CN211729201U

CN211729201U - Split type teleoperation automatic respiratory tract specimen collecting robot

Info

Publication number: CN211729201U
Application number: CN202020310059.1U
Authority: CN
Inventors: 张春霖; 张笑凯
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2020-03-13
Filing date: 2020-03-13
Publication date: 2020-10-23
Anticipated expiration: 2030-03-13

Abstract

The utility model relates to an automatic respiratory track sample collection robot of split type teleoperation, including the robot, the robot is provided with fixed arm and operation arm, the fixed arm is including the first X that distributes in pairs to the guide rail, install forehead pad height adjustment mechanism on it respectively, denture fixing device circle height adjustment mechanism, be provided with forehead pad subassembly on the forehead pad height adjustment mechanism, be provided with the pillow board between the first X to the guide rail, the operation arm is including the second X that distributes in pairs to the guide rail, second X is provided with mirror sheath and elevating system and fixed and advancing mechanism or pharynx swab and connecting pipe with the hose on to the guide rail, install endoscope camera lens on mirror sheath and the elevating system, install pharynx swab and connecting pipe on the hose is fixed and the advancing mechanism, electric connection has the controller on the robot. Therefore, under the monitoring of the endoscope head, the local automatic operation or remote control in different places can be realized under the coordination of the controller, and the occupational exposure risk of medical staff is reduced or even avoided.

Description

Split type teleoperation automatic respiratory tract specimen collecting robot

Technical Field

The utility model relates to a sample collection equipment especially relates to an automatic respiratory track sample collection robot of split type teleoperation.

Background

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

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

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

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

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

In view of the above-mentioned drawbacks, the present designer actively makes research and innovation to create a split-type teleoperation automatic robot for collecting a respiratory tract specimen, so that the robot can be operated remotely or remotely, thereby improving the reliability of specimen collection, reducing or even avoiding the occupational exposure risk of medical staff, improving the safety of operation, and reducing the labor intensity.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model aims at providing a split type teleoperation automatic respiratory track sample collection robot.

The utility model discloses an automatic respiratory track sample acquisition robot of split type teleoperation, including the robot, wherein: the robot body is provided with a fixed arm and an operating arm, the fixed arm comprises first X-direction guide rails which are distributed in pairs, a forehead cushion height adjusting mechanism and a denture ring height adjusting mechanism are respectively installed on the first X-direction guide rails, a forehead cushion assembly is arranged on the forehead cushion height adjusting mechanism, a pillow plate is arranged between the first X-direction guide rails,

the operation arm comprises second X-direction guide rails which are distributed in pairs, a connecting plate is arranged between the second X-direction guide rails, a sheath and a lifting mechanism and a hose fixing and propelling mechanism or a pharynx swab and a connecting pipe are arranged on the second X-direction guide rails, an endoscope head is arranged on the sheath and the lifting mechanism, a pharynx swab and a connecting pipe are arranged on the hose fixing and propelling mechanism,

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

Further, the split teleoperation automatic airway specimen collecting robot comprises a forehead cushion height adjusting mechanism, wherein the forehead cushion height adjusting mechanism comprises a first upright post and a second upright post respectively arranged on first X-direction guide rails distributed in pairs, the first upright post and the second upright post are movably connected with the first X-direction guide rails through sliding blocks, a first cross rod is connected between the first upright post and the second upright post, a forehead cushion assembly is arranged below the first cross rod,

the first upright post and the second upright post are internally provided with a first motor, a first lead screw and a first guide post, the first motor is connected with the first guide post through the first lead screw, the first guide post is connected with the first cross rod,

the forehead pad assembly is connected with the first cross rod through a forehead pad quick-change connector.

Furthermore, in the above-mentioned split teleoperation automatic robot for collecting airway specimens, the height adjustment mechanism of the denture ring comprises a third column and a fourth column respectively disposed on the first X-direction guide rails distributed in pairs, the third column and the fourth column are movably connected with the first X-direction guide rails through a slider, a second cross bar is connected between the third column and the fourth column, a denture ring assembly is installed below the second cross bar,

a second motor, a second screw rod and a second guide post are respectively arranged in the third upright post and the fourth upright post, the second motor is connected with the second guide post through the second screw rod, the second guide post is connected with the first cross rod,

the denture ring component is connected with the second cross rod through a denture ring quick-change connector.

Furthermore, in the split teleoperation automatic airway specimen collecting robot, the second X-direction guide rail is movably connected with a fifth upright and a sixth upright through a sliding block, a Y-direction guide rail is connected between the fifth upright and the sixth upright through a Y-axis rotating mechanism, and a sheath, a lifting mechanism, a hose fixing and pushing mechanism are mounted on the Y-direction guide rail.

Furthermore, the split teleoperation automatic respiratory tract specimen collecting robot comprises a Y-axis rotating mechanism and a rotating shaft, wherein the Y-axis rotating mechanism comprises a Y-axis motor, the Y-axis motor is connected with a swinging arm, and the swinging arm is provided with a rotating shaft.

Furthermore, in the above-mentioned split teleoperation automatic robot for collecting a respiratory tract specimen, the sheath and the lifting mechanism include a catheter holder, a catheter is inserted into the catheter holder, and the catheter holder is further connected to a first lead screw motor through a first connecting plate.

Still further, above-mentioned split type teleoperation automatic respiratory tract specimen collection robot, wherein, hose is fixed and advancing mechanism is including the second connecting plate, be provided with the second lead screw motor on the second connecting plate.

Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage:

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

2. The fixed arm and the operation arm are in a non-integrated structure, so that the split type double-arm cooperative operation is realized, the reliability of sample collection can be improved, the access operation of medical personnel can be further reduced, and the labor intensity is reduced.

3. Through the cooperation of the controller and corresponding software, the automatic learning of artificial intelligence under big data accumulation can be realized, and the precision, the efficiency and the reliability of gathering are improved.

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

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a split teleoperation automatic airway specimen collection robot.

Fig. 2 is a schematic front structure view of the split teleoperation automatic airway specimen collection robot. (controller not shown)

Fig. 3 is a schematic cross-sectional structure of fig. 2. (controller not shown)

Fig. 4 is a schematic side view of the split teleoperation automatic airway specimen collecting robot. (controller not shown)

Fig. 5 is a schematic cross-sectional structure of fig. 4. (controller not shown)

Fig. 6 is a schematic top view of the split teleoperation automatic airway specimen collecting robot. (controller not shown)

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

1 fixed arm 2 operating arm

3 first X-direction guide rail 4 forehead pad height adjusting mechanism

5 denture ring height adjusting mechanism 6 sliding block

7 first upright 8 second upright

9 first motor 10 first lead screw

11 first guide post 12 first cross bar

13 forehead pad subassembly 14 forehead pad quick change coupler

15 third upright 16 fourth upright

17 second motor 18 second lead screw

19 second guide post 20 second cross bar

21 denture ring subassembly 22 denture ring quick-change coupler

23 pillow plate 24 second X-direction guide rail

25 connecting plate 26 fifth column

27 sixth post 28Y-guide rail

29Y-axis rotating mechanism 30 endoscope head

31 sheath, elevating mechanism 32 throat swab and connecting pipe

33 hose fixing and propelling mechanism 34 rotating shaft

35Y-direction motor 36 swing arm

37 conduit seat 38 conduit

39 first lead screw motor 40 first connection plate

41 second lead screw motor 42 second connecting plate

43 controller

Detailed Description

The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.

The split teleoperation automatic respiratory tract specimen collection robot shown in fig. 1 to 6 comprises a robot body, and is characterized in that: the robot body that adopts is provided with fixed arm 1 and operating arm 2. Specifically, the fixing arm 1 includes first X-direction rails 3 distributed in pairs, and a forehead pad height adjustment mechanism 4 and a denture ring height adjustment mechanism 5 are respectively mounted on the first X-direction rails 3. Meanwhile, a forehead pad assembly 13 is arranged on the forehead pad height adjusting mechanism 4 to realize proper fixation of the head of the patient during use. In order to have a better positioning effect, a pillow plate 23 can be arranged between the first X-direction guide rails 3, so that the pillow plate 23, the forehead cushion assembly 13 and the denture ring assembly 21 can fix the robot and the head of the patient into a whole from three positions, and the robot and the head of the patient are prevented from being displaced relatively when the patient is in accidental restlessness due to coughing.

In view of the convenience of remote control or automation control, it is possible to implement a suitable "two-arm" operation in cooperation with the fixed arm 1, using an operating arm 2 comprising second X-guide rails 24 distributed in pairs, with a connecting plate 25 disposed between the second X-guide rails 24. Also, a sheath and elevation mechanism 31, a tube fixing and advancing mechanism 33, or a throat swab and a connection tube 32 are provided on the second X-direction guide rail 24. It should be noted that the flexible tube used in the present invention is a sputum suction tube or a fiberoptic bronchoscope. Thus, the lower respiratory tract can be treated by relying on the use of a hose. Certainly, pharynx swab and hose are unable used simultaneously during the in-service use, the utility model discloses the general nature of this robot is intended to improve, makes it can compatible use pharynx swab or hose, deals with the different user demands of lower respiratory tract, upper respiratory tract.

In order to acquire an image during use, facilitate remote control operation, and facilitate determination of an autonomous sampling area of a robot, the endoscope head 30 is attached to the sheath and elevating mechanism 31, and the throat swab and the connection tube 32 are attached to the tube fixing and advancing mechanism 33.

Furthermore, in consideration of matching with the increasingly mature artificial intelligence, the robot body is electrically connected with the controller 43, or the robot body is externally connected with the controller 43, and the controller 43 is internally provided with control software. Specifically, the controller 43 includes one or more of a motor driver, a computer, an AI chip, and a hand controller, and the control software includes one or more of motor motion control software, image recognition software, and calculation software.

It is noted that since the controller 43 can be placed in many places, the drawings other than fig. 1 do not show it excessively. And, although the utility model discloses mentioned control software, its existence is only for better realization artificial intelligence, not the utility model discloses the object of emphasizing the protection, the utility model discloses also can carry out remote control operation or automatic operation under the condition of exempting from artificial intelligence.

In view of the above, the preferred embodiment of the present invention provides that the forehead pad height adjusting mechanism 4 includes a first column 7 and a second column 8 respectively disposed on the first X-guide rails 3 distributed in pairs, and the first column 7 and the second column 8 are movably connected to the first X-guide rails 3 through the sliding blocks 6. Meanwhile, a first cross bar 12 is connected between the first upright post 7 and the second upright post 8, and a forehead pad assembly 13 is installed below the first cross bar 12. In order to achieve proper height adjustment and meet the head positioning requirements of different patients, a first motor 9, a first lead screw 10 and a first guide post 11 are respectively arranged in the first upright post 7 and the second upright post 8, the first motor 9 is connected with the first guide post 11 through the first lead screw 10, and the first guide post 11 is connected with a first cross rod 12. And, the forehead pad assembly 13 is connected to the first crossbar 12 by a forehead pad quick-change coupler 14. Furthermore, in view of the convenience of replacing the forehead pad assembly 13, the forehead pad quick-change connector 14 may be a connecting knob (with a locking nut lock) or a connecting buckle, which are conventional in the industry. Because there is a unified screw rod in the forehead pad upper end of different specifications, twist off when the quick change old and change new can. During this period, the correct use direction can be determined and then the locking nut is used for locking, which is not described in detail herein.

Further, in order to facilitate the opening of the mouth of the patient for limitation, the adopted denture ring height adjusting mechanism 5 comprises a third upright post 15 and a fourth upright post 16 which are respectively arranged on the first X-direction guide rails 3 which are distributed in pairs, and the third upright post 15 and the fourth upright post 16 are movably connected with the first X-direction guide rails 3 through the sliding blocks 6. A second cross bar 20 is connected between the third upright post 15 and the fourth upright post 16, and a denture ring component 21 is arranged below the second cross bar 20. Meanwhile, in order to adjust the height of the mouth of different patients, the denture ring assembly 21 is always in a better position. The utility model discloses all install second motor 17, second lead screw 18 and second guide post 19 in third stand 15, fourth stand 16. The second motor 17 is connected to a second guide post 19 through a second lead screw 18, and the second guide post 19 is connected to the first crossbar 12. And, considering the sanitary use and satisfying the easy replacement of the tray ring assembly 21, the tray ring assembly 21 is used to be connected to the second cross bar 20 through the tray ring quick-change coupler 22. Furthermore, considering the convenience of replacing the denture ring assembly 21, the denture ring quick-change connector 22 can be selected from various clamping connectors or thread limiting blocks commonly used in the industry. Because the outer diameters of the denture ring components 21 with different specifications are all provided with uniform threads, the old denture ring components are screwed off when needing to be replaced quickly, and the new denture ring components are replaced. Moreover, any component that can temporarily limit the denture ring component 21 can be used, and will not be described herein.

Meanwhile, in order to adjust and move the head position of the patient in the Y direction and ensure smooth subsequent sampling, the second X-direction guide rail 24 is movably connected with a fifth upright post 26 and a sixth upright post 27 through a slide block 6, and a Y-direction guide rail 28 is connected between the fifth upright post 26 and the sixth upright post 27 through a Y-axis rotating mechanism 29. A sheath and elevation mechanism 31 and a hose fixing and pushing mechanism 33 are mounted on the Y-direction guide rail 28. In addition, the second X-guide rail 24 and the first X-guide rail 3 can be integrally connected by the presence of the connecting plate 25, thereby improving the overall stability.

Combine the in-service use to see, in order to realize necessary independent regulation, and satisfy the precision needs of adoption, the utility model discloses a Y axle rotary mechanism 29 including Y to motor 35, Y is connected with swing arm 36 to motor 35 on, is provided with pivot 34 on the swing arm 36.

Still further, the adopted endoscope sheath and lifting mechanism 31 comprises a catheter base 37, a catheter 38 is inserted into the catheter base 37, and the catheter base 37 is further connected with a first screw motor 39 through a first connecting plate 40. Thus, displacement control of the sheath and the elevating mechanism 31 can be realized. Meanwhile, in order to meet the adjustment requirement of a hose or a throat swab to be mounted later, the hose fixing and pushing mechanism 33 comprises a second connecting plate 42, and a second screw motor 41 is arranged on the second connecting plate 42.

The working principle of the utility model is as follows:

during collection of the upper airway specimen, the patient rests his head on the pillow plate 23, facing upwards. Head positioning is achieved by virtue of forehead pad assembly 13. The denture ring assembly 21 is engaged to ensure that the mouth is open, and the sheath and elevator 31 are lowered into the mouth with the controller 43, and the motion is stopped when the pharyngeal swab can reach the pharyngeal cavity wall but the sheath and elevator 31 cannot reach the depth of the pharyngeal cavity wall. In this process, the pharyngeal swab comes into contact with the pharyngeal cavity wall first, in a nearly vertical position.

During use, if the sheath and elevator mechanism 31 are lowered too far, the pharyngeal swab and mounting tube can be lifted together. Meanwhile, the impact force of the throat swab on the pharyngeal wall tissue is extremely small, and the pharyngeal wall tissue cannot be damaged. Therefore, the requirement of the control precision of the robot is reduced, the reliable and safe sample collection is ensured, the state of gently wiping the collected sample by a similar artificial throat swab can be achieved by adjusting the position for multiple times of touch, and the collection efficiency and the collection reliability are greatly improved.

Through foretell expression of characters and combination of the attached drawing can be seen, adopt the utility model discloses afterwards, possess following advantage:

Furthermore, the indication directions or positional relationships described in the present invention are directions or positional relationships based on the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the indicated device or structure must have a specific direction or operate in a specific directional configuration, and therefore, should not be construed as limiting the present invention.

The terms "primary" and "secondary" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "primary" or "secondary" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Also, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "disposed" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art. And it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the device or component so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. Split type teleoperation automatic respiratory track sample collection robot, including the robot body, its characterized in that: the robot body is provided with a fixed arm (1) and an operating arm (2),

the fixing arm (1) comprises first X-direction guide rails (3) which are distributed in pairs, a forehead cushion height adjusting mechanism (4) and a denture ring height adjusting mechanism (5) are respectively arranged on the first X-direction guide rails (3),

a forehead pad assembly (13) is arranged on the forehead pad height adjusting mechanism (4), a pillow plate (23) is arranged between the first X-direction guide rails (3),

the operation arm (2) comprises second X-direction guide rails (24) which are distributed in pairs, a connecting plate (25) is arranged between the second X-direction guide rails (24), an endoscope sheath and lifting mechanism (31) and a hose fixing and pushing mechanism (33) or a pharynx swab and a connecting pipe (32) are arranged on the second X-direction guide rails (24), an endoscope head (30) is installed on the endoscope sheath and lifting mechanism (31), the pharynx swab and the connecting pipe (32) are installed on the hose fixing and pushing mechanism (33),

the robot is characterized in that the robot body is electrically connected with a controller (43), or the robot body is externally connected with the controller (43), and the controller (43) comprises one or more of a motor driver, a computer, an AI chip and a hand controller.

2. The split teleoperated automatic airway specimen collection robot of claim 1, wherein: the forehead pad height adjusting mechanism (4) comprises a first upright post (7) and a second upright post (8) which are respectively arranged on first X-direction guide rails (3) which are distributed in pairs, the first upright post (7) and the second upright post (8) are movably connected with the first X-direction guide rails (3) through a sliding block (6), a first cross rod (12) is connected between the first upright post (7) and the second upright post (8), a forehead pad assembly (13) is arranged below the first cross rod (12),

a first motor (9), a first lead screw (10) and a first guide post (11) are respectively arranged in the first upright post (7) and the second upright post (8), the first motor (9) is connected with the first guide post (11) through the first lead screw (10), the first guide post (11) is connected with a first cross rod (12),

the forehead pad assembly (13) is connected with the first cross rod (12) through a forehead pad quick-change connector (14).

3. The split teleoperated automatic airway specimen collection robot of claim 1, wherein: the denture ring height adjusting mechanism (5) comprises a third upright post (15) and a fourth upright post (16) which are respectively arranged on first X-direction guide rails (3) which are distributed in pairs, the third upright post (15) and the fourth upright post (16) are movably connected with the first X-direction guide rails (3) through a sliding block (6), a second cross rod (20) is connected between the third upright post (15) and the fourth upright post (16), a denture ring component (21) is arranged below the second cross rod (20),

a second motor (17), a second lead screw (18) and a second guide post (19) are respectively arranged in the third upright post (15) and the fourth upright post (16), the second motor (17) is connected with the second guide post (19) through the second lead screw (18), the second guide post (19) is connected with the first cross rod (12),

the denture ring component (21) is connected with the second cross rod (20) through a denture ring quick-change connector (22).

4. The split teleoperated automatic airway specimen collection robot of claim 1, wherein: the second X-direction guide rail (24) is movably connected with a fifth upright post (26) and a sixth upright post (27) through a sliding block (6), a Y-direction guide rail (28) is connected between the fifth upright post (26) and the sixth upright post (27) through a Y-axis rotating mechanism (29), and a sheath, a lifting mechanism (31) and a hose fixing and pushing mechanism (33) are installed on the Y-direction guide rail (28).

5. The split teleoperated automatic airway specimen collection robot of claim 4, wherein: the Y-axis rotating mechanism (29) comprises a Y-direction motor (35), a swing arm (36) is connected to the Y-direction motor (35), and a rotating shaft (34) is arranged on the swing arm (36).

6. The split teleoperated automatic airway specimen collection robot of claim 1, wherein: the endoscope sheath and lifting mechanism (31) comprises a catheter base (37), a catheter (38) is inserted and connected onto the catheter base (37), and a first screw motor (39) is connected onto the catheter base (37) through a first connecting plate (40).

7. The split teleoperated automatic airway specimen collection robot of claim 1, wherein: the hose fixing and pushing mechanism (33) comprises a second connecting plate (42), and a second screw motor (41) is arranged on the second connecting plate (42).