Sampling control method and device of mechanical arm and sampling system

Abstract

The embodiment of the invention discloses a sampling control method and device of a mechanical arm and a sampling system, so that the mechanical arm automatically completes sample collection, manual collection is replaced, and the sample collection efficiency is improved. The method comprises the steps of: performing target identification on an image of a target part, determining coordinates of a sampling target point and a motion constraint point, planning a target motion track of a sampling component according to the coordinates of the sampling target point and the motion constraint point, determining the target motion duration of the target motion track, inputting the coordinates of the sampling target point, the coordinates of the motion constraint point and the target motion duration into a target control model to obtain target control information output by a target control model, and controlling the sampling component to sample the sampling target point along the target motion track under the limitation of the motion constraint point based on the target control information, according to the invention, automatic sample collection is achieved, manual operation can be completely replaced, both hands of medical workers are liberated, and meanwhile the high efficiency and stability of collection are guaranteed.

Description

technical field [0001] The embodiments of the present application relate to the field of robots, and in particular to a sampling control method and device for a robotic arm, and a sampling system. Background technique [0002] Nucleic acid testing is inseparable from the diagnosis of new coronary pneumonia and the determination of whether the infected person has been cured and discharged from the hospital. Throat swab collection is the most important and dangerous key step in nucleic acid testing. Nucleic acid testing samples mostly come from deep cough sputum or Pharyngeal swabs. At present, the collection of throat swabs mainly relies on manual collection by medical staff. However, if the collection of throat swab nucleic acid test specimens is not standardized, it may cause "false negative" results, causing patients to delay treatment, and due to factors such as large collection, limited number of medical staff and long working hours, throat swab Swab collection brings g...

AI Technical Summary

Problems solved by technology

However, if the collection of throat swab nucleic acid test specimens is not standardized, it may cause "false negative" results, causing patients to delay treatment, and due to factors such as large collection, limited number of medical staff and long working hours, throat swab Swab collection brings a great workload to medical staff, which in turn makes it difficult to collect throat swabs

[0003] Pharyngeal swab collection is currently mainly performed manually by medical staff, limited by human resources and medical conditions, it is impossible to collect large-scale and long-term swabs, and manual collection, medical staff are prone to fatigue, and there is no way to continue to achieve standardized and stable collection

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