CN113171137A - Pharyngeal flora collecting robot - Google Patents
Pharyngeal flora collecting robot Download PDFInfo
- Publication number
- CN113171137A CN113171137A CN202110419688.7A CN202110419688A CN113171137A CN 113171137 A CN113171137 A CN 113171137A CN 202110419688 A CN202110419688 A CN 202110419688A CN 113171137 A CN113171137 A CN 113171137A
- Authority
- CN
- China
- Prior art keywords
- robot
- pharyngeal
- variable stiffness
- fixedly connected
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a pharyngeal flora collecting robot which comprises a head fixing and positioning mechanism, a variable stiffness mechanism, a mechanical arm and a sampling platform. When pharyngeal flora is collected, the screw rod mechanism in the head fixing and positioning mechanism in the robot can be adjusted according to the size of the head of a person to be detected, so that the function of fixing the head of the person to be detected is achieved, after the head is positioned, the detector follows a designed technical route, and through the control of the controller, the tail end of the pharyngeal flora collecting robot can realize a motion path similar to manual collection, so that the collection of pharyngeal flora is completed; the variable stiffness mechanism is adopted, hard contact between the tail end of the pharyngeal flora collecting robot and the pharyngeal portion of a person to be detected is avoided, meanwhile, the head fixing and positioning mechanism is composed of the parallel mechanism and the lead screw, good supporting performance and adaptability are provided, and the pharyngeal flora collecting robot is suitable for wide crowds; when a tester operates the robot, the tester follows a designed technical route, and through accurate control, the accuracy of sample collection is high, and accurate results can be obtained through detection.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a pharyngeal flora collecting robot, which can collect pharyngeal flora, wherein medical staff can automatically finish pharyngeal flora sample collection by operating a control interface.
Background
Since the new crown epidemic situation occurs, the new crown epidemic situation shows very strong infectivity, virus carriers in people are found in time for effectively cutting off virus propagation, normalization is gradually realized by carrying out nucleic acid detection, and more experts and scholars begin to develop devices for automatically collecting pharyngeal flora samples.
For the design of the existing pharyngeal flora collecting device, the invention patent of 'an automatic pharyngeal swab sampling device' with publication number CN111643123A adopts a gantry type three-axis mechanism to realize mechanical movement, and when the device collects samples, the tail end of the device only realizes movement in one direction, and has a large difference with manual collection. In addition, in the pharyngeal flora clamping device of the invention patent publication No. CN111673757A, namely the pharyngeal swab collecting robot system, a flexible mechanism is not adopted, and stimulation is generated on the throat tissues of a person to be measured during collection.
Aiming at the problems in the design, a novel pharyngeal flora collecting robot is designed, under the condition of ensuring safety, reliability and accuracy, the terminal collecting track of the robot is similar to that of manual collection, meanwhile, variable-rigidity clamping is adopted, and hard stimulation to throat tissues of people to be detected is avoided.
Disclosure of Invention
The invention aims to provide a pharyngeal flora collecting robot which comprises a head fixing and positioning mechanism (1), a variable stiffness mechanism (2), a mechanical arm (3) and a sampling platform (4).
The head fixing and positioning mechanism (1) comprises a parallel mechanism lower supporting plate (11), a parallel mechanism (12), a parallel mechanism upper supporting plate (13), a screw rod (14) and a head support (15); the connection relationship of each component and equipment is as follows: the lower supporting plates (11)) of the parallel mechanisms are fixedly connected to the working surface (41) of the sampling platform; the upper end and the lower end of the parallel mechanism (12) are connected to a lower support plate (11) of the parallel mechanism and an upper support plate (13) of the parallel mechanism through a ball pair; the screw rod (14) is placed in a groove of the upper support plate (13) of the parallel mechanism; the head support (15) is connected through a screw rod, a nut and a screw rod (14);
the variable stiffness mechanism (2) comprises an upper cover (21), a holder (22), a clamping fixture (23), a clamping cam (24), a fixture spring (25), a variable stiffness mechanism upper plate (26), a reed (27), a spring (28), a variable stiffness mechanism lower plate (29) and a clamping fixture force sensor (210); the connection relationship of each component is as follows: the upper cover (21) is fixedly connected to the upper end (22) of the holder; the clamping fixture (23) is fixedly connected to the holder (22) through a fixture spring (25); the clamping cam (24) is connected to the clamper (22) through a motor; the variable stiffness mechanism upper plate (26) is connected to the holder (22) through a buckle; the reed (27) is fixedly connected to the variable stiffness mechanism upper plate (26); the spring (28) is fixedly connected to the variable stiffness mechanism (26); the lower plate (29) of the variable stiffness mechanism is fixedly connected to the reed (27) and the spring (28); the clamping fixture force sensor (210) is fixedly connected to the clamping fixture (23);
the mechanical arm (3) comprises an image collector (31); the connection relationship among all the components is as follows: the image collector (31) is fixedly connected to the mechanical arm (3);
the sampling platform (4) comprises a sampling platform working surface (41) and a controller (42); the connection relationship among all the components is as follows: the controller (42) is fixedly connected to the sampling table working surface (41);
when the pharyngeal flora collecting robot provided by the invention collects samples, the technical route of fig. 15 is followed, and the tail end motion trail of the collecting robot is shown in fig. 16;
the working principle of the invention is as follows;
referring to fig. 1, 2, 3, 4 and 5, when the pharyngeal flora collecting robot works, the head fixing and positioning mechanism (2) can adjust the size according to the actual situation of a person to be detected, the head of the person to be detected is fixed, the pharyngeal position of the person to be detected can be obtained through the image collector (31), and the controller (42) is used for controlling the mechanical arm (3) and the variable stiffness mechanism (2) to collect a sample.
Referring to fig. 15 and 16, when the test person collects the pharyngeal flora sample, the designed technical route is followed, and the controller (42) can realize the motion trail similar to that of the pharyngeal flora robot at the tail end.
The invention has the advantages that:
1. the invention provides a pharyngeal flora collecting robot, wherein a head fixing and positioning mechanism in the robot has better support performance and adaptability by adopting a parallel mechanism and a lead screw, and is wide in applicable population.
2. The pharyngeal flora collecting robot provided by the invention adopts the variable-rigidity clamping mechanism, so that discomfort to a person to be tested can be avoided when pharyngeal flora is collected.
3. According to the pharyngeal flora collecting robot, the force sensor is arranged at the clamping part of the pharyngeal flora collecting robot, so that the clamping force and the contact force can be detected in real time.
4. The pharyngeal flora collecting robot provided by the invention follows a strictly designed technical route when collecting samples, the motion track of the tail end of the pharyngeal flora robot is very close to that of manual collection, the pharyngeal flora collecting robot has higher accuracy, and the collected samples have high accuracy.
The pharyngeal flora collecting robot is neat in shape, simple in structure and low in cost. Drawings
FIG. 1 is a schematic view of the robot of the present invention in its entirety;
FIG. 2 is a schematic view of a robot head fixing and positioning mechanism according to the present invention;
FIG. 3 is a schematic view of a variable stiffness clamping mechanism of a robot according to the present invention;
FIG. 4 is a schematic view of a robotic arm of the present invention;
FIG. 5 is a schematic view of a robotic sampling station of the present invention;
FIG. 6 is a schematic view of the structure of the robot head fixing and positioning mechanism according to the present invention;
FIG. 7 is a schematic view of a lead screw of the robot head fixing and positioning mechanism of the present invention;
FIG. 8 is a schematic view of a parallel mechanism of the robot head fixing and positioning mechanism according to the present invention;
FIG. 9 is a schematic diagram of the variable stiffness robot gripping mechanism of the present invention;
FIG. 10 is a schematic view of a robot variable stiffness clamping mechanism clamp and cam of the present invention;
FIG. 11 is a schematic diagram of a force sensor of a variable stiffness clamping mechanism of a robot according to the present invention;
FIG. 12 is a schematic view of an image collector of a robotic arm of the present invention;
FIG. 13 is a schematic view of an image collector for a robot arm according to the present invention;
FIG. 14 is a schematic view of a robotic sampling table according to the present invention;
FIG. 15 is a schematic diagram of a robot path according to the present invention;
FIG. 16 is a schematic view of a motion trajectory of a robot end during robot acquisition in the present invention;
in the figure:
1-head fixing and positioning mechanism 2-variable stiffness mechanism 3-mechanical arm 4-sampling table
11-parallel mechanism lower support plate 12-parallel mechanism 13-parallel mechanism upper support plate 14-lead screw 15-head support
21-upper cover 22-clamper 23-clamping fixture 24-clamping cam 25-fixture spring 26-variable stiffness mechanism upper plate 27-reed 28-spring 29-variable stiffness mechanism lower plate 210-clamping fixture force sensor (210)
31-image collector
41-sampling table working surface 42-controller
Detailed Description
The present invention will be described below with reference to the drawings and examples, but the present invention is not limited to the following examples.
Example 1
Referring to fig. 1, 2, 3, 4 and 5, the pharyngeal flora collecting robot comprises a head fixing and positioning mechanism (1), a variable stiffness mechanism (2), a mechanical arm (3) and a sampling table (4).
Referring to fig. 2, 6, 7 and 8, when the robot works, the head fixing and positioning mechanism (1) can be adjusted according to the size of the head of the patient to be measured, so that the head of the person to be measured is fixed.
Referring to fig. 3, 9, 10 and 11, the robot adopts variable rigidity clamping, and meanwhile, the force sensor can detect the clamping force and the contact force in real time. .
Referring to fig. 4, 12 and 13, the image collector (31) on the mechanical arm (3) can collect the pharyngeal position of the person to be tested, so as to provide a remote image for the person to be tested.
Referring to fig. 5 and 14, the operator can remotely operate the mechanical arm and the variable-rigidity clamping mechanism through the controller (42) to complete the pharyngeal flora sampling work.
Claims (5)
1. The utility model provides a pharyngeal flora collection robot which characterized in that: comprises a head fixing and positioning mechanism (1), a variable stiffness mechanism (2), a mechanical arm (3) and a sampling platform (4);
the head fixing and positioning mechanism (1) comprises a parallel mechanism lower supporting plate (11), a parallel mechanism (12), a parallel mechanism upper supporting plate (13), a screw rod (14) and a head support (15); the connection relationship of each component and equipment is as follows: the lower supporting plates (11)) of the parallel mechanisms are fixedly connected to the working surface (41) of the sampling platform; the upper end and the lower end of the parallel mechanism (12) are connected to a lower support plate (11) of the parallel mechanism and an upper support plate (13) of the parallel mechanism through a ball pair; the screw rod (14) is placed in a groove of the upper support plate (13) of the parallel mechanism; the head support (15) is connected through a screw rod, a nut and a screw rod (14);
the variable stiffness mechanism (2) comprises an upper cover (21), a holder (22), a clamping fixture (23), a clamping cam (24), a fixture spring (25), a variable stiffness mechanism upper plate (26), a reed (27), a spring (28), a variable stiffness mechanism lower plate (29) and a clamping fixture force sensor (210); the connection relationship of each component is as follows: the upper cover (21) is fixedly connected to the upper end (22) of the holder; the clamping fixture (23) is fixedly connected to the holder (22) through a fixture spring (25); the clamping cam (24) is connected to the clamper (22) through a motor; the variable stiffness mechanism upper plate (26) is connected to the holder (22) through a buckle; the reed (27) is fixedly connected to the variable stiffness mechanism upper plate (26); the spring (28) is fixedly connected to the variable stiffness mechanism (26); the lower plate (29) of the variable stiffness mechanism is fixedly connected to the reed (27) and the spring (28); the clamping fixture force sensor (210) is fixedly connected to the clamping fixture (23);
the mechanical arm (3) comprises an image collector (31); the connection relationship among all the components is as follows: the image collector (31) is fixedly connected to the mechanical arm (3);
the sampling platform (4) comprises a sampling platform working surface (41) and a controller (42); the connection relationship among all the components is as follows: the controller (42) is fixedly connected to the sampling platform working surface (41).
2. A pharyngeal flora collection robot as claimed in claim 1, wherein the head fixing and positioning mechanism in the robot is supportive and adaptive by adopting a parallel mechanism and a lead screw, and is adjusted according to the size of the head of the person to be measured.
3. The pharyngeal flora collection robot according to claim 1, wherein the robot is clamped by a variable stiffness mechanism, and during detection, the tail end of the pharyngeal flora collection robot is in flexible contact with the pharyngeal portion of a person to be detected, so that discomfort of the person to be detected is avoided.
4. The pharyngeal flora collection robot according to claim 1, wherein the robot is controlled by the controller to achieve a motion trajectory close to that of the pharyngeal flora robot during manual collection when collecting pharyngeal flora.
5. The pharyngeal flora collection robot according to claim 1, wherein the robot follows a strictly designed technical route when collecting pharyngeal flora, so as to ensure the accuracy of sampling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110419688.7A CN113171137B (en) | 2021-04-19 | 2021-04-19 | Pharyngeal flora collecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110419688.7A CN113171137B (en) | 2021-04-19 | 2021-04-19 | Pharyngeal flora collecting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113171137A true CN113171137A (en) | 2021-07-27 |
| CN113171137B CN113171137B (en) | 2023-01-03 |
Family
ID=76923644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110419688.7A Active CN113171137B (en) | 2021-04-19 | 2021-04-19 | Pharyngeal flora collecting robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113171137B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043510A (en) * | 2021-11-18 | 2022-02-15 | 上海交通大学 | Multi-degree-of-freedom slender rod object clamping robot with force sensor |
| CN114747816A (en) * | 2021-12-01 | 2022-07-15 | 成都市妇女儿童中心医院 | Special isolation clothes device for collecting novel coronary nucleic acid |
| CN115661271A (en) * | 2022-12-27 | 2023-01-31 | 珞石（北京）科技有限公司 | Robot nucleic acid sampling guiding method based on vision |
| CN115998344A (en) * | 2022-12-13 | 2023-04-25 | 上海理工大学 | Handheld device with pharyngeal picking force detection function |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| US20200147813A1 (en) * | 2017-06-02 | 2020-05-14 | The Research Foundation For The State University Of New York | Robotic gripper with variable stiffness actuators and methods for same |
| CN111631754A (en) * | 2020-05-26 | 2020-09-08 | 清华大学 | Automatic sampling system of pharynx swab |
| CN111643123A (en) * | 2020-05-26 | 2020-09-11 | 清华大学 | Automatic sampling device of pharynx swab |
| CN111820952A (en) * | 2020-07-17 | 2020-10-27 | 清华大学 | Portable pharynx swab sampling robot |
| CN212352029U (en) * | 2020-05-26 | 2021-01-15 | 湖州市中心医院 | Pharynx swab collecting robot |
| CN112587173A (en) * | 2021-01-07 | 2021-04-02 | 石家庄溪跃贸易有限公司 | Autonomous influenza virus detection device |
| CN112617910A (en) * | 2020-12-28 | 2021-04-09 | 三明学院 | Pharyngeal germ sampling device |
-
2021
- 2021-04-19 CN CN202110419688.7A patent/CN113171137B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200147813A1 (en) * | 2017-06-02 | 2020-05-14 | The Research Foundation For The State University Of New York | Robotic gripper with variable stiffness actuators and methods for same |
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| CN111631754A (en) * | 2020-05-26 | 2020-09-08 | 清华大学 | Automatic sampling system of pharynx swab |
| CN111643123A (en) * | 2020-05-26 | 2020-09-11 | 清华大学 | Automatic sampling device of pharynx swab |
| CN212352029U (en) * | 2020-05-26 | 2021-01-15 | 湖州市中心医院 | Pharynx swab collecting robot |
| CN111820952A (en) * | 2020-07-17 | 2020-10-27 | 清华大学 | Portable pharynx swab sampling robot |
| CN112617910A (en) * | 2020-12-28 | 2021-04-09 | 三明学院 | Pharyngeal germ sampling device |
| CN112587173A (en) * | 2021-01-07 | 2021-04-02 | 石家庄溪跃贸易有限公司 | Autonomous influenza virus detection device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114043510A (en) * | 2021-11-18 | 2022-02-15 | 上海交通大学 | Multi-degree-of-freedom slender rod object clamping robot with force sensor |
| CN114043510B (en) * | 2021-11-18 | 2023-04-14 | 上海交通大学 | Multi-degree-of-freedom slender rod object clamping robot with force sensor |
| CN114747816A (en) * | 2021-12-01 | 2022-07-15 | 成都市妇女儿童中心医院 | Special isolation clothes device for collecting novel coronary nucleic acid |
| CN114747816B (en) * | 2021-12-01 | 2024-02-23 | 成都市妇女儿童中心医院 | Isolation coat device special for novel crown nucleic acid collection |
| CN115998344A (en) * | 2022-12-13 | 2023-04-25 | 上海理工大学 | Handheld device with pharyngeal picking force detection function |
| CN115661271A (en) * | 2022-12-27 | 2023-01-31 | 珞石（北京）科技有限公司 | Robot nucleic acid sampling guiding method based on vision |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113171137B (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113171137B (en) | Pharyngeal flora collecting robot | |
| CN210982481U (en) | Automatic mixing device of blood sample and blood cell analytical equipment | |
| CN209992198U (en) | Food detection quantitative sampling device | |
| CN212471524U (en) | Nasal oropharynx swab sampling robot | |
| CN111920454A (en) | Automatic collector for throat swab | |
| CN113499102A (en) | Full-automatic pharynx swab flexible sampling device | |
| CN213632815U (en) | Water quality monitoring collector with adjustable space | |
| CN110261245A (en) | A kind of portable pneumatic type low-velocity impact testing machine and impact test method | |
| CN208580158U (en) | A kind of detection device of electric automatization equipment | |
| CN114043496B (en) | Vision-touch guided tissue secretion sampling robot | |
| CN112816306B (en) | Automatic shaking mechanism for fluorescence immunoassay analyzer | |
| CN209699100U (en) | A kind of pinpoint robot device | |
| CN218097659U (en) | Locating pin size precision detects frock | |
| CN217780054U (en) | Medical bionics manipulator grabs tub device | |
| CN219098031U (en) | Clamping conveying device and unmanned vehicle | |
| CN106175797B (en) | Needle tip angle adjusting device of blood taking needle | |
| CN221296087U (en) | Automatic uncapping device for blood collection tube | |
| CN217932007U (en) | Pipeline cable inspection device for electric power overhaul | |
| CN220207040U (en) | Torsional spring comparator calibrating device | |
| CN216718480U (en) | Biological safety cabinet wind speed detection auxiliary device | |
| CN220136676U (en) | Magnetic material spot check device | |
| CN215575493U (en) | Positioning mechanism based on chip test equipment | |
| CN219957605U (en) | Traveling sample information identification device for mass spectrum pretreatment instrument | |
| CN221261008U (en) | Clamping device and sample processing system | |
| CN217960153U (en) | Swab sampling head, automatic sampling assembly and automatic sampling system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |