CN113771063A - Throat swab sampling robot for nucleic acid detection and sampling method thereof - Google Patents
Throat swab sampling robot for nucleic acid detection and sampling method thereof Download PDFInfo
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- CN113771063A CN113771063A CN202111255341.XA CN202111255341A CN113771063A CN 113771063 A CN113771063 A CN 113771063A CN 202111255341 A CN202111255341 A CN 202111255341A CN 113771063 A CN113771063 A CN 113771063A
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- 238000005070 sampling Methods 0.000 title claims abstract description 58
- 150000007523 nucleic acids Chemical class 0.000 title claims abstract description 40
- 102000039446 nucleic acids Human genes 0.000 title claims abstract description 40
- 108020004707 nucleic acids Proteins 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000001514 detection method Methods 0.000 title claims description 32
- 210000000214 mouth Anatomy 0.000 claims abstract description 27
- 210000003800 pharynx Anatomy 0.000 claims abstract description 16
- 229920000742 Cotton Polymers 0.000 claims description 6
- 230000011218 segmentation Effects 0.000 claims description 6
- 240000005002 Erythronium dens canis Species 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 210000000056 organ Anatomy 0.000 claims description 3
- 210000002741 palatine tonsil Anatomy 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 238000010845 search algorithm Methods 0.000 claims description 3
- 230000003340 mental effect Effects 0.000 abstract description 3
- 241000711573 Coronaviridae Species 0.000 description 2
- 206010011224 Cough Diseases 0.000 description 1
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 206010035664 Pneumonia Diseases 0.000 description 1
- 241000700605 Viruses Species 0.000 description 1
- 239000000443 aerosol Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Life Sciences & Earth Sciences (AREA)
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- Medical Informatics (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 utility model belongs to the technical field of nucleic acid testing equipment, a pharynx swab sampling robot and sampling method of nucleic acid testing is disclosed, wherein the robot includes the base, four edges of base upside all are provided with the driving piece, and the middle part fixed mounting of base upside has the layer board, the downside fixed mounting of layer board has the master control case, and the upside fixed mounting of layer board has the platform, the top embedding of platform is rotated and is connected with the disc, and the bottom fixed mounting of platform has a fifth motor, the output shaft of fifth motor runs through the platform and fixes mutually with the disc, the top of disc is provided with the arm, the one end that the disc was kept away from to the arm is provided with the holder. The utility model provides a sampling robot has the function of oral cavity location, arm nucleic acid sampling, has reduced medical personnel's risk that is infected in nucleic acid testing work, alleviates medical personnel's working strength and mental pressure, promotes the standardization of pharynx swab nucleic acid testing sampling.
Description
Technical Field
The application relates to the technical field of nucleic acid detection equipment, in particular to a pharynx swab sampling robot for nucleic acid detection and a sampling method thereof.
Background
In the background of world abuse of novel coronaviruses, methods for detecting the novel coronaviruses mainly include nucleic acid detection (fluorescent quantitative RTPCR) and antibody detection. At present, the most main detection means for determining the new coronary pneumonia is nucleic acid detection, and the virus nucleic acid in an acquired sample is directly detected, so that the method has the advantages of strong specificity and relatively high sensitivity. The main mode adopted by nucleic acid detection sampling at present is oropharyngeal swab sampling detection.
In the sampling operation process of the nucleic acid detection throat swab, medical staff need to be in close contact with a patient, cough and forced respiration of the patient can generate a large amount of spray or aerosol, the risk of cross infection of the medical staff in the sampling process can be greatly increased, and further improvement is needed.
Disclosure of Invention
In order to solve the above problems, the present application provides a pharyngeal swab sampling robot for nucleic acid detection.
The throat swab sampling robot for nucleic acid detection adopts the following technical scheme:
a throat swab sampling robot for nucleic acid detection comprises a base, driving pieces are arranged at four corners of the upper side of the base, a supporting plate is fixedly mounted in the middle of the upper side of the base, a main control box is fixedly mounted on the lower side of the supporting plate, a platform is fixedly mounted on the upper side of the supporting plate, a disc is embedded into the top of the platform and rotatably connected with the top of the platform, a fifth motor is fixedly mounted at the bottom of the platform, an output shaft of the fifth motor penetrates through the platform and is fixed with the disc, a mechanical arm is arranged at the top of the disc, a clamping piece is arranged at one end, away from the disc, of the mechanical arm, and a depth camera is fixedly mounted at a position, close to the bottom of the clamping piece, outside the mechanical arm;
the inside fixed mounting of master control case has the master control board, install power module, NFC information entry module, camera module, motor drive module, 5G and wiFi communication module on the master control board in proper order.
Further, the arm includes articulated first support, second support and third support from bottom to top in proper order, first support is articulated with the disc, the top of disc and the position fixed mounting that is located first support inboard have a first motor, the output shaft and the first support of first motor are fixed mutually, the inboard fixed mounting at first support top has the second motor, the output shaft and the second support of second motor are fixed mutually, the inboard fixed mounting at second support top has the third motor, the output shaft and the third support of third motor are fixed mutually.
Further, the depth camera is fixedly installed on the outer side of the third support, the depth camera is electrically connected with the main control board, and the main control board is an SMT32 control board.
Further, the holder is including the first carousel and the second carousel that align the setting, the equal fixedly connected with clamp splice of outward flange of first carousel and second carousel, along the equal integrated into one piece ground of outward flange of first carousel and second carousel is provided with a set of dogtooth, and is two sets of the meshing is connected between the dogtooth, one side fixed mounting that the first carousel was just kept away from at the top of third support has the sixth motor, the output shaft of sixth motor runs through the third support and fixes mutually with first carousel, the second carousel rotates with the third support and is connected.
Further, the driving piece comprises a support, a fourth motor and a roller, the support is fixed to the base, the fourth motor and the roller are located on two sides of the support respectively, the fourth motor is fixed to the support, and an output shaft of the fourth motor penetrates through the support and is fixed to the roller.
Furthermore, the camera of the camera module extends to the outside of the main control box and is fixedly installed on the upper side of the supporting plate, and the camera of the camera module and the depth camera are located on the same side.
Furthermore, the first motor, the second motor, the third motor, the sixth motor, the fourth motor and the fifth motor are all direct current encoder motors and are respectively electrically connected with the motor driving module.
Further, the power module is a lithium battery pack with 7.2V/5 AH.
The sampling method of the pharyngeal swab sampling robot for nucleic acid detection comprises the following steps:
step 1: the identity information of the detected person is recorded through the NFC information recording module, and the identity information of the detected person is checked through the camera module;
step 2: throat swab sampling preparation, wherein a pure cotton swab is clamped by using a clamping piece of a robot;
and step 3: the position of the depth camera is adjusted by controlling the mechanical arm, so that the depth camera is aligned to the oral cavity of the patient, the oral cavity environment of the patient is scanned by using the depth camera to obtain oral cavity point cloud data, an oral cavity three-dimensional scene is constructed, and therefore modeling of the oral cavity scene of the patient is completed;
and 4, step 4: adopting a POINTNET + + network to segment the constructed oral cavity scene, obtaining segmentation maps of all organs of the oral cavity, positioning the segmentation maps, obtaining the spatial position coordinates of the tonsils, and taking the spatial position coordinates as sampling expected coordinates;
and 5: based on the sampling expected coordinates, planning the path of the mechanical arm by using an A-ray heuristic search algorithm and obtaining a motion track;
step 6: and controlling the mechanical arm of the robot to achieve the sampling expected coordinate for sampling by using the obtained motion trail.
To sum up, the application comprises the following beneficial technical effects: the utility model provides a sampling robot has the function of oral cavity location, arm nucleic acid sampling, has reduced medical personnel's risk that is infected in nucleic acid testing work, alleviates medical personnel's working strength and mental pressure, promotes the standardization of pharynx swab nucleic acid testing sampling to guarantee the quality of oral cavity pharynx swab nucleic acid testing sampling.
Drawings
FIG. 1 is a schematic diagram showing the back structure of a pharyngeal swab sampling robot for nucleic acid detection;
FIG. 2 is a schematic front view of a pharyngeal swab sampling robot for nucleic acid detection;
FIG. 3 is a side view of a pharyngeal swab sampling robot for nucleic acid detection;
fig. 4 is a partially enlarged view of fig. 2.
The reference numbers in the figures illustrate: 1. a base; 2. a support plate; 3. a platform; 4. a disc; 5. a first bracket; 6. a second bracket; 7. a third support; 8. a first motor; 9. a second motor; 10. a third motor; 11. a sixth motor; 12. a support; 13. a fourth motor; 14. a roller; 15. a clamping block; 16. a fifth motor; 17. a first turntable; 18. a second turntable; 19. a convex tooth; 20. a depth camera; 21. and a main control box.
Detailed Description
The technical solution in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application; it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments, and all other embodiments obtained by those of ordinary skill in the art without any inventive work based on the embodiments in the present application belong to the protection scope of the present application.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; 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 meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The present application is described in further detail below with reference to figures 1-4.
The embodiment of the application discloses a pharynx swab sampling robot for nucleic acid detection, which comprises a base 1, driving parts are arranged at four corners of the upper side of the base 1 and used for adjusting the position of the base 1, a supporting plate 2 is fixedly arranged in the middle of the upper side of the base 1, a main control box 21 is fixedly arranged at the lower side of the supporting plate 2, a platform 3 is fixedly arranged on the upper side of the supporting plate 2, the top of the platform 3 is embedded and rotatably connected with a disc 4, a fifth motor 16 is fixedly arranged at the bottom of the platform 3, an output shaft of the fifth motor 16 penetrates through the platform 3 and is fixed with the disc 4, and when the fifth motor 16 works, the output shaft of the fifth motor can drive the disc 4 to rotate; the top of the disc 4 is provided with a mechanical arm, one end of the mechanical arm, which is far away from the disc 4, is provided with a clamping piece, a cotton swab can be clamped and fixed by using the clamping piece, and a depth camera 20 is fixedly arranged at the position, which is close to the bottom of the clamping piece, outside the mechanical arm and is used for scanning and shooting the oral cavity of a patient; the inside fixed mounting of master control box 21 has the master control board, the master control board is SMT32 control panel, install power module on the master control board in proper order, NFC information entry module, the camera module, motor drive module, 5G and wiFi communication module, power module is the lithium cell group of 7.2V 5AH, NFC information entry module is used for logging the identity information who is detected the personnel, the camera module is used for checking the identity information who is detected the personnel, motor drive module is used for the work of each motor of control robot, 5G and wiFi communication module are used for remote control and data networking of robot, combine shown in fig. 2 and 3, the camera of camera module extends to the outside of master control box 21 and fixed mounting in the upside of layer board 2, and the camera of camera module is located same one side with degree of depth camera 20, the inclination of camera is adjustable.
Referring to fig. 1 and 2, the mechanical arm has three degrees of freedom, and includes a first support 5, a second support 6, and a third support 7 hinged in sequence from bottom to top, the first support 5 is hinged to the disc 4, a first motor 8 is fixedly mounted at the top of the disc 4 and at the inner side of the first support 5, and an output shaft of the first motor 8 is fixed to the first support 5 for adjusting the inclination angle of the first support 5; a second motor 9 is fixedly installed on the inner side of the top of the first bracket 5, and an output shaft of the second motor 9 is fixed with the second bracket 6 and used for adjusting the inclination angle of the second bracket 6; a third motor 10 is fixedly installed on the inner side of the top of the second bracket 6, and an output shaft of the third motor 10 is fixed with the third bracket 7 and used for adjusting the inclination angle of the third bracket 7; the depth camera 20 is fixedly installed at the outer side of the third bracket 7, and the depth camera 20 is electrically connected with the main control board.
Referring to fig. 4, the clamping member includes a first rotating disk 17 and a second rotating disk 18 which are aligned, the outer edges of the first rotating disk 17 and the second rotating disk 18 are both fixedly connected with a clamping block 15, a set of convex teeth 19 are integrally formed along the outer edges of the first rotating disk 17 and the second rotating disk 18, the two sets of convex teeth 19 are engaged and connected, a sixth motor 11 is fixedly installed at the top of the third bracket 7 and on the side away from the first rotating disk 17, an output shaft of the sixth motor 11 penetrates through the third bracket 7 and is fixed to the first rotating disk 17, the second rotating disk 18 is rotatably connected to the third bracket 7, and the first rotating disk 17 and the second rotating disk 18 are driven to rotate in opposite directions by controlling the operation of the sixth motor 11, so as to drive the two clamping blocks 15 to rotate in opposite directions, thereby clamping and fixing the cotton swab.
Referring to fig. 1, the driving member includes a support 12, a fourth motor 13 and a roller 14, the support 12 is fixed to the base 1, the fourth motor 13 and the roller 14 are respectively located at two sides of the support 12, the fourth motor 13 is fixed to the support 12, and an output shaft of the fourth motor 13 penetrates through the support 12 and is fixed to the roller 14; the first motor 8, the second motor 9, the third motor 10, the sixth motor 11, the fourth motor 13 and the fifth motor 16 are all direct current encoder motors, and are respectively electrically connected with the motor driving module, and the work of each motor can be respectively controlled through the motor driving module.
The sampling method of the pharyngeal swab sampling robot for nucleic acid detection comprises the following steps:
step 1: the identity information of the detected person is recorded through the NFC information recording module, and the identity information of the detected person is checked through the camera module;
step 2: throat swab sampling preparation, wherein a pure cotton swab is clamped by using a clamping piece of a robot;
and step 3: the position of the depth camera 20 is adjusted by controlling the mechanical arm, so that the depth camera 20 is aligned to the oral cavity of the patient, the oral cavity environment of the patient is scanned by using the depth camera 20 to acquire oral cavity point cloud data, and an oral cavity three-dimensional scene is constructed, so that the modeling of the oral cavity scene of the patient is completed;
and 4, step 4: adopting a POINTNET + + network to segment the constructed oral cavity scene, obtaining segmentation maps of all organs of the oral cavity, positioning the segmentation maps, obtaining the spatial position coordinates of the tonsils, and taking the spatial position coordinates as sampling expected coordinates;
and 5: based on the sampling expected coordinates, planning the path of the mechanical arm by using an A-ray heuristic search algorithm and obtaining a motion track;
step 6: and controlling the mechanical arm of the robot to achieve the sampling expected coordinate for sampling by using the obtained motion trail.
The implementation principle of the pharyngeal swab sampling robot for nucleic acid detection in the embodiment of the application is as follows: when the robot carries out the during operation, can carry out the centre gripping to the cotton swab through the holder that utilizes the arm top fixed to stretch into patient's oral cavity through the arm and sample, thereby reduce medical personnel's risk of being infected in nucleic acid testing work, alleviate medical personnel's working strength and mental pressure, promote the standardization of pharynx swab nucleic acid detection sampling, and guaranteed the quality of oral cavity pharynx swab nucleic acid detection sampling.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (9)
1. A pharynx swab sampling robot of nucleic acid detection, includes base (1), its characterized in that: driving parts are arranged at four corners of the upper side of the base (1), a supporting plate (2) is fixedly mounted in the middle of the upper side of the base (1), a main control box (21) is fixedly mounted on the lower side of the supporting plate (2), a platform (3) is fixedly mounted on the upper side of the supporting plate (2), a disc (4) is embedded into the top of the platform (3) and is rotatably connected with the top of the platform (3), a fifth motor (16) is fixedly mounted at the bottom of the platform (3), an output shaft of the fifth motor (16) penetrates through the platform (3) and is fixed with the disc (4), a mechanical arm is arranged at the top of the disc (4), a clamping piece is arranged at one end, away from the disc (4), of the mechanical arm, and a depth camera (20) is fixedly mounted at a position, close to the bottom of the clamping piece, outside the mechanical arm;
the inside fixed mounting of master control case (21) has the master control board, install power module, NFC information entry module, camera module, motor drive module, 5G and wiFi communication module on the master control board in proper order.
2. A pharyngeal swab sampling robot for nucleic acid detection according to claim 1, characterized in that: the arm includes articulated first support (5), second support (6) and third support (7) in proper order from bottom to top, first support (5) are articulated with disc (4), the top of disc (4) and the position fixed mounting that is located first support (5) inboard have first motor (8), the output shaft and first support (5) of first motor (8) are fixed mutually, the inboard fixed mounting at first support (5) top has second motor (9), the output shaft and the second support (6) of second motor (9) are fixed mutually, the inboard fixed mounting at second support (6) top has third motor (10), the output shaft and the third support (7) of third motor (10) are fixed mutually.
3. A pharyngeal swab sampling robot for nucleic acid detection according to claim 2, characterized in that: the depth camera (20) is fixedly installed on the outer side of the third support (7), the depth camera (20) is electrically connected with the main control board, and the main control board is an SMT32 control board.
4. A pharyngeal swab sampling robot for nucleic acid detection according to claim 3, characterized in that: the holder is including first carousel (17) and second carousel (18) that align the setting, the equal fixedly connected with clamp splice (15) of outward flange of first carousel (17) and second carousel (18), along the outward flange of first carousel (17) and second carousel (18) is provided with a set of dogtooth (19) all integrated into one piece, and is two sets of meshing connection between dogtooth (19), the top of third support (7) and the one side fixed mounting who keeps away from first carousel (17) have sixth motor (11), the output shaft of sixth motor (11) runs through third support (7) and is fixed mutually with first carousel (17), second carousel (18) rotate with third support (7) and are connected.
5. A pharyngeal swab sampling robot for nucleic acid detection according to claim 4, characterized in that: the driving piece comprises a support (12), a fourth motor (13) and a roller (14), the support (12) is fixed to the base (1), the fourth motor (13) and the roller (14) are located on two sides of the support (12) respectively, the fourth motor (13) is fixed to the support (12), and an output shaft of the fourth motor (13) penetrates through the support (12) and is fixed to the roller (14).
6. A pharyngeal swab sampling robot for nucleic acid detection according to claim 1, characterized in that: the camera of the camera module extends to the outside of the main control box (21) and is fixedly installed on the upper side of the supporting plate (2), and the camera of the camera module and the depth camera (20) are located on the same side.
7. A pharyngeal swab sampling robot for nucleic acid detection according to claim 5, characterized in that: the first motor (8), the second motor (9), the third motor (10), the sixth motor (11), the fourth motor (13) and the fifth motor (16) are all direct current encoder motors and are respectively electrically connected with the motor driving module.
8. A pharyngeal swab sampling robot for nucleic acid detection according to claim 1, characterized in that: the power module is a lithium battery pack with 7.2V/5 AH.
9. A method for sampling by a pharyngeal swab sampling robot for nucleic acid detection according to any one of claims 1 to 8, comprising the steps of:
step 1: the identity information of the detected person is recorded through the NFC information recording module, and the identity information of the detected person is checked through the camera module;
step 2: throat swab sampling preparation, wherein a pure cotton swab is clamped by using a clamping piece of a robot;
and step 3: the position of the depth camera (20) is adjusted by controlling the mechanical arm, so that the depth camera (20) is aligned to the oral cavity of a patient, the oral cavity environment of the patient is scanned by using the depth camera (20) to obtain oral cavity point cloud data, an oral cavity three-dimensional scene is constructed, and the modeling of the oral cavity scene of the patient is completed;
and 4, step 4: adopting a POINTNET + + network to segment the constructed oral cavity scene, obtaining segmentation maps of all organs of the oral cavity, positioning the segmentation maps, obtaining the spatial position coordinates of the tonsils, and taking the spatial position coordinates as sampling expected coordinates;
and 5: based on the sampling expected coordinates, planning the path of the mechanical arm by using an A-ray heuristic search algorithm and obtaining a motion track;
step 6: and controlling the mechanical arm of the robot to achieve the sampling expected coordinate for sampling by using the obtained motion trail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111255341.XA CN113771063A (en) | 2021-10-27 | 2021-10-27 | Throat swab sampling robot for nucleic acid detection and sampling method thereof |
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| CN202111255341.XA CN113771063A (en) | 2021-10-27 | 2021-10-27 | Throat swab sampling robot for nucleic acid detection and sampling method thereof |
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| CN114271865A (en) * | 2021-12-15 | 2022-04-05 | 中国农业大学 | Pharynx swab gathers arm |
| CN115922725A (en) * | 2022-12-28 | 2023-04-07 | 山东大学 | Positioning system of throat swab sampling robot |
| CN114271865B (en) * | 2021-12-15 | 2024-05-24 | 中国农业大学 | Throat swab gathers arm |
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Application publication date: 20211210 |