CN212213773U - Robot for throat sampling - Google Patents
Robot for throat sampling Download PDFInfo
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- CN212213773U CN212213773U CN202020306106.5U CN202020306106U CN212213773U CN 212213773 U CN212213773 U CN 212213773U CN 202020306106 U CN202020306106 U CN 202020306106U CN 212213773 U CN212213773 U CN 212213773U
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Abstract
The utility model belongs to the field of medical instruments and robots, in particular to a robot for throat sampling, which is suitable for remotely completing the sampling of throat biological samples under isolation conditions aiming at infectious patients; the robot comprises a throat sampling operation tool, a lifting and pitching adjusting mechanism, a movable base, a camera, a video encoder, an audio codec and a wireless node, wherein the throat sampling operation tool mainly comprises an endoscope, a sampling tool clamping mechanism, an executing mechanism, a driving mechanism and an oral cavity identification ring. The utility model can replace medical staff to collect the throat sample of the patient; under the isolation condition, the medical staff can remotely control the robot to prevent the robot from being infected; the robot ensures the safety of medical personnel, and ensures that the medical personnel can carry out careful and deep examination on patients. The utility model can avoid the infection of medical staff in infectious diseases such as SARS, Ebola, H7N9 avian influenza, new coronavirus and the like, and can play an important role.
Description
Technical Field
The utility model belongs to the field of medical instrument and robot, specifically speaking is a robot for throat sampling.
Background
The outbreak of public health events that can be caused by infectious diseases, such as SARS virus, H7N9 avian influenza virus, ebola virus, and new coronavirus, all cause infections in many people, even death, and have serious consequences to the whole society. As a common infectious disease medical detection mode, the sampling of the throat is a process that a sampling tool takes secretion from the throat and tonsil of a human body to carry out bacterial culture or virus separation, so that the illness state, oral mucosa and throat infection of a patient can be known. For some viruses causing infectious diseases and having strong infectivity and great harmfulness, the collection of the biological sample of the throat has high-risk infectivity, which can cause the infection of medical staff and cause the shortage of the medical staff, thus leading the epidemic situation to further develop. Therefore, the intelligent robot capable of being remotely controlled under the isolation condition is urgently needed to replace medical staff to carry out close-range sampling on patients. Medical personnel can effectively prevent the medical personnel from being infected by operating in a remote isolation space.
Medical personnel pass through operation panel control robot, and the nimble action of robot front end instrument emulation medical personnel wrist is sampled in the human mouth, consequently has higher design requirement to throat sampling robot, should satisfy requirements such as the miniaturization of front end instrument, lightweight, action rapidity and security.
SUMMERY OF THE UTILITY MODEL
In order to meet the requirement of throat sampling, the utility model aims to provide a robot for throat sampling.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a throat sampling operation tool and a movable base, wherein the throat sampling operation tool is arranged on the movable base or is connected with the movable base through a lifting and pitching adjusting mechanism; the throat sampling operation tool comprises a bottom plate, an endoscope, an execution mechanism, a driving mechanism, a sampling tool clamping mechanism and an oral cavity identification ring, wherein the bottom plate is used as an installation base of the throat sampling operation tool and is connected with a movable base, the oral cavity identification ring is installed at the far end of the bottom plate, the sampling tool clamping mechanism is connected with the far end of the execution mechanism, the near end of the execution mechanism is connected with the driving mechanism, and the sampling tool clamping mechanism is driven by the execution mechanism through the driving of the driving mechanism to realize the freedom degrees of left-right bending and up-down bending; the driving mechanism is arranged on the bottom plate or is connected with the driving mechanism linear motion driving mechanism arranged on the bottom plate, and is driven by the driving mechanism linear motion driving mechanism to realize the front-back motion, so that the freedom degree of the front-back motion of the sampling tool clamping mechanism is realized; the endoscope is arranged on the driving mechanism or is connected with the endoscope linear motion driving mechanism arranged on the bottom plate, and is driven by the endoscope linear motion driving mechanism to realize the front-back motion.
Wherein: the actuating mechanism comprises a snake bone, a driving tendon, an instrument main body bracket, a push-pull sliding block and a gland, the instrument main body bracket is arranged on the driving mechanism, the gland is arranged on the instrument main body bracket, and the push-pull sliding block which can move back and forth relatively is accommodated between the gland and the instrument main body bracket; the near end of the snake bone is connected with the far end of the instrument main body bracket, and the far end of the snake bone is connected with the push-pull sliding block through a driving tendon; the two push-pull sliding blocks in each group are respectively connected with the far end of the snake bone through the driving tendon, and the two push-pull sliding blocks in each group synchronously move in the opposite direction through the driving of the driving mechanism; the sampling tool clamping mechanism is connected to the far end of the snake bone.
The pressing cover is provided with a sliding groove for the push-pull sliding block to move back and forth, one side of the push-pull sliding block is provided with a protruding part, the protruding part extends out of the sliding groove and is connected with the driving mechanism, and the other side of the push-pull sliding block is accommodated between the pressing cover and the instrument main body support.
The push-pull sliding block is provided with a through hole along the length direction, and two ends of the through hole are respectively in threaded connection with a jackscrew; the far end of the driving tendon is connected with the far end of the snake bone, the near end of the driving tendon is penetrated by the apical thread which is arranged in the push-pull slider and is forward, and the near end of the driving tendon is provided with a round head which is clamped between the two apical threads.
The driving mechanism comprises a motor A, a driving transmission mechanism, a driving mechanism sliding block, a driving mechanism screw rod nut and a first bracket, the first bracket is arranged on the bottom plate or is connected with the driving mechanism for linear motion, two groups of driving mechanism lead screws which are respectively bent left and right and up and down corresponding to the sampling tool clamping mechanism are rotatably arranged on the first bracket, the rotating directions of the two driving mechanism lead screws in each group are opposite, the two driving mechanism lead screws in each group are respectively connected with driving mechanism sliding blocks used for being connected with an actuating mechanism through driving mechanism lead screw nuts, the two driving mechanism sliding blocks in each group synchronously move in opposite directions through the driving of the same motor A, and then the connected actuating mechanism drives the sampling tool clamping mechanism to realize two degrees of freedom of left-right bending or up-down bending.
The driving transmission mechanism comprises a gear A, a gear B and a gear C, the gear B and the gear C are respectively connected with the same ends of the screw rods of the two driving mechanisms in one group, and the gear A is arranged on an output shaft of a motor A driving the group, is positioned between the gear B and the gear C and is respectively in external meshing transmission with the gear B and the gear C.
The first support is of a frame structure, a group of driving mechanism screw rods are rotatably arranged on the upper side and the lower side of the first support respectively, the actuating mechanism is arranged in the first support, and an opening for the actuating mechanism to extend out is formed in one side, facing a patient, of the first support; and a driving mechanism screw nut in threaded connection with a driving mechanism screw is arranged inside the upper end of the driving mechanism sliding block, and the lower end of the driving mechanism sliding block is provided with a groove A connected with the actuating mechanism.
The linear motion driving mechanism of the driving mechanism comprises a motor B, a linear motion lead screw A, a linear motion lead screw nut A, a gasket, a load-carrying sliding block and a guide rail, wherein the motor B is arranged on the bottom plate, an output shaft is connected with the linear motion lead screw A which is rotatably arranged on the bottom plate, and the linear motion lead screw nut A is in threaded connection with the linear motion lead screw A; the gasket is connected with the linear motion screw nut A, a load slider which is in sliding connection with a guide rail arranged on the bottom plate is arranged on the lower surface of the gasket, and the driving mechanism is arranged on the upper surface of the gasket.
The endoscope linear motion driving mechanism comprises a motor C, a linear motion lead screw B and a linear motion lead screw nut B, the motor C is installed on the bottom plate or fixed on the gasket, the linear motion lead screw B is rotatably installed on the bottom plate or rotatably installed on the gasket, the linear motion lead screw B is in threaded connection with the linear motion lead screw nut B, and the near end of the endoscope is connected with the linear motion lead screw nut B.
The sampling tool clamping mechanism comprises a touch throat working tool and a tongue pressing working tool, the touch throat working tool is driven by an independent driving mechanism to drive an actuating mechanism to drive the operating mechanism to bend left and right or up and down, the tongue pressing working tool is driven by an independent driving mechanism to drive the actuating mechanism to bend left and right or up and down, and the touch throat working tool and the tongue pressing working tool move back and forth through a driving mechanism linear motion driving mechanism.
The operating tool for touching the throat comprises a sensor frame, a force/torque sensor, a spring, a rubber sleeve and a touching tool, wherein the near end of the sensor frame is connected with the far end of the actuating mechanism, the spring and the rubber sleeve which can move relative to the sensor frame are accommodated in the far end of the sensor frame, the far end of the rubber sleeve is connected with the touching tool, the spring is arranged between the near end of the rubber sleeve and the force/torque sensor arranged on the sensor frame, and the two ends of the spring are respectively connected with the near end of the rubber sleeve and the force/torque sensor.
The tongue depressing operation tool comprises a sensor frame, a rocker, a baffle, a force/torque sensor and a tongue depressing tool, wherein the near end of the sensor frame is connected with the far end of the actuating mechanism, the far end of the sensor frame is hinged with the rocker, the far end of the rocker is connected with the tongue depressing tool in an inserting mode, and the near end of the rocker is connected with the force/torque sensor arranged on the sensor frame in an abutting mode.
The oral cavity identification ring is an O-shaped ring, and a plurality of bulges used for fixing the mouth shape of the patient are uniformly distributed on the end surface of the oral cavity identification ring facing the patient along the circumferential direction; the far end of the bottom plate is provided with a second support, and the second support is provided with a groove B for the insertion of the oral cavity identification ring.
The bottom plate is provided with an upright post and a wireless node, the top end of the upright post is connected with a camera with two degrees of freedom of rotation and pitching, and the camera is used for watching the face condition and the panoramic condition of a patient; the mobile base is characterized in that wheels are installed at the bottom of the mobile base, a video encoder, an audio codec, a computer, a driver and a battery are respectively arranged in the mobile base, the video encoder, the audio codec, the driver, a wireless node and a camera are respectively connected with the computer, the computer is connected with the battery, the endoscope is connected with the video encoder, and motors in the driving mechanism, the driving mechanism linear motion driving mechanism and the endoscope linear motion driving mechanism are respectively connected with the driver.
The utility model discloses an advantage does with positive effect:
the utility model discloses can replace medical personnel, simulation medical personnel's arm, wrist and eyes carry out oral cavity sample collection to the disease. Under the isolation condition, the medical staff can remotely control the robot to prevent the robot from being infected; the utility model ensures the safety of medical staff, and ensures that the medical staff can carry out deep inspection on patients; the detachable oral cavity identification ring on the device can effectively position the patient, and the stability of the sampling process is ensured.
Drawings
Fig. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the throat sampling tool of the present invention;
FIG. 3 is a schematic structural view of the actuator of FIG. 2;
FIG. 4 is a schematic view of the connection structure of the driving tendon and the push-pull slider in FIG. 3;
FIG. 5 is a schematic view of the drive mechanism of FIG. 2;
FIG. 6 is a schematic view of the drive transmission mechanism of FIG. 5;
fig. 7 is a schematic structural view of the linear motion driving mechanism of the present invention;
FIG. 8 is a schematic structural view of a linear motion driving mechanism of an endoscope according to the present invention
Fig. 9 is a schematic structural view of the driving mechanism of the present invention being connected to the actuator;
fig. 10 is a schematic structural view of the clamping mechanism of the throat contact working tool of the present invention;
fig. 11 is a schematic structural view of the tongue depressing operation tool clamping mechanism of the present invention;
fig. 12 is a schematic structural view of the oral cavity identification ring of the present invention;
fig. 13 is a schematic structural view of the lift and pitch adjustment mechanism of the present invention;
fig. 14 is a schematic view of the internal structure of the movable base of the present invention;
wherein: 1 is a throat sampling operation tool, 2 is a lifting and pitching adjusting mechanism, 3 is a movable base, 4 is an endoscope, 5 is an actuating mechanism, 6 is a driving mechanism, 7 is a sampling tool clamping mechanism, 8 is an oral cavity identification ring, 9 is a camera, 10 is a wireless node, 11 is a snake bone, 12 is a driving tendon, 13 is a wire limiting sleeve, 14 is an instrument main body support, 15 is a push-pull sliding block, 16 is a gland, 17 is a jackscrew, 18 is a motor A, 19 is a motor mounting plate, 20 is a driving transmission mechanism, 21 is a driving mechanism sliding block, 22 is a driving mechanism screw rod, 23 is a first support, 24 is a screw nut, 25 is a gear A, 26 is a gear B, 27 is a gear C, 28 is a gasket, 29 is a load sliding block, 30 is a sensor frame, 31 is a force/torque sensor, 32 is a spring, 33 is a rubber sleeve, 34 is a wane, 35 is a baffle plate, and 36 is an inner upright column, 37 is a middle upright post, 38 is an outer upright post, 39 is a video encoder, 40 is an audio codec, 41 is a computer, 42 is a driver, 43 is a battery, 44 is a wheel, 45 is a handrail, 46 is a tendon running tube, 47 is a sliding groove, 48 is a round head, 49 is a linear motion lead screw a, 50 is a linear motion lead screw nut a, 51 is a bottom plate, 52 is a guide rail, 53 is a motor B, 54 is a motor C, 55 is a linear motion lead screw B, 56 is a linear motion lead screw nut B, 57 is a connecting groove, 58 is a pin shaft, 59 is a second bracket, 60 is a protrusion, 61 is an upright post, and 62 is a groove a.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the utility model comprises a throat sampling operation tool 1 and a movable base 3, wherein the throat sampling operation tool 1 is mounted on the movable base 3 or is connected with the movable base 3 through a lifting and pitching adjusting mechanism 2; the throat sampling operation tool 1 of the embodiment is connected with the movable base 3 through the lifting and pitching adjusting mechanism 2, and the height and the pitching angle of the throat sampling operation tool 1 can be adjusted through the lifting and pitching adjusting mechanism 2.
As shown in fig. 1 and fig. 2, the laryngeal sampling operation tool 1 includes a bottom plate 51, an endoscope 4, an actuator 5, a driving mechanism 6, a sampling tool holding mechanism 7, a mouth cavity identification ring 8, a camera 9 and a wireless node 10, wherein the bottom plate 51 is directly connected with the movable base 3 as a mounting base of the laryngeal sampling operation tool 1, or is connected with the movable base 3 through a lifting and pitching adjustment mechanism 2 in this embodiment; the oral cavity identification ring 8 is arranged at the far end of the bottom plate 51, the sampling tool clamping mechanism 7 is connected with the far end of the actuating mechanism 5, the near end of the actuating mechanism 5 is connected with the driving mechanism 6, and the actuating mechanism 5 drives the sampling tool clamping mechanism 7 to realize the freedom degrees of left-right bending and up-down bending through the driving of the driving mechanism 6. The driving mechanism 6 is arranged on the bottom plate 51, or is connected with a driving mechanism linear motion driving mechanism arranged on the bottom plate 51 and is driven by the driving mechanism linear motion driving mechanism to realize the front-back motion, so that the freedom degree of the front-back motion of the sampling tool clamping mechanism 7 is realized; the drive mechanism 6 of the present embodiment is connected to a drive mechanism linear motion drive mechanism mounted on the base plate 51. The endoscope 4 is arranged on the driving mechanism 6 and is linked with the driving mechanism 6, or is connected with an endoscope linear motion driving mechanism arranged on the bottom plate 51 and is independently driven by the endoscope linear motion driving mechanism to realize the front-back motion; the endoscope 4 of the present embodiment is connected to an endoscope linear motion driving mechanism mounted on the base plate 51, and has a degree of freedom of forward and backward movement for observing the inside of the mouth of a patient. The base plate 51 is provided with a vertical column 61 and a wireless node 10 at a position close to the near end, the top end of the vertical column 61 is connected with a camera 9 with two degrees of freedom of pitching and rotating around the vertical column 61, and the camera 9 is used for watching and shooting the face condition of a patient and watching and monitoring the panoramic environment condition. The wireless node 10 of this embodiment is a conventional wireless node, and may be a wireless signal receiver, which can implement wireless signal transmission at the master and slave ends.
As shown in fig. 2 and 3, the actuator includes a snake bone 11, a driving tendon 12, a wire-limiting sleeve 13, an instrument main body support 14, a push-pull slider 15 and a gland 16, the instrument main body support 14 is mounted on the driving mechanism 6, the instrument main body support 14 is provided with the gland 16, and the push-pull slider 15 capable of moving back and forth relatively is accommodated between the gland 16 and the instrument main body support 14; the proximal end of the snake bone 11 is connected with the distal end of the instrument body bracket 14, and the distal end of the snake bone 11 is connected with the push-pull slide block 15 through the driving tendon 12; the push-pull sliding blocks 15 are divided into two groups for executing left-right bending of the snake bone 11 and up-down bending of the snake bone 11, the two push-pull sliding blocks 15 in each group are respectively connected with the far end of the snake bone 11 through the driving tendons 12, and the two push-pull sliding blocks 15 in each group synchronously and reversely move through the driving of the driving mechanism 6; the sampling tool holding mechanism 7 is attached to the distal end of the snake bone 11. The snake bone 11 of the present embodiment is a conventional one, and may be a redundant continuum mechanism or a universal joint two-degree-of-freedom mechanism.
The two actuators 5 of the present embodiment have the same structure, and correspond to the throat contact working tool and the tongue depressing working tool of the sampling tool holding mechanism 7, respectively. Taking a set of actuators 5 as an example, two glands 6 are respectively installed on the upper and lower surfaces of the instrument body support 14, and a space is reserved between each gland 6 and the instrument body support 14. Each gland 6 is provided with two sliding chutes 47 for the push-pull sliding blocks 15 to move back and forth side by side, each set of actuating mechanism 5 is provided with four push-pull sliding blocks 15 and four driving tendons 12, and the four push-pull sliding blocks 15 respectively correspond to the left bending direction, the right bending direction, the upper bending direction and the lower bending direction of the snake bone 11; two push-pull sliders 15 corresponding to the left-right bending direction are positioned between one gland 6 and the instrument main body bracket 14, and two push-pull sliders 15 corresponding to the up-down bending direction are positioned between the other gland 6 and the instrument main body bracket 14. Four wire limiting sleeves 13 are fixedly connected to the instrument main body support 14 and correspond to the four driving tendons 12 one by one, a tendon running pipe 46 is arranged on one surface, facing a patient, of the instrument main body support 14, the near end of the snake bone 11 is connected to the far end of the instrument main body support 14 (namely, the tendon running pipe 46), the four push-pull sliders 15 are respectively connected with one driving tendon 12, the near end of each driving tendon 12 is connected with the push-pull slider 15, the far end of each driving tendon 12 penetrates out of the corresponding wire limiting sleeve 13 and then penetrates into the tendon running pipe 46, and finally the driving tendons are led into the snake bone 11 and connected to the left, right, upper and lower positions of the far end of the snake bone 11.
As shown in fig. 3 and 4, one side of the push-pull slider 15 of the present embodiment is provided with a protrusion, the protrusion extends from a sliding slot 47 formed on the pressing cover 16 and is connected to the driving mechanism 6, the other side of the push-pull slider 15 is accommodated between the pressing cover 16 and the instrument body support 14, the push-pull slider 15 is pressed on the instrument body support 14 by the pressing cover 6, and can move back and forth in the sliding slot 47 by the driving mechanism 6, so as to push and pull the driving tendon 12 and drive the snake bone 11 to bend. The push-pull slide block 15 is provided with a through hole along the length direction, and two ends of the through hole are respectively in threaded connection with a jackscrew 17; the distal end of the driving tendon 12 is connected with the distal end of the snake bone 11, the proximal end of the driving tendon 12 is penetrated by the apical thread 17 which is arranged at the front inside the push-pull slider 15, the proximal end of the driving tendon 12 is provided with a round head 48, and the round head 48 is clamped between the two apical threads 17.
The left and right bending degrees of freedom and the up and down bending degrees of freedom of the snake bone 11 are achieved by respectively pushing and pulling the two driving tendons 12, so that the two push-pull sliders 15 for performing the left and right bending degrees of freedom of the snake bone 11 move in opposite directions, and the two push-pull sliders 15 for performing the up and down bending degrees of freedom of the snake bone 11 move in opposite directions.
As shown in fig. 2 to 6 and 9, the driving mechanism 6 includes a motor a18, a driving transmission mechanism 20, a driving mechanism slider 21, a driving mechanism lead screw 22, a driving mechanism lead screw nut and a first bracket 23, the first bracket 23 is mounted on the bottom plate 51 or connected with the driving mechanism linear motion driving mechanism, two sets of driving mechanism lead screws 22 respectively corresponding to the left-right bending and the up-down bending of the sampling tool clamping mechanism 7 are rotatably mounted on the first bracket 23, the two driving mechanism lead screws 22 in each set are opposite in rotation direction and are driven synchronously by the same motor a18 mounted on the first bracket 23 through the driving transmission mechanism 20, the two driving mechanism lead screws 22 in each set are respectively connected with the driving mechanism slider 21 used for connecting with the executing mechanism 5 through the driving mechanism lead screw nut, the two driving mechanism sliders 21 in each set are driven synchronously and reversely by the same motor a18, and then the connected actuating mechanism 5 drives the sampling tool clamping mechanism 7 to realize two degrees of freedom of left-right bending or up-down bending.
The driving mechanisms 6 of the present embodiment are two sets with the same structure, and are respectively used for driving a throat touching operation tool and a tongue depressing operation tool of the sampling tool clamping mechanism 7, and each set of the actuating mechanism 5 is independently driven by one set of the driving mechanism 6. The two sets of driving mechanisms 6 are connected with the driving mechanism linear motion driving mechanism, so that the sampling tool clamping mechanism 7 has the freedom degree of forward and backward motion of the throat contact operation tool and the tongue pressing operation tool. Taking a set of driving mechanism as an example, the first support 23 is a frame structure, and an opening for the actuator 5 to extend out is provided on the side facing the patient, the instrument body support 14, the gland 16 and the push-pull slider 15 in the actuator 5 are accommodated in the first support 23, and the wire-limiting sleeve 13 and the tendon-moving sleeve 46 extend out from the opening on the first support 23. The number of the motors A18 is two, the two motors A18 are respectively arranged on the motor mounting plate 19, the motor mounting plate 19 is fixedly connected with the first bracket 23, and the two motors A18 are arranged up and down; a group of driving mechanism lead screws 22 are respectively rotatably installed on the upper side and the lower side in the first support 23, the two driving mechanism lead screws 22 in one group are arranged in parallel at equal height and have opposite rotating directions, each driving mechanism lead screw 22 is provided with a driving mechanism slide block 21 capable of moving back and forth, a driving mechanism lead screw nut in threaded connection with the driving mechanism lead screw 22 is installed in the upper end of the driving mechanism slide block 21, and the lower end of the driving mechanism slide block 21 is a rectangular groove A62; two driving mechanism sliding blocks 21 connected to a group of driving mechanism lead screws 22 are synchronously driven by a motor A18, and the moving directions are opposite. The convex part on the push-pull slide block 15 in the actuating mechanism 5 is clamped in the groove A62, so that the actuating mechanism 5 is connected with the driving mechanism 6. The two driving mechanism sliding blocks 21 on the upper side are clamped with the protruding parts on the two push-pull sliding blocks 15 in the executing mechanism 5, the two driving mechanism sliding blocks 21 on the lower side are clamped with the protruding parts on the other two push-pull sliding blocks 15 in the executing mechanism 5, so that the push-pull sliding blocks 15 in the executing mechanism 5 can be driven to move back and forth through the back and forth movement of the driving mechanism sliding blocks 21, and the drive tendons 12 are pushed and pulled to realize two degrees of freedom of left and right bending and up and down bending of the snake bone 11. The driving transmission mechanism 20 of the present embodiment is a gear set, and includes a gear a25, a gear B26, and a gear C27, where the gear B26 and the gear C27 are respectively connected to the same end of the two driving mechanism screws 22 in a group, the inner hole of the gear a25 is mounted on the output shaft of the motor a18 that drives the group, and is located between the gear B26 and the gear C27, and is respectively in external meshing transmission with the gear B26 and the gear C27, so that the gear B26 and the gear C27 that are externally meshed with the gear a25 rotate synchronously in the same direction, the gear B26 and the gear C27 are respectively connected to the two driving mechanism screws 22 in a group with opposite rotation directions, and transmit power to the driving mechanism sliders 21 on the driving mechanism screws 22, and make the rotation motion of the gears be synchronous reverse linear motion of the two driving mechanism sliders 21 in a group.
As shown in fig. 2 and 7, the linear motion driving mechanism of the present embodiment includes a motor B53, a linear motion lead screw a49, a linear motion lead screw nut a50, a washer 28, a load-carrying slider 29, and a guide rail 52, wherein the motor B53 is fixed on the bottom plate 51 through a motor mounting bracket, an output shaft is connected with a linear motion lead screw a49 rotatably mounted on the bottom plate 51, and a linear motion lead screw nut a50 is threadedly connected to a linear motion lead screw a 49; in this embodiment, two motors B53, two linear motion lead screws a49 and two linear motion lead screw nuts a50 are provided, and the two linear motion lead screws a49 are parallel and have the same rotation direction, and are symmetrically disposed on two sides of the two sets of actuators 5 and the two sets of driving mechanisms 6. Two ends of the gasket 28 are respectively connected with linear motion lead screw nuts A50 on two sides, and the lower surface of the gasket 28 is provided with a load sliding block 29; the base plate 51 is provided with a guide rail 52, and the load slider 29 is slidably connected to the guide rail 52. The first supports 23 of the two sets of driving mechanisms 6 are symmetrically arranged on the upper surface of the gasket 28, the endoscope 4 is positioned in the middle of the two sets of driving mechanisms 6, and the camera 9 and the upright post 61 are positioned in the middle of the rear part of the two sets of driving mechanisms 6. The two motors B53 work synchronously to respectively drive the linear motion lead screw A49 to rotate, the linear motion lead screw nut A50 moves back and forth through a screw pair formed by the linear motion lead screw nut A50, and then the two sets of driving mechanisms 6, the two sets of executing mechanisms 5 and the sampling tool clamping mechanism 7 are driven by the gasket 28 to move back and forth.
As shown in fig. 2 and 8, the endoscope linear motion driving mechanism of the present embodiment includes a motor C54, a linear motion lead screw B55, and a linear motion lead screw nut B56, the motor C54 is mounted on the bottom plate 51 (or fixed to the spacer 28), the linear motion lead screw B55 is rotatably mounted on the bottom plate 51 (or rotatably mounted on the spacer 28), a linear motion lead screw nut B56 is screwed to the linear motion lead screw B55, the proximal end of the endoscope 4 is connected to the linear motion lead screw nut B56, and the motor C54 drives the linear motion lead screw B55 to rotate so as to drive the endoscope 4 to move linearly.
The sampling tool clamping mechanism 7 comprises a touch throat working tool and a tongue pressing working tool, the touch throat working tool is driven by an actuating mechanism 5 to be driven by one independent driving mechanism 6 to bend left and right or up and down, the tongue pressing working tool is driven by another independent driving mechanism 6 to be driven by the actuating mechanism 5 to bend left and right or up and down, and the touch throat working tool and the tongue pressing working tool move back and forth through a driving mechanism linear motion driving mechanism.
As shown in fig. 2 and 10, the tool for operating a touch throat according to the present embodiment includes a sensor holder 30, a force/moment sensor 31, a spring 32, a rubber sleeve 33 and a touch tool, wherein a proximal end of the sensor holder 30 is connected to a snake 11 at a distal end of an actuator 5, the spring 32 and the rubber sleeve 33 are accommodated in a distal end of the sensor holder 30 and are movable relative to the sensor holder 30, a distal end of the rubber sleeve 33 is connected to the touch tool, the spring 32 is disposed between a proximal end of the rubber sleeve 33 and the force/moment sensor 31 mounted on the sensor holder 30, and both ends of the spring 32 are respectively connected to a proximal end of the rubber sleeve 33 and the force/moment sensor 31. The force/torque sensor 31 of the present embodiment is a prior art, and may be a six-dimensional force sensor. The far end of the rubber sleeve 33 is provided with a connecting hole which can be connected with a touch tool; the touching tool of this embodiment can be rod-shaped operation instrument (like the pharynx swab), the connecting hole of the distal end of rubber sleeve 33 can entangle rod-shaped operation instrument's stock, the near-end of rubber sleeve 33 is connected with the one end of spring 32, the other end of spring 32 is connected with power/torque sensor 31 again, make the touching power of touching throat operation instrument and throat portion can pass to power/torque sensor 31, spring 32 and rubber sleeve 33 can make the operation instrument of touching throat have mobilizable space simultaneously, play the effect of buffer protection, guarantee the security of operation.
As shown in fig. 2 and 11, the tongue depressing tool of the present embodiment includes a sensor frame 30, a rocker 34, a baffle 35, a force/torque sensor 31 and a tongue depressing tool, wherein a proximal end of the sensor frame 30 is connected to a snake bone 11 at a distal end of another set of actuator 5, a distal end of the sensor frame 30 is hinged to the rocker 34 by a pin 58, a distal end of the rocker 34 is provided with a connecting groove 57 with a rectangular groove, and is inserted into the tongue depressing tool by friction or interference fit to clamp the tongue depressing tool, a proximal end of the rocker 34 abuts against the force/torque sensor 31 mounted on the sensor frame 30, so that a positive force applied by a tongue to the tongue depressing tool can be transmitted to the force/torque sensor 31 by a torque to perform force feedback control. The tongue depressor of the present embodiment may be a plate-shaped working tool, such as a tongue depressor.
As shown in fig. 2 and 12, the mouth mark ring 8 of the present embodiment is an O-ring, and a plurality of (four in the present embodiment) protrusions 60 are uniformly distributed along a circumferential direction on an end surface of the mouth mark ring 8 facing to the patient for fixing the mouth shape of the patient. The far end of the bottom plate 51 is provided with a second bracket 59, the second bracket 59 is provided with a groove B, and the oral cavity identification ring 8 can be inserted into the groove B arranged on the second bracket 59 extended from the bottom plate 51, so that the disassembly and replacement are convenient.
As shown in fig. 1 and 13, the lift and pitch adjusting mechanism 2 of the present embodiment includes three relatively telescopic columns, namely an inner column 36, a middle column 37 and an outer column 38; the upper end of the inner upright post 36 is connected with the throat sampling tool 1, the lower end of the outer upright post 38 is connected with the movable base 3, and the height can be adjusted in a lifting mode and the pitching posture of the throat sampling tool 1 can be adjusted.
As shown in fig. 1, 2 and 14, the four corners of the bottom of the movable base 3 of the present embodiment are respectively provided with wheels 44, and the rear part is provided with handrails 45, which can be pushed by human hands; a video encoder 39, an audio codec 40, a computer 41, a driver 42 and a battery 43 are respectively arranged inside the movable base 3, the video encoder 39, the audio codec 40, the driver 42, the wireless node 10 and the camera 9 are respectively connected with the computer 41, force/moment sensors 31 in a throat touching operation tool and a tongue depressing operation tool are also respectively connected with the computer 41, the computer 41 is connected with the battery 43, the endoscope 4 is connected with the video encoder 39, and the audio codec 40 can be connected with a microphone/sound. The motor a18 in the drive mechanism 6, the motor B53 in the drive mechanism linear motion drive mechanism, and the motor C54 in the endoscope linear motion drive mechanism are connected to the driver 42, respectively. The utility model discloses a force/torque sensor 31 among video encoder 39, audio codec 40, driver 42, wireless node 10 and touching throat operation instrument and the tongue depressing operation instrument is prior art.
The utility model discloses a theory of operation does:
the human hand pushes the robot to the ward where the patient is. Under the isolation condition, medical personnel can carry out the sampling of laryngopharynx portion to the disease through remote control. The medical staff can watch and monitor all the environments in the ward through the camera 9 and transmit the sound of the medical staff to the patient through the wireless node 10, the computer 41 and the audio codec 40; similarly, the patient's voice is also fed back to the medical staff through the audio codec 40, the computer 41 and the wireless node 10. The patient bites the oral cavity identification ring 8 under the guidance of medical care personnel, the far ends of the snake bones 11 on the two sets of actuating mechanisms 5 respectively clamp and touch the throat operation tool and the tongue pressing operation tool, and under the driving of the driving mechanism 6, the patient can bend and move back and forth in two orthogonal directions (namely, the left and right directions and the up and down directions), so that the wrist of the medical care personnel is simulated to collect the throat sample of the patient. The endoscope 4 is used for observing the inside of the patient's mouth, and has one degree of freedom of forward and backward movement.
Medical personnel transmit instructions to the computer 41 through the wireless node 10, the computer 41 controls a motor A18 in each set of driving mechanism 6 to work through a driver 42, a set of two driving mechanism lead screws 22 are driven to synchronously and reversely rotate through the driving transmission mechanism 20, two driving mechanism sliding blocks 21 on two driving mechanism bars 22 synchronously and reversely move through a screw pair formed by the driving mechanism lead screw nuts, and then a set of two push-pull sliding blocks 15 in the executing mechanism 5 are driven to synchronously and reversely move, and two connected driving tendons 12 are pushed and pulled; the two push-pull sliders 15 of each group are respectively connected with the far ends of the snake bones 11 through the two driving tendons 12, so that the snake bones 11 are bent left and right or up and down, samples are collected by simulating wrists of medical workers, the tongues of patients are pressed down through the tongue pressing operation tool, and sampling is performed through the throat touching operation tool. The endoscope 4 can observe the conditions inside the patient's mouth, and the force/moment sensor 31 can perform force feedback.
If the front and back positions of the driving mechanism 6 and the actuator 5 need to be adjusted, the medical staff can transmit instructions to the computer 41 through the wireless node 10, the computer 41 controls the motor B53 in the linear motion driving mechanism of the driving mechanism to work through the driver 42, and the gasket 28 drives the driving mechanism 6 and the actuator 5 to move back and forth along the guide rail 52 through the screw pair formed between the linear motion lead screw A49 and the linear motion lead screw nut A50. The endoscope 4 can also be driven by the motor C54 to move back and forth.
The utility model discloses can be under the isolation condition, medical personnel can carry out the sampling of throat to the disease through remote control to satisfy requirements such as flexible operation, the quick safety of action, be used for assisting medical personnel to carry out the sampling operation of throat, in case infected, guaranteed medical personnel's safety, make it relieved carry out the degree of depth inspection to the disease.
Claims (14)
1. A robot for throat sampling, characterized by: the throat sampling device comprises a throat sampling operation tool (1) and a movable base (3), wherein the throat sampling operation tool (1) is arranged on the movable base (3) or is connected with the movable base (3) through a lifting and pitching adjusting mechanism (2); the throat sampling operation tool (1) comprises a bottom plate (51), an endoscope (4), an executing mechanism (5), a driving mechanism (6), a sampling tool clamping mechanism (7) and an oral cavity identification ring (8), wherein the bottom plate (51) is used as an installation base of the throat sampling operation tool (1) and connected with the movable base (3), the oral cavity identification ring (8) is installed at the far end of the bottom plate (51), the sampling tool clamping mechanism (7) is connected with the far end of the executing mechanism (5), the near end of the executing mechanism (5) is connected to the driving mechanism (6), and the sampling tool clamping mechanism (7) is driven by the executing mechanism (5) through the driving of the driving mechanism (6) to realize the freedom degrees of left-right bending and up-down bending; the driving mechanism (6) is arranged on the bottom plate (51) or is connected with the driving mechanism linear motion driving mechanism arranged on the bottom plate (51) and is driven by the driving mechanism linear motion driving mechanism to realize front-back motion, so that the freedom degree of the front-back motion of the sampling tool clamping mechanism (7) is realized; the endoscope (4) is arranged on the driving mechanism (6) or is connected with an endoscope linear motion driving mechanism arranged on the bottom plate (51), and is driven by the endoscope linear motion driving mechanism to realize front-back motion.
2. The robot for throat sampling according to claim 1, wherein: the actuating mechanism comprises a snake bone (11), a driving tendon (12), an instrument main body support (14), a push-pull sliding block (15) and a gland (16), the instrument main body support (14) is installed on the driving mechanism (6), the gland (16) is arranged on the instrument main body support (14), and the push-pull sliding block (15) capable of moving back and forth relatively is accommodated between the gland (16) and the instrument main body support (14); the proximal end of the snake bone (11) is connected with the distal end of an instrument main body bracket (14), and the distal end of the snake bone (11) is connected with a push-pull slide block (15) through a driving tendon (12); the push-pull sliding blocks (15) are divided into two groups for performing left-right bending of the snake bone (11) and performing up-down bending of the snake bone (11), the two push-pull sliding blocks (15) in each group are respectively connected with the far end of the snake bone (11) through the driving tendons (12), and the two push-pull sliding blocks (15) in each group synchronously and reversely move through the driving of the driving mechanism (6); the sampling tool clamping mechanism (7) is connected to the far end of the snake bone (11).
3. A robot for throat sampling according to claim 2, wherein: the pressing cover (16) is provided with a sliding groove (47) for the push-pull sliding block (15) to move back and forth, one side of the push-pull sliding block (15) is provided with a protruding part, the protruding part extends out of the sliding groove (47) and is connected with the driving mechanism (6), and the other side of the push-pull sliding block (15) is accommodated between the pressing cover (16) and the instrument main body support (14).
4. A robot for throat sampling according to claim 2, wherein: the push-pull sliding block (15) is provided with a through hole along the length direction, and two ends of the through hole are respectively in threaded connection with a jackscrew (17); the far end of the driving tendon (12) is connected with the far end of the snake bone (11), the near end of the driving tendon (12) is penetrated by the apical thread (17) which is arranged in the push-pull slider (15) and is forward, the near end of the driving tendon (12) is provided with a round head (48), and the round head (48) is clamped between the two apical threads (17).
5. The robot for throat sampling according to claim 1, wherein: the driving mechanism (6) comprises a motor A (18), a driving transmission mechanism (20), a driving mechanism sliding block (21), a driving mechanism lead screw (22), a driving mechanism lead screw nut and a first bracket (23), the first bracket (23) is arranged on a bottom plate (51) or is connected with the driving mechanism linear motion driving mechanism, two groups of driving mechanism lead screws (22) which are respectively bent left and right and bent up and down corresponding to the sampling tool clamping mechanism (7) are rotatably arranged on the first bracket (23), the rotating directions of the two driving mechanism lead screws (22) in each group are opposite, the two driving mechanism lead screws (22) in each group are synchronously driven by the same motor A (18) arranged on the first bracket (23) through the driving transmission mechanism (20), and the two driving mechanism lead screws (22) in each group are respectively connected with the driving mechanism sliding block (21) used for being connected with the executing mechanism (5) through the driving mechanism lead screw nut, the two driving mechanism sliding blocks (21) in each group synchronously and reversely move through the driving of the same motor A (18), and then the sampling tool clamping mechanism (7) is driven by the connected executing mechanism (5) to realize left-right bending or up-down bending with two degrees of freedom.
6. A robot for throat sampling according to claim 5, wherein: the driving transmission mechanism (20) comprises a gear A (25), a gear B (26) and a gear C (27), the gear B (26) and the gear C (27) are respectively connected with the same ends of the screw rods (22) of the two driving mechanisms in one group, the gear A (25) is installed on an output shaft of a motor A (18) for driving the group, is located between the gear B (26) and the gear C (27), and is respectively in external meshing transmission with the gear B (26) and the gear C (27).
7. A robot for throat sampling according to claim 5, wherein: the first support (23) is of a frame structure, a group of driving mechanism screw rods (22) are rotatably mounted on the upper side and the lower side of the first support respectively, the actuating mechanism (5) is mounted inside the first support (23), and an opening for the actuating mechanism (5) to extend out is formed in one side, facing a patient, of the first support (23); and a driving mechanism screw nut in threaded connection with a driving mechanism screw (22) is installed inside the upper end of the driving mechanism sliding block (21), and the lower end of the driving mechanism sliding block (21) is provided with a groove A (62) connected with the actuating mechanism (5).
8. The robot for throat sampling according to claim 1, wherein: the linear motion driving mechanism of the driving mechanism comprises a motor B (53), a linear motion lead screw A (49), a linear motion lead screw nut A (50), a gasket (28), a load-carrying sliding block (29) and a guide rail (52), wherein the motor B (53) is arranged on a bottom plate (51), an output shaft is connected with the linear motion lead screw A (49) rotatably arranged on the bottom plate (51), and the linear motion lead screw nut A (50) is in threaded connection with the linear motion lead screw A (49); the gasket (28) is connected with a linear motion screw nut A (50), a load slider (29) which is slidably connected with a guide rail (52) arranged on the bottom plate (51) is arranged on the lower surface of the gasket (28), and the driving mechanism (6) is arranged on the upper surface of the gasket (28).
9. A robot for throat sampling according to claim 8, wherein: the endoscope linear motion driving mechanism comprises a motor C (54), a linear motion lead screw B (55) and a linear motion lead screw nut B (56), the motor C (54) is installed on a bottom plate (51) or fixed on a gasket (28), the linear motion lead screw B (55) is rotatably installed on the bottom plate (51) or rotatably installed on the gasket (28), the linear motion lead screw B (55) is in threaded connection with the linear motion lead screw nut B (56), and the near end of the endoscope (4) is connected with the linear motion lead screw nut B (56).
10. The robot for throat sampling according to claim 1, wherein: the sampling tool clamping mechanism (7) comprises a touch throat working tool and a tongue pressing working tool, the touch throat working tool is driven by an independent driving mechanism (6) to drive an actuating mechanism (5) to bend left and right or up and down, the tongue pressing working tool is driven by an independent driving mechanism (6) to drive the actuating mechanism (5) to bend left and right or up and down, and the touch throat working tool and the tongue pressing working tool move back and forth through a driving mechanism linear motion driving mechanism.
11. A robot for throat sampling according to claim 10, wherein: the operating tool for touching the throat comprises a sensor frame (30), a force/torque sensor (31), a spring (32), a rubber sleeve (33) and a touching tool, wherein the near end of the sensor frame (30) is connected with the far end of the actuating mechanism (5), the spring (32) and the rubber sleeve (33) capable of moving relative to the sensor frame (30) are contained in the far end of the sensor frame (30), the far end of the rubber sleeve (33) is connected with the touching tool, the spring (32) is arranged between the near end of the rubber sleeve (33) and the force/torque sensor (31) installed on the sensor frame (30), and two ends of the spring (32) are respectively connected with the near end of the rubber sleeve (33) and the force/torque sensor (31).
12. A robot for throat sampling according to claim 10, wherein: the tongue depressing operation tool comprises a sensor frame (30), a rocker (34), a baffle (35), a force/torque sensor (31) and a tongue depressing tool, wherein the near end of the sensor frame (30) is connected with the far end of an actuating mechanism (5), the far end of the sensor frame (30) is hinged with the rocker (34), the far end of the rocker (34) is connected with the tongue depressing tool in an inserting mode, and the near end of the rocker (34) is connected with the force/torque sensor (31) installed on the sensor frame (30) in an abutting mode.
13. The robot for throat sampling according to claim 1, wherein: the oral cavity identification ring (8) is an O-shaped ring, and a plurality of bulges (60) used for fixing the mouth shape of the patient are uniformly distributed on the end surface of the oral cavity identification ring (8) facing to the patient along the circumferential direction; the far end of the bottom plate (51) is provided with a second bracket (59), and the second bracket (59) is provided with a groove B for the insertion of the oral cavity identification ring (8).
14. The robot for throat sampling according to claim 1, wherein: the base plate (51) is provided with an upright post (61) and a wireless node (10), the top end of the upright post (61) is connected with a camera (9) with two degrees of freedom of rotation and pitching, and the camera (9) is used for watching the face condition and the panoramic condition of a patient; wheels (44) are installed to the bottom of portable base (3), and video encoder (39), audio codec (40), computer (41), driver (42) and battery (43) have been arranged respectively to the inside of this portable base (3), video encoder (39), audio codec (40), driver (42), wireless node (10) and camera (9) are connected with computer (41) respectively, and computer (41) are connected with battery (43), endoscope (4) are connected with video encoder (39), motor among actuating mechanism (6), actuating mechanism linear motion actuating mechanism and the endoscope linear motion actuating mechanism is connected with driver (42) respectively.
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| CN112716535A (en) * | 2021-01-29 | 2021-04-30 | 山东理工大学 | Rope drives pharynx and wipes away sub-robot |
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| CN113100834A (en) * | 2021-04-14 | 2021-07-13 | 深圳市罗湖医院集团 | Human body physiological sample collecting method and device, electronic equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112716535A (en) * | 2021-01-29 | 2021-04-30 | 山东理工大学 | Rope drives pharynx and wipes away sub-robot |
| CN112998762A (en) * | 2021-02-08 | 2021-06-22 | 杭州同创医学检验实验室有限公司 | Be used for self-service oral cavity swab intelligent acquisition ware of new coronavirus nucleic acid |
| CN113100834A (en) * | 2021-04-14 | 2021-07-13 | 深圳市罗湖医院集团 | Human body physiological sample collecting method and device, electronic equipment and storage medium |
| WO2023283957A1 (en) * | 2021-07-16 | 2023-01-19 | 颜炳郎 | Specimen collection system and specimen collection method |
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