CN112781909A - Pharyngeal sample collection device - Google Patents
Pharyngeal sample collection device Download PDFInfo
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- CN112781909A CN112781909A CN202011587517.7A CN202011587517A CN112781909A CN 112781909 A CN112781909 A CN 112781909A CN 202011587517 A CN202011587517 A CN 202011587517A CN 112781909 A CN112781909 A CN 112781909A
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000005452 bending Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 4
- 210000000214 mouth Anatomy 0.000 claims description 12
- 239000013589 supplement Substances 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 5
- 238000010168 coupling process Methods 0.000 claims description 5
- 238000005859 coupling reaction Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 3
- 238000005286 illumination Methods 0.000 claims description 2
- 238000007789 sealing Methods 0.000 abstract 1
- 210000003800 pharynx Anatomy 0.000 description 38
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 208000015181 infectious disease Diseases 0.000 description 3
- 210000003437 trachea Anatomy 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000028327 secretion Effects 0.000 description 2
- 229920000742 Cotton Polymers 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000002200 mouth mucosa Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/48—Biological material, e.g. blood, urine; Haemocytometers
- G01N33/50—Chemical analysis of biological material, e.g. blood, urine; Testing involving biospecific ligand binding methods; Immunological testing
Abstract
The embodiment of the application discloses pharyngeal sample collection system includes: the pneumatic mechanical arm, the air pressure control module and the control module are arranged on the frame; the pneumatic mechanical arm comprises a pneumatic arm body, a channel cover and a clamping mechanism; the pneumatic arm body is provided with a plurality of air chambers made of flexible materials, the air chambers are distributed along the pneumatic arm body, the pneumatic arm body is provided with an inflation channel, and the inflation channel is communicated with each air chamber; the channel cover is used for sealing the inflation channel, and one side of the pneumatic mechanical arm is provided with a clamping mechanism which is used for clamping a throat swab; the air pressure control module is connected with the inflation inlet; the control module is used for sending a control signal to the air pressure control module after receiving the control command, so that the air pressure control module can inject air into the air chambers through the inflation inlet according to the control signal, the adjacent air chambers are mutually extruded in an expansion state, the mechanical arm body is bent, and the bending of the mechanical arm body changes the spatial position of the throat swab clamped by the clamping mechanism.
Description
Technical Field
The embodiment of the application relates to the field of machinery, in particular to a pharyngeal sample collecting device
Background
Throat swab detection is a medical detection method, and is a process of dipping a small amount of secretion from the throat of a human body by using a medical cotton swab, inoculating the secretion into a special culture dish, and then placing the culture dish in equipment with controllable temperature for culture. Can understand the illness state of the patient, the infection condition of the oral mucosa and the pharynx.
In the prior art, in order to avoid infection risks caused by pharynx swab collection work to medical workers, the robot arm can be used for replacing manual pharynx swab collection work of target personnel, and then infection risks caused to medical workers are avoided.
However, the tail ends of the robot arms are rigid mechanisms, and the tail ends of the robot arms of the rigid mechanisms are easy to injure the pharynx when collecting throat swabs of target people.
Disclosure of Invention
A first aspect of the embodiments of the present application provides a pharyngeal sample collection device, including: the pneumatic mechanical arm, the air pressure control module and the control module are arranged on the frame;
the pneumatic mechanical arm comprises a pneumatic arm body, a channel cover and a clamping mechanism; the pneumatic arm body is provided with a plurality of air chambers made of flexible materials, the air chambers are linearly arranged along the pneumatic arm body, and gaps exist between every two adjacent air chambers; the pneumatic arm body or the channel cover is provided with an inflation channel which is communicated with each air chamber; the channel cover is used for being matched with the pneumatic arm body to seal the inflation channel; one end of the pneumatic arm body is provided with an inflation inlet which is communicated with the inflation channel; the clamping mechanism is arranged on one side of the pneumatic mechanical arm and used for clamping a throat swab;
the air pressure control module is connected with the inflation inlet;
the control module is used for sending a control signal to the air pressure control module after receiving a control instruction, so that the air pressure control module can inject air into the air chambers through the inflation ports according to the control signal, wherein the control signal is used for controlling the amount of the air injected into the air chambers by the air pressure control module, and the adjacent air chambers are mutually extruded under an expansion state to bend the mechanical arm body, and the bending of the mechanical arm body changes the spatial position of the throat swab clamped by the clamping mechanism.
Based on the pharyngeal sample collection device provided by the first aspect of the embodiments of the present application, optionally, the device further includes: a micro-motor and a coupling;
one side of the micromotor is connected with the coupler, the other side of the micromotor is connected with the pneumatic mechanical arm, the throat swab is detachably fixed on one side of the coupler, and the micromotor is used for controlling the coupler to rotate so as to drive the throat swab to rotate;
the control module is also used for controlling the rotation angle of the micro motor based on the control instruction.
Based on the pharyngeal sample collection device provided by the first aspect of the embodiments of the present application, optionally, the device further includes: the restraint pipe and the first steering engine;
the restraint pipe is sleeved outside the pneumatic mechanical arm;
the first steering engine is used for controlling the restraint tube to move along the pneumatic mechanical arm so that part or all of air chambers of the pneumatic mechanical arm extend out of the restraint tube;
the control module is further used for controlling the first steering engine based on a control instruction so as to control the length of the pneumatic mechanical arm extending out of the constraint pipe part.
Based on the pharyngeal sample collection device provided by the first aspect of the embodiments of the present application, optionally, the device further includes: a second steering engine is arranged on the lower portion of the steering wheel,
the second steering engine is connected with the other side of the pneumatic mechanical arm and used for controlling the pneumatic mechanical arm to rotate so as to control the bending direction of the pneumatic mechanical arm;
the control module is further used for controlling the second steering engine based on the control instruction so as to control the turning angle of the pneumatic mechanical arm.
Based on the pharyngeal sample collection device provided in the first aspect of the embodiment of the present application, optionally, the device further includes a push rod, the push rod is connected to the pneumatic mechanical arm, and the push rod is used for controlling the pneumatic mechanical arm to move back and forth, so as to control the pharyngeal swab to move back and forth;
the control module is also used for controlling the push rod based on a control instruction so as to control the distance of the pneumatic mechanical arm to move back and forth.
Based on the pharyngeal sample collection device provided in the first aspect of the embodiments of the present application, optionally, the apparatus further includes: the stepping motor is connected with the push rod;
the control module is also used for controlling the push rod based on a control instruction so as to control the distance of the pneumatic mechanical arm to move back and forth, and comprises:
the control module is further used for controlling the stepping motor based on a control instruction so as to control the push rod and further control the distance of the pneumatic mechanical arm moving back and forth.
Based on the pharyngeal sample collection device provided in the first aspect of the embodiments of the present application, optionally, the apparatus further includes: a depth camera;
the depth camera is used for acquiring a depth image of the oral cavity and calculating the distance of the sampling position of the oral cavity relative to the depth camera based on the depth image;
the control module is further configured to control the depth camera to acquire a depth image of the oral cavity.
Based on the pharyngeal sample collection device provided by the first aspect of the embodiment of the present application, optionally, the apparatus further includes: a light supplement lamp;
the light supplement lamp is used for providing illumination for the oral cavity;
the control module is also used for controlling the brightness of the light supplement lamp.
Based on the pharyngeal sample collection device provided by the first aspect of the embodiment of the present application, optionally, the control module includes a teleoperation device.
Based on the pharyngeal sample collection device that first aspect provided of the embodiment of this application provided, optionally, control module includes the industrial computer.
According to the technical scheme, the embodiment of the application has the following advantages: the application provides a pharynx swab sample collection device for gather patient's pharynx sample, the pharynx swab sample collection device that this application provided includes pneumatic mechanical arm, pneumatic mechanical arm changes the atmospheric pressure in the trachea based on control module's control command and then takes place the deformation of different degree to the realization is to the control of pharynx swab position, and pharynx swab position change process is comparatively gentle and then has reduced the contact damage to the patient.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of a pharyngeal sample-collecting device according to an embodiment of the present application;
FIG. 2a is a schematic view of an embodiment of a pneumatic arm body according to the present application;
FIG. 2b is another schematic view of an embodiment of a pneumatic arm body according to the present application;
FIG. 2c is a schematic structural diagram of an embodiment of a cover plate according to the present application;
FIG. 3 is another schematic view of an embodiment of a pharyngeal sample collection device according to the present application;
FIG. 4 is a schematic view of the control of the pharyngeal sample collection device of the present application;
FIG. 5a is a schematic view of the present application of a pneumatic robotic arm at various pressures;
FIG. 5b is a schematic diagram of the relationship between the bending angle and the pressure of the pneumatic arm according to the present application;
FIG. 6 is an analysis of the expansion bending of adjacent chambers of a pneumatic robotic arm of the present application;
FIG. 7 is a schematic view of the pharyngeal sample collection device control modeling of the present application;
FIG. 8 is a schematic diagram of the control mode switching relationship of the pharyngeal sample collection device according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. 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 application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that the descriptions in this application referring to "first", "second", etc. are 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 at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a pharyngeal sample collection device according to the present application, including: a pharyngeal swab 101, a pneumatic mechanical arm 102, a pneumatic control module 103 and a control module 104, which are fixed to the pneumatic mechanical arm;
the structure of the pneumatic mechanical arm comprises a pneumatic arm body, a channel cover and a clamping mechanism, wherein the pneumatic arm body can refer to fig. 2a, fig. 2a is a side view of the pneumatic arm body, the pneumatic arm body is provided with a plurality of air chambers made of flexible materials, the air chambers are linearly arranged along the pneumatic arm body, and gaps exist between the adjacent air chambers; the pneumatic arm body or the channel cover is provided with an inflation channel which is communicated with each air chamber; referring to fig. 2b, fig. 2b is a cross-sectional view of the pneumatic arm body, the pneumatic arm body or the channel cover is provided with an inflation channel, and the inflation channel is communicated with each air chamber; one end of the pneumatic arm body is provided with an inflation inlet which is communicated with the inflation channel, and one end of the pneumatic arm body is provided with an inflation inlet which is communicated with the inflation channel; the structure of the channel cover can be seen in fig. 2c, and fig. 2c is a schematic view of the channel cover, and the channel cover is used for being matched with the pneumatic arm body to seal the inflation channel; one side of the pneumatic mechanical arm is provided with the clamping mechanism which is used for clamping the throat swab 101;
the air pressure control module 103 is connected with an air charging port on the pneumatic mechanical arm 102 and is used for charging air into an air chamber of the pneumatic mechanical arm.
The control module 104 is configured to receive a control instruction sent by a user, and convert the control instruction into corresponding control information that can be recognized by the pneumatic control module according to numerical information included in the control instruction after receiving the control instruction, so that the pneumatic control module injects gas into the gas chamber through the inflation inlet according to the control signal, the control signal is used to control an amount of gas injected into the gas chamber by the pneumatic control module, and adjacent gas chambers are squeezed with each other in an expanded state to bend the robot arm body, and the bending of the robot arm body changes a spatial position of a swab held by the holding mechanism.
According to the technical scheme, the embodiment of the application has the following advantages: the application provides a pharynx swab sample collection device for gather patient's pharynx sample, the pharynx swab sample collection device that this application provided includes pneumatic mechanical arm, pneumatic mechanical arm changes the atmospheric pressure in the trachea based on control module's control command and then takes place the deformation of different degree to the realization is to the control of pharynx swab position, and pharynx swab position change process is comparatively gentle and then has reduced the contact damage to the patient.
Based on the embodiment described in fig. 1, a more specific pharyngeal sample collection device is provided below, and referring to fig. 3, the pharyngeal sample collection device of the present application includes:
the pharyngeal swab 301, the coupler 302, the micro-motor 303, the pneumatic mechanical arm 304, the restriction tube 305, the first steering engine 306, the second steering engine 307, the push rod 308, the depth camera 309, the light supplement lamp 310, the air pressure control module 311, and the control module 312 are similar to the corresponding modules in the corresponding embodiment of fig. 1, and detailed description thereof is omitted here.
One side of the micromotor 303 is connected with the coupler 302, the other side of the micromotor 303 is connected with the pneumatic mechanical arm 304, the throat swab 301 is detachably fixed on one side of the coupler 302, and the micromotor 303 is used for controlling the coupler 302 to rotate so as to drive the throat swab 301 fixed on the other side of the coupler to rotate; the control module 312 may also control the rotational angle of the micro-machine 303 based on control commands.
The restraint tube 305 is sleeved outside the pneumatic mechanical arm 304, the diameter of the restraint tube 305 is slightly larger than the arm circumference of the pneumatic mechanical arm 304 and matched with the arm circumference of the pneumatic mechanical arm 304, the restraint tube is used for restraining the number of air chambers acting when the pneumatic mechanical arm 304 bends due to air inflation, and the first steering engine 306 is used for controlling the restraint tube 305 to move along the pneumatic mechanical arm 304 so that part or all of the air chambers of the pneumatic mechanical arm 304 extend out of the restraint tube; the control module 312 is further configured to control the first steering engine 306 based on the control command, so as to control the length of the portion of the pneumatic robot arm 304 extending out of the constraint tube 305.
The second steering engine 307 is connected to the other side of the pneumatic mechanical arm 304, which is different from the side connected to the micro-motor 303, and is used for controlling the pneumatic mechanical arm 304 to rotate, so as to control the bending direction of the pneumatic mechanical arm 304, so that the pharyngeal swab 301 can be bent in different directions, and the control module 312 is further used for controlling the second steering engine 307 based on a control instruction, so as to control the bending angle of the pneumatic mechanical arm 304, and further control the position of the pharyngeal swab 301.
The push rod 308 is connected with the pneumatic mechanical arm 304, and the push rod 304 is used for controlling the pneumatic mechanical arm 304 to move back and forth so as to control the throat swab 301 to move back and forth; the control module 312 is further configured to control the push rod 308 based on a control instruction, so as to control a distance that the pneumatic mechanical arm 304 moves back and forth, specifically, a thread may be disposed on the push rod 308, the pneumatic mechanical arm 304 may be connected to the push rod 308 through the thread, one side of the push rod 308 may be connected to a step motor, and the control module 312 controls the step motor to further rotate the push rod 308, so that the pneumatic mechanical arm 304 and the push rod move relative to each other, and the distance that the pneumatic mechanical arm 304 moves back and forth is further controlled.
The depth camera 309 is configured to acquire a depth image of the oral cavity, and calculate a distance between a sampling location of the oral cavity and the depth camera based on the depth image, where a specific depth camera may be a depth camera that employs a structured light technology, a binocular vision technology, or a time-of-flight optical technology, and may be specifically determined according to actual situations, and is not limited herein.
The fill light 310 is used to provide light to the oral cavity so that the depth camera 309 can perform corresponding image capturing work, and medical staff can obtain the specific conditions in the oral cavity of the user.
The control module 312 may specifically include a teleoperation device and an industrial personal computer, wherein the teleoperation device is configured to receive a control instruction sent by a user or a medical staff, and send the control instruction to the industrial personal computer, and the control instruction is converted into a control signal for different motors through operation and analysis of the industrial personal computer, specifically, the control flow is as shown in fig. 4, when the pharyngeal sample collection device is used, the teleoperation device is controlled by the user, the teleoperation device forwards the control instruction sent by the user to an industrial control computer for analysis, and specifically, the industrial control computer controls the micro motor, the first steering engine, the second steering engine, and the stepping motor through Pulse Width Modulation (PWM). The control command is a position where the user desires to reach the pharyngeal swab, and the industrial control computer solves the control amount for each motor based on the obtained position information.
According to the technical scheme, the embodiment of the application has the following advantages: the application provides a pharynx swab sample collection device for gather patient's pharynx sample, the pharynx swab sample collection device that this application provided includes pneumatic mechanical arm, pneumatic mechanical arm changes the atmospheric pressure in the trachea based on control module's control command and then takes place the deformation of different degree to the realization is to the control of pharynx swab position, and pharynx swab position change process is comparatively gentle and then has reduced the contact damage to the patient.
The position control of pharynx swab in the pharynx sample collection device is based on the motion analysis to pneumatic mechanical arm, the pneumatic mechanical arm that the pharynx sample collection device includes in this scheme totally 12 air chambers constitute, except that every air chamber wall thickness of both ends air chamber 1.5mm, the cross-sectional view air chamber width of air chamber is 4.5mm, total length 80mm, wherein pneumatic mechanical arm bending degree's under different pressures change can refer to 5a and 5b, can know that tensile produced angle theta between two air chambers and pressure can be approximately regarded as linear relation, it is specific, for the pneumatic mechanical arm that this scheme was lifted as the example, the relation of pressure P and theta is:
θ＝0.02915P-0.13307
the motion analysis of the adjacent air chambers under different pressures can be seen in fig. 6, where c is the distance between the centers of the two air chambers on the cover plate side, c' is the length of the air chamber being stretched, θ is the angle generated by the stretching between the two air chambers, and m is the thickness of the pneumatic mechanical arm excluding the air chambers, and can be found by mathematical analysis:
c'＝c+2msin(θ/2)
based on the above formula, the pneumatic mechanical arm is analyzed, and when the pneumatic mechanical arm is bent, the chord length d from one end to the other end follows:
wherein n isfThe number of free air cells.
The overall control of the pharyngeal sample collection device can be divided into two categories, one being the course of motion directly mapped to the pharyngeal swab by the teleoperational device, namely:
wherein xt,yt,ztAs the moving coordinates of the throat swab tip, xT，yT，zTK is a scale factor for the movement coordinates of the teleoperational device.
The course of motion can also be mapped to the course of motion of the pharyngeal swab by controlling the individual joints, see fig. 7, i.e.:
wherein xt,yt,ztThe throat swab is characterized in that the throat swab is a moving coordinate at the tail end of the throat swab, d is the chord length of a pneumatic mechanical arm, alpha is the rotation angle of a steering engine, beta is the bending angle for starting the mechanical arm, zp is the propelling distance of a screw rod, nc is the number of constrained air chambers, nf is the number of free air chambers, c' is the length of a stretched air chamber, and h is the length of the throat swabThe conversion manner is shown in fig. 8, and the user may select the control manner according to the actual requirement, which is not limited herein.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A pharyngeal sample collection device, comprising: the pneumatic mechanical arm, the air pressure control module and the control module are arranged on the frame;
the pneumatic mechanical arm comprises a pneumatic arm body, a channel cover and a clamping mechanism; the pneumatic arm body is provided with a plurality of air chambers made of flexible materials, the air chambers are linearly arranged along the pneumatic arm body, and gaps exist between every two adjacent air chambers; the pneumatic arm body or the channel cover is provided with an inflation channel which is communicated with each air chamber; the channel cover is used for being matched with the pneumatic arm body to seal the inflation channel; one end of the pneumatic arm body is provided with an inflation inlet which is communicated with the inflation channel; the clamping mechanism is arranged on one side of the pneumatic mechanical arm and used for clamping a throat swab;
the air pressure control module is connected with the inflation inlet;
the control module is used for sending a control signal to the air pressure control module after receiving a control instruction, so that the air pressure control module can inject air into the air chambers through the inflation ports according to the control signal, wherein the control signal is used for controlling the amount of the air injected into the air chambers by the air pressure control module, and the adjacent air chambers are mutually extruded under an expansion state to bend the mechanical arm body, and the bending of the mechanical arm body changes the spatial position of the throat swab clamped by the clamping mechanism.
2. A pharyngeal sample collection device, as recited in claim 1, further comprising: a micro-motor and a coupling;
one side of the micromotor is connected with the coupler, the other side of the micromotor is connected with the pneumatic mechanical arm, the throat swab is detachably fixed on one side of the coupler, and the micromotor is used for controlling the coupler to rotate so as to drive the throat swab to rotate;
the control module is also used for controlling the rotation angle of the micro motor based on the control instruction.
3. A pharyngeal sample collection device, as recited in claim 1, further comprising: the restraint pipe and the first steering engine;
the restraint pipe is sleeved outside the pneumatic mechanical arm;
the first steering engine is used for controlling the restraint tube to move along the pneumatic mechanical arm so that part or all of air chambers of the pneumatic mechanical arm extend out of the restraint tube;
the control module is further used for controlling the first steering engine based on a control instruction so as to control the length of the pneumatic mechanical arm extending out of the constraint pipe part.
4. A pharyngeal sample collection device, as recited in claim 1, further comprising: a second steering engine is arranged on the lower portion of the steering wheel,
the second steering engine is connected with the other side of the pneumatic mechanical arm and used for controlling the pneumatic mechanical arm to rotate so as to control the bending direction of the pneumatic mechanical arm;
the control module is further used for controlling the second steering engine based on the control instruction so as to control the turning angle of the pneumatic mechanical arm.
5. A pharyngeal sample collection device, as claimed in claim 1, further comprising a push rod connected to the pneumatic robotic arm, the push rod configured to control the pneumatic robotic arm to move back and forth, and thereby control the pharyngeal swab to move back and forth;
the control module is also used for controlling the push rod based on a control instruction so as to control the distance of the pneumatic mechanical arm to move back and forth.
6. A pharyngeal sample collection device, as claimed in claim 5, wherein the apparatus further includes: the stepping motor is connected with the push rod;
the control module is also used for controlling the push rod based on a control instruction so as to control the distance of the pneumatic mechanical arm to move back and forth, and comprises:
the control module is further used for controlling the stepping motor based on a control instruction so as to control the push rod and further control the distance of the pneumatic mechanical arm moving back and forth.
7. A pharyngeal sample collection device, as recited in claim 1, further including: a depth camera;
the depth camera is used for acquiring a depth image of the oral cavity and calculating the distance of the sampling position of the oral cavity relative to the depth camera based on the depth image;
the control module is further configured to control the depth camera to acquire a depth image of the oral cavity.
8. A pharyngeal sample collection device, as recited in claim 1, further including: a light supplement lamp;
the light supplement lamp is used for providing illumination for the oral cavity;
the control module is also used for controlling the brightness of the light supplement lamp.
9. A pharyngeal sample collection device, as claimed in claim 1, wherein said control module includes a teleoperational device.
10. A pharyngeal sample collection device, as claimed in claim 1, wherein the control module includes an industrial personal computer.
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| CN202011587517.7A CN112781909B (en) | 2020-12-28 | 2020-12-28 | Pharyngeal sample collection device |
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| CN202011587517.7A CN112781909B (en) | 2020-12-28 | 2020-12-28 | Pharyngeal sample collection device |
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| CN112781909B CN112781909B (en) | 2023-12-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114190997A (en) * | 2022-02-16 | 2022-03-18 | 深圳市中医院 | Throat swab intelligent acquisition device and acquisition method |
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| CN114190997B (en) * | 2022-02-16 | 2022-05-17 | 深圳市中医院 | Throat swab intelligent acquisition device and acquisition method |
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| CN112781909B (en) | 2023-12-15 |
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