 1, as shown in fig. 2, the cavity is divided into control chamber 26, storage chamber and recovery chamber by last down in proper order, is equipped with the treater in the control chamber 26, and the treater is connected display screen 17 and identification device respectively. Store the intracavity and print chamber 42 including cotton swab chamber 25, bottle lid chamber 24, bottle chamber 20, tongue depressor chamber 19 and label, cotton swab 27 has been stored in the cotton swab chamber 25, and bottle lid 30 has been stored in the bottle lid chamber 24, and bottle 29 has been stored in the bottle chamber 20, and tongue depressor 28 has been stored in tongue depressor chamber 19, and the label is printed and is equipped with the micro printer in the chamber 42. The corresponding export is equipped with respectively in the preceding each storage chamber that corresponds of box 1, conveniently acquires and stores the intracavity and corresponds the material, and the corresponding entry is equipped with respectively in the corresponding each storage chamber in the box 1 back, conveniently fills and stores the intracavity and corresponds the material. The recovery cavity comprises a throat swab recovery cavity 23, a medical waste recovery cavity 21 and a disinfectant placing cavity 22. The two side surfaces of the box body 1 are respectively provided with a first manipulator 14 and a second manipulator 4, the first manipulator 14 and the second manipulator 4 are respectively connected with the processor, and the first manipulator 14 and the second manipulator 4 are respectively provided with a recognition device for recognizing a collection part. The top of the box body 1 is connected with a spraying device through a third connecting rod 2, and the spraying device is communicated with a disinfectant placing cavity 22 through a pipeline 18.

The first connecting rod 9 is a device for connecting the stool 10 and the box 1 to form an integral structure, the first connecting rod 9 can be of various structures as long as the above functions are realized, specifically, as shown in fig. 1, the first connecting rod 9 provided in this embodiment is arranged in an "L" shape, one end of the first connecting rod 9 is connected to the box 1, the other end of the first connecting rod 9 is connected to the bottom surface of the stool 10, and the stool 10 is arranged parallel to the ground. The horizontal direction of the first connecting rod 9 can be a hydraulic telescopic rod and the like, so that the distance between the stool 10 and the front part of the box body 1 can be adjusted, and the use of patients with different body types is met.

The stool 10 is a device for a patient to sit on and to place the chin on the chin rest 12, and the stool 10 may have various structures, may be plate-shaped, is placed on the top of the first connecting rod 9, and may also be chair-shaped, and has a backrest, an armrest, and the like.

Second connecting rod 3 is for connecting chin rest 12 and box 1, makes the two device that becomes integrative structure, and second connecting rod 3 can be multiple structure, as long as realize above-mentioned function can, it is concrete, as shown in fig. 1, second connecting rod 3 that this embodiment provided is "1" font setting, and box 1 is connected to 3 one ends of second connecting rod, and 12 sides of chin rest are connected to 3 other ends of second connecting rod, and second connecting rod 3 also can be hydraulic telescoping rod etc. realizes that the preceding distance of chin rest 12 and box 1 is adjusted, satisfies different size patients and uses.

The chin pad 12 is a device for placing the chin of a patient and fixing the head of the patient, and the chin pad 12 may have various structures as long as the above-described functions are realized. Specifically, as shown in fig. 1, the chin rest 12 is a square column, the upper surface of the chin rest 12 is a circular arc concave surface, and the chin of the patient is placed in the circular arc concave surface. Preferably, a pressure sensor 31 is arranged in the concave arc surface, the pressure sensor 31 is connected with a processor, when a patient contacts the pressure sensor 31, the pressure sensor 31 sends a signal to the processor, and the processor drives each device to perform subsequent operation.

The third connecting rod 2 is fixed pipeline 18, realizes the unobstructed device of transporting of antiseptic solution, and third connecting rod 2 can be multiple structure, as long as realize above-mentioned function can, concrete, as shown in figure 1, the third connecting rod 2 that this embodiment provided is "U" font setting, and box 1 is connected to 2 one ends of third connecting rod, and spray set is connected to the 2 other ends of third connecting rod.

The spraying device is a device for disinfecting the space where the patient is located, so that the situation that the front patient and the rear patient share one space to cause cross infection is avoided. The spraying device can be in various structures as long as the above functions are realized. Specifically, the spraying device provided by this embodiment is a spray head 16, an electric control valve is arranged at a connection position of the spray head 16 and a pipeline 18, the electric control valve is connected with a processor, and the processor controls a spraying switch and a spraying flow rate through the electric control valve.

This embodiment top is equipped with degassing unit, and one person detects the back that finishes, and degassing unit starts, and the disinfection is handled the back, and lower one person detects, avoids box 1 and many people to contact the back, causes cross infection, sanitation and hygiene.

As shown in fig. 1-6, the first manipulator 14 is disposed on the right side of the box 1, the second manipulator 4 is disposed on the left side of the box 1, and the storage chamber includes a cotton swab chamber 25, a bottle cap chamber 24, a bottle body chamber 20, a tongue depressor chamber 19, and a label printing chamber 42 in sequence from right to left. The box body 1 is provided with a cotton swab outlet corresponding to the cotton swab cavity 25, a cotton swab opening and closing device 15 is arranged at the cotton swab outlet, a bottle cap outlet is arranged at the box body 1 corresponding to the bottle cap cavity 24, a bottle cap opening and closing device 13 is arranged at the bottle cap outlet, a bottle outlet is arranged at the box body 1 corresponding to the bottle body cavity 20, a bottle body opening and closing device 6 is arranged at the bottle body outlet, a tongue depressor outlet is arranged at the box body 1 corresponding to the tongue depressor cavity 19, and a tongue depressor opening and closing device 5 is arranged at the tongue. The cotton swab opening and closing device 15, the bottle cap opening and closing device 13, the bottle body opening and closing device 6 and the tongue depressor opening and closing device 5 are all electrically connected with the processor.

The device that the cotton swab device 15 that opens and shuts is opened and is closed for realizing the cotton swab export, when the cotton swab export was opened, made things convenient for first manipulator 14 to take cotton swab 27, first manipulator 14 takes behind the cotton swab 27, the cotton swab export is closed, avoids cotton swab 27 to be contaminated in the cotton swab chamber 25. The swab opening and closing device 15 may have various structures as long as the above-described functions are achieved. The cotton swab opening and closing device 15 can be for the cotton swab door that opens and shuts, and cotton swab export both ends set up the slip track, and the cotton swab door that opens and shuts is arranged in the slip track and is connected actuating mechanism, and actuating mechanism drive cotton swab door that opens and shuts moves along the slip track, realizes that the cotton swab export opens and shuts.

In a similar way, the bottle cap opening and closing device 13 is a device for opening and closing the bottle cap outlet, when the bottle cap outlet is opened, the bottle cap 30 can be conveniently taken by the first manipulator 14, and after the bottle cap 30 is taken by the first manipulator 14, the bottle cap outlet is closed, so that the bottle cap 30 in the bottle cap cavity 24 is prevented from being polluted. The bottle opening and closing device 6 is a device for opening and closing the bottle outlet, when the bottle outlet is opened, the second manipulator 4 can conveniently take the bottle 29, and after the second manipulator 4 takes the bottle 29, the bottle outlet is closed, so that the bottle 29 in the bottle cavity 20 is prevented from being polluted. The tongue depressor opening and closing device 5 is a device for opening and closing the tongue depressor outlet, when the tongue depressor outlet is opened, the second manipulator 4 can conveniently take the tongue depressor 28, and after the second manipulator 4 takes the tongue depressor 28, the tongue depressor outlet is closed, so that the tongue depressor 28 in the tongue depressor cavity 19 is prevented from being polluted.

The bottle cap opening and closing device 13, the bottle body opening and closing device 6 and the tongue depressor opening and closing device 5 can be of various structures as long as the functions are achieved, and the structure can be the same as that of the cotton swab opening and closing device 15.

The micro printer is for printing patient's identity information's device, and is concrete, sends for the treater after identity identification device acquires patient's identity information, and the treater drive micro printer prints patient's identity information, and patient's identity information label is spread by label export 43, and the manipulator of being convenient for pastes on the bottle 29 that patient's pharynx swab corresponds. Specifically, as shown in fig. 7, the micro printer of the present embodiment includes a thermal sheet 44, a rubber roller 45, and a print head 46, the thermal sheet 44 is disposed on a cover 47, the rubber roller 45 is disposed on a base 48, the thermal sheet 44 and the rubber roller 45 are opposite to each other and form a paper feeding path 49, the paper feeding path 49 is communicated with a paper outlet 50, and the paper outlet 50 is aligned with the label outlet 43. The processor is provided with a print module which is connected to a print head 46. Specifically, the print module of this embodiment includes an interface circuit, a control circuit, and a driving circuit, where one end of the interface circuit is connected to the processor, the other end of the interface circuit is connected to one end of the control circuit, the other end of the control circuit is connected to one end of the driving circuit, and the other end of the driving circuit is connected to the print head 46.

As shown in fig. 2, the recovery cavity is a throat swab recovery cavity 23, a disinfectant placing cavity 22 and a medical waste recovery cavity 21 from right to left. The left side of the box body 1 corresponds that the pharynx swab retrieves 23 department and is equipped with the pharynx swab entry, and the pharynx swab entrance is equipped with the pharynx swab and opens and shuts the device 11, and the left side of the box body 1 corresponds that the medical waste retrieves 21 departments of chamber and is equipped with the rubbish entry, and the rubbish entrance is equipped with rubbish and opens and shuts the device 7, and the pharynx swab is opened and shut the device 11 and rubbish and is opened and shut the device 7 and all be connected with the treater electricity.

The pharynx swab opening and closing device 11 is for realizing the device that the pharynx swab entry was opened and was closed, and when the pharynx swab entry was opened, convenient first manipulator 14 put into the pharynx swab, and behind the pharynx swab was placed to first manipulator 14, the pharynx swab entry was closed, ensured that the pharynx swab is sealed to be preserved. The pharyngeal swab opening and closing device 11 may have various structures as long as the above-described functions are achieved. Pharynx swab device 11 that opens and shuts can open and shut the door for pharynx swab, and pharynx swab entry both ends set up the connecting hole, and the axis of rotation is connected to pharynx swab axis that opens and shuts, and the connecting hole is passed through at the axis of rotation both ends and connects, and actuating mechanism is connected to the connecting axle, and actuating mechanism drives the connecting axle and rotates, and the connecting axle drives pharynx swab and opens and shuts the door and rotate, realizes that pharynx swab entry opens and shuts.

The antiseptic solution is placed the chamber 22 top and is equipped with the antiseptic solution and puts into the mouth, makes things convenient for the antiseptic solution to place, and antiseptic solution puts into mouth department and is equipped with antiseptic solution sealing door, realizes the sealed storage of antiseptic solution. The disinfectant liquid placing cavity 22 is connected with the spraying device through the pipeline 18, so that the disinfectant liquid is transported from the disinfectant liquid placing cavity 22 to the spray head 16.

The garbage opening and closing device 7 is a device for opening and closing a garbage inlet, when the garbage inlet is opened, medical garbage such as a tongue depressor 28 and the like after being used can be conveniently placed into the garbage opening and closing device by the second mechanical arm 4, and after the garbage is placed into the garbage opening and closing device by the second mechanical arm 4, the medical garbage is guaranteed to be stored in a sealed mode. The garbage opening and closing device 7 may have various structures as long as the above-described functions are realized. The structure of the throat swab folder 11 may be the same as that of the above-described throat swab folder.

In use, a patient sits on the stool 10, puts the chin on the chin rest 12, and the processor drives the cotton swab opening and closing device 15 and the tongue depressor opening and closing device 5 to open after the pressure sensor 31 senses that the patient is in position. As shown in fig. 3, the processor simultaneously drives the first manipulator 14 to grab the cotton swab 27 and then enter the oral cavity of the patient, the second manipulator 4 grabs the tongue depressor 28 and enters the oral cavity of the patient, the recognition device intelligently recognizes the pharyngeal posterior wall and the tonsil of the patient, the head of the cotton swab 27 is placed at the position, and the tongue depressor 28 and the cotton swab 27 are taken out after the first manipulator 14 rotates for a certain angle. As shown in fig. 4, the second manipulator 4 throws the tongue depressor 28 into the trash chamber, the second manipulator 4 obtains the bottle 29, as shown in fig. 5, the first manipulator 14 places the cotton swab 27 into the bottle 29, the first manipulator 14 obtains the bottle cap 30, and after the bottle cap 30 is screwed down with the bottle 29, as shown in fig. 6, the second manipulator 4 obtains the patient identification tag 51 and attaches the same to the bottle 29 in the first manipulator 14, and the first manipulator 14 places the preserved pharyngeal swab into the pharyngeal swab recovery chamber 23. Medical personnel of being convenient for retrieve the detection, when avoiding medical personnel to infect, avoid gathering the sample and infected, guarantee the rate of accuracy of sample collection, improve collection efficiency.

Specifically, as shown in fig. 8, the first manipulator 14 includes an installation base 32 and a driving arm 34, the driving arm 34 includes a plurality of sections, the plurality of sections of the driving arm 34 are sequentially hinged, a telescopic mechanism 35 is disposed on the driving arm 34, the top driving arm 34 is connected to one end of the installation base 32 through a rotating device 33, the other end of the installation base 32 is connected to the box 1, and the end driving arm 34 is connected to a clamping jaw mechanism 36. The rotating device 33 drives the driving arm 34 to rotate, the telescoping mechanism 35 drives the driving arm 34 to adjust the length and the size, and the clamping jaw mechanism 36 is used for grabbing the cotton swab 27, the bottle body 29, the bottle cap 30, the tongue depressor 28 and the like.

The rotating device 33, the telescoping mechanism 35 and the clamping jaw mechanism 36 can be in various structures as long as the above functions are realized, and meanwhile, the rotating device 33, the telescoping mechanism 35 and the clamping jaw mechanism 36 are respectively connected with the processor. Specifically, the second robot 4 has the same structure as the first robot 14.

The identification device is a device for identifying the pharyngeal posterior wall and the tonsil in the oral cavity of the patient, liquid at the position is scraped through the cotton swab 27, pharyngeal swab monitoring is carried out, and the identification device can be of various structures as long as the functions are achieved. Specifically, the recognition device of this embodiment is infrared camera 37, and infrared camera 37 connects the treater, and infrared camera 37 sets up on clamping jaw mechanism 36, and infrared camera 37 acquires each position image in the patient oral cavity, shows through display screen 17, and the treater is according to each position image in the patient oral cavity, and the specific position of pharynx back wall and tonsil is judged to intelligence, drives first manipulator 14 and holds cotton swab 27 and scrape here, acquires here sample.

Preferably, the bottom surface of the box body 1 is provided with a moving device 8, the moving device 8 is any device for driving the box body 1 to integrally move, and the moving device 8 can be in various structures as long as the above functions are realized. Specifically, as shown in fig. 9, the moving device 8 provided in this embodiment is a universal wheel, the universal wheel includes a bracket 38, a roller 39, a bracket base 40 and a brake device 41, the roller 39 is installed on the bracket 38, the bracket 38 is installed on the bracket base 40, the bracket base 40 is provided with the brake device 41, and the bracket base 40 is connected to the bottom surface of the box body 1.

This embodiment passes through mobile device 8, can remove the required position with the machine, and is nimble convenient, and the range of application is wide, and box 1 respectively with sit bench 10, chin rest 12 body coupling, remove the convenience, the range of application is wide, is fit for popularizing and applying.

Preferably, the preceding top of box 1 is equipped with the camera, voice broadcast device and lighting device, the camera, voice broadcast device and lighting device connect the treater respectively, this embodiment plays the required cooperation operation step of patient through the treater, detection efficiency is improved, backstage control end is connected to the treater, the real-time situation that the place ahead detected is recorded through the camera, backstage control end is connected to the treater, the control end can select backstage manual collection or machine automatic acquisition multiple mode, after obvious reaction appears in the patient, the machine stops the operation immediately, and simultaneously, when the machine breaks down, the warning of treater drive voice broadcast device, but backstage control end real-time operation, cooperation lighting device, the solution trouble, factor of safety is high. Preferably, a wiping device is arranged at the camera to ensure that a recorded picture is clear.

The working principle of the invention is as follows:

wait to detect the patient and pass through information identification patient identity information such as ID card after, identity identification device sends patient's identity information for treater and record, and the patient sits on stool 10, puts the chin on 12, and pressure sensor 31 senses pressure after, with information transmission for the treater, the motion of first manipulator 14 of treater drive and second manipulator 4.

Specifically, as shown in fig. 10, the patient opens the mouth to the maximum according to the voice prompt, the processor drives the first manipulator 14 to the inlet and outlet of the cotton swab, and at the same time, drives the cotton swab opening and closing device 15 to open, the first manipulator 14 picks up the cotton swab 27 and then enters the oral cavity of the patient, the processor drives the second manipulator 4 to the inlet and outlet of the tongue depressor, and at the same time, drives the tongue depressor opening and closing device 5 to open, the second manipulator 4 picks up the tongue depressor 28 and then enters the oral cavity of the patient, the infrared camera 37 intelligently identifies the pharyngeal back wall and tonsil of the patient according to images of various parts of the oral cavity of the patient, the first manipulator 14 drives the cotton swab 27 to be placed at the position through the clamping jaw mechanism 36 and to be in contact with the pharyngeal back wall and the tonsil of the patient, during the contact process, after the first manipulator 14 rotates by a certain angle, the first manipulator 14 withdraws, the processor drives the second mechanical arm 4 to the garbage inlet and outlet, meanwhile, the processor drives the garbage opening and closing device 7 to be opened, the second mechanical arm 4 puts the tongue depressor 28 into the garbage cavity, and the processor drives the garbage opening and closing device 7 to be closed.

Second manipulator 4 reachs bottle 29 entrance, and simultaneously, treater drive bottle device 6 that opens and shuts is opened, second manipulator 4 acquires bottle 29, the first manipulator 14 of treater drive is put into bottle 29 with cotton swab 27, and simultaneously, first manipulator 14 acquires bottle lid 30 fast, the back is screwed up with bottle 29 to bottle lid 30, treater drive pharynx swab device 11 that opens and shuts is opened, pharynx swab recovery chamber 23 is put into to the first manipulator 14 that will preserve, be convenient for medical personnel to retrieve the detection, when avoiding medical personnel to infect, avoid gathering the sample and be infected, guarantee the rate of accuracy of sample collection, improve collection efficiency.

After the patient detection is finished, the patient leaves, and the processor starts the spraying device to sterilize the touch part of the patient. After the sterilization is completed, the next patient performs the above-described repetition.

Medical personnel regularly inspect machine working condition through backstage control end, when the machine work breaks down, treater drive voice broadcast device reports to the police, reminds medical personnel to get rid of machine trouble through backstage control end.

The invention has the advantages and positive effects that:

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides an intelligence pharynx swab collection robot which characterized in that: the medical instrument comprises a box body, wherein the box body is a square columnar body, the front lower part of the box body is connected with a stool through a first connecting rod, the front middle part of the box body is connected with a chin pad through a second connecting rod, the front upper part of the box body is provided with a display screen, the display screen is provided with an identity recognition device, when a patient sits on the stool, the chin of the patient is arranged on the chin pad, the face of the patient is right opposite to the display screen, a cavity is arranged inside the box body and is sequentially divided into a control cavity, a storage cavity and a recovery cavity from top to bottom, a processor is arranged in the control cavity and is respectively connected with the display screen and the identity recognition device, a cotton swab cavity, a bottle cover cavity, a tongue pressing cavity and a label printing cavity are arranged in the storage cavity, cotton swabs are stored in the cotton swab cavity, a bottle cover is stored in the bottle cover cavity, and a bottle body, the utility model discloses a medical treatment device, including a box body, a tongue depressor, a label printing cavity, a treater, a throat swab recovery cavity, a medical waste recovery cavity, a disinfectant placing cavity, a first mechanical arm and a second mechanical arm, wherein the tongue depressor is stored to the tongue depressor intracavity, the label printing intracavity is equipped with micro printer, micro printer connects the treater, the box body is preceding to correspond each the storage cavity is equipped with respectively and corresponds the export, the box body back corresponds each the storage cavity is equipped with respectively and corresponds the entry, it includes that throat swab retrieves the cavity, medical waste to retrieve the cavity and the disinfectant placing cavity to retrieve the cavity, box body both sides face is equipped with first mechanical arm and second mechanical arm respectively, first mechanical arm with the second mechanical arm is connected respectively the treater, be equipped with recognition device on the first mechanical arm with the second mechanical arm.

2. An intelligent throat swab collection robot according to claim 1, wherein: the utility model discloses a chin rest, including first connecting rod, box, first connecting rod, second connecting rod, first connecting rod is "L" shape setting, first connecting rod one end is connected the box, the first connecting rod other end is connected sit the bench bottom surface, sit bench and ground parallel arrangement, the second connecting rod is "1" font setting, second connecting rod one end is connected the box, the second connecting rod other end is connected chin rest side, the third connecting rod is "U" font setting, third connecting rod one end is connected the box, the third connecting rod other end is connected spray set.

3. An intelligent throat swab collection robot according to claim 1 or 2, wherein: the chin pad is square column, chin pad upper surface is the circular arc concave surface, chin pad upper surface is equipped with pressure sensor, pressure sensor connects the treater, spray set is the shower nozzle, the shower nozzle with the pipeline junction is equipped with the automatically controlled valve, the automatically controlled valve is connected the treater.

4. An intelligent throat swab collection robot according to claim 1 or 2, wherein: the first mechanical arm is arranged on the right side surface of the box body, the second mechanical arm is arranged on the left side surface of the box body, the storage cavity is sequentially provided with the cotton swab cavity, the bottle cap cavity, the bottle body cavity, the tongue depressor cavity and the label printing cavity from right to left, a cotton swab outlet is arranged at the position of the box body corresponding to the cotton swab cavity, a cotton swab opening and closing device is arranged at the cotton swab outlet, a bottle cap outlet is arranged at the position of the box body corresponding to the bottle cap cavity, a bottle cap opening and closing device is arranged at the bottle cap outlet, the box body is provided with a bottle body outlet corresponding to the bottle body cavity, the bottle body outlet is provided with a bottle body opening and closing device, a tongue depressor outlet is arranged at the position of the box body corresponding to the tongue depressor cavity, a tongue depressor opening and closing device is arranged at the tongue depressor outlet, the cotton swab opening and closing device, the bottle cap opening and closing device, the bottle body opening and closing device and the tongue depressor opening and closing device are all electrically connected with the processor.

5. An intelligent throat swab collection robot according to claim 1 or 2, wherein: first manipulator includes mount pad and actuating arm, the actuating arm includes the multisection, the multisection the actuating arm is articulated in proper order, be equipped with telescopic machanism on the actuating arm, the top the actuating arm passes through rotary device and connects mount pad one end, the mount pad other end with the box is connected, and is terminal clamping jaw mechanism is connected to the actuating arm.

6. An intelligent throat swab collection robot according to claim 5, wherein: the rotating device, the telescopic mechanism and the clamping jaw mechanism are respectively connected with the processor, and the second manipulator structure is the same as the first manipulator structure.

7. An intelligent throat swab collection robot according to claim 5, wherein: the recognition device is an infrared camera which is connected with the processor, the infrared camera is arranged on the clamping jaw mechanism, and the infrared camera acquires infrared images in the oral cavity of the patient.

8. An intelligent throat swab collection robot according to claim 1, 2, 6 or 7, wherein: retrieve the chamber from right to left do in proper order the chamber is retrieved to the pharynx swab the antiseptic solution place the chamber with medical waste retrieves the chamber, the box right flank corresponds the chamber department is retrieved to the pharynx swab is equipped with the pharynx swab entry, pharynx swab entrance is equipped with the pharynx swab device that opens and shuts, the box left surface corresponds medical waste retrieves chamber department and is equipped with the rubbish entry, the rubbish entrance is equipped with rubbish device that opens and shuts, the pharynx swab device that opens and shuts with rubbish device that opens and shuts all with the treater electricity is connected.

9. An intelligent throat swab collection robot according to claim 1, 2, 6 or 7, wherein: the bottom surface of the box body is provided with a moving device which is a universal wheel, the universal wheel comprises a support, a roller, a support seat and a brake device, the roller is installed on the support, the support is installed on the support seat, the brake device is arranged on the support seat, and the support seat is connected with the bottom surface of the box body.

10. An intelligent throat swab collection robot according to claim 1, 2, 6 or 7, wherein: the intelligent box comprises a box body and is characterized in that a camera, a voice broadcasting device and a lighting device are arranged at the front top of the box body, the camera, the voice broadcasting device and the lighting device are respectively connected with a processor, the processor is connected with a background control end, and a wiping device is arranged at the position of the camera.