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. The mechanical arm and control equipment cooperate to complete sampling of a target part. The method comprises the steps of performing target identification on an image of a target part to determine coordinates of a remote control starting point and coordinates of a motion constraint point in the target part, and planning a target motion track of a sampling component according to the coordinates of the remote control starting point and the coordinates of the motion constraint point, according to the motion control algorithm, controlling the sampling component to move to the remote control starting point along the target motion trail under the limitation of the motion constraint point, receiving a sampling instruction sent by the control equipment, and controlling the sampling component to move to the sampling target point from the remote control starting point for sampling, so that the task of sample collection is completed through cooperative operation of the mechanical arm and the control equipment, medical workers do not need to make close contact with a person to be collected, the infection risk of the medical workers is reduced, most manual operation is not needed, and the labor cost is saved.

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] In the process of screening and diagnosing new coronary pneumonia, nucleic acid testing is an indispensable means, and throat swab collection is the most important and dangerous key step in nucleic acid testing. The current throat swab collection method is manual collection by professional medical staff. During the operation, the medical staff must have close contact with the subject. The subject may produce a large amount of droplets or aerosols when coughing or breathing hard, which has a high Risk of cross infection. Moreover, during the collection process, due to the different proficiency of the medical staff in throat swab collection and the differences in the operation specifications of the throat swab collection, it is easy to cause discomfort ...

AI Technical Summary

Problems solved by technology

The current throat swab collection method is manual collection by professional medical staff. During the operation, the medical staff must have close contact with the subject. The subject may produce a large amount of droplets or aerosols when coughing or breathing hard, which has a high risk of cross infection

Moreover, during the collection process, due to the different proficiency of the medical staff in throat swab collection and the differences in the operation specifications of the throat swab collection, it is easy to cause discomfort to the person being collected, and when the medical staff is fatigued, it will lead to Reduced success rate and possibly even false negative test results on collected samples

[0003] At the same time, when the collection of throat swabs is large, a lot of labor costs need to be invested, which will increase the cost of throat swab collection. When the number of medical staff is limited, large-scale collection cannot be achieved

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