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Method for determining oral sampling position, sampling robot and computer storage medium

A robot and oral technology, applied in computing, instruments, image data processing and other directions, can solve the problems of simple structure, inconspicuous boundaries, and inability to identify the specific location of the tonsils, so as to ensure accuracy, improve safety and reliability. Effect

Pending Publication Date: 2021-07-23
THE CHINESE UNIV OF HONG KONG SHENZHEN +1
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] However, in actual operation, due to the small size of the tonsil, simple structure, few features and unclear boundaries, it is difficult for image detection algorithms and image segmentation algorithms to accurately identify the specific location of the tonsil, for example, the specific location of the tonsil cannot be identified or Misidentification occurs, affecting sampling of oropharyngeal swabs

Method used

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  • Method for determining oral sampling position, sampling robot and computer storage medium
  • Method for determining oral sampling position, sampling robot and computer storage medium
  • Method for determining oral sampling position, sampling robot and computer storage medium

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Embodiment Construction

[0030] The embodiment of the present application provides a method for determining a sampling site in the oral cavity, a sampling robot and a computer storage medium, which are used to more accurately determine the specific position of the sampling site in the oral cavity.

[0031] see figure 1 and figure 2 ,in figure 2 for figure 1 The partial enlarged schematic diagram of the component 10 in the structure of the sampling robot is shown, and the structure of the sampling robot in the embodiment of the present application includes:

[0032] In the embodiment of the present application, the sampling robot can be used to automatically sample the sampling site of the target object, for example, to sample the tonsil during the oral sampling process of the throat swab, and the tonsil can be the left tonsil and / or the right tonsil. Wherein, the composition of the assembly 10 includes a sampling part 101, a clamping device 103, etc., the clamping device 103 is used to clamp the ...

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Abstract

The embodiment of the invention discloses a method for determining an oral sampling position, a sampling robot and a computer storage medium. The method of the present invention is used for more accurately determining a specific sampling position in the oral cavity. The method of the present invention comprises the following steps: estimating predicted coordinates of the tonsilla according to a position relation among oral parts represented by an oral three-dimensional space model, measured coordinate of the mouth and measured coordinates of the posterior pharyngeal wall; comparing the predicted coordinates of the tonsilla with the measured coordinates of the tonsilla; and determining coordinates of the tonsilla to be output according to comparison results, so that the more accurate coordinates of the tonsilla can be determined according to the estimated coordinates of the tonsilla when image recognition of the tonsilla is wrong or the specific position of the tonsilla cannot be recognized, thereby ensuring sampling accuracy of the tonsilla, and improving safety and reliability in automatic throat swab sampling.

Description

technical field [0001] The embodiment of the present application relates to the field of robot automation, and in particular to a method for determining oral sampling sites, a sampling robot, and a computer storage medium. Background technique [0002] A specific testing method for human medical testing is oral testing, specifically throat swabs can be used to sample certain sampling sites in the oral cavity. Among them, robotic automated throat swab sampling has become a trend, and automated throat swab sampling is mainly to sample the sampling parts of the oral cavity, such as tonsils, posterior pharyngeal wall and other parts. During the sampling process, the robot identifies and measures the specific position of the sampling part according to the image detection algorithm and the image segmentation algorithm, and then samples the identified sampling part. [0003] However, in actual operation, due to the small size of the tonsil, simple structure, few features and uncle...

Claims

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Application Information

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IPC IPC(8): A61B10/02G06T17/00
CPCA61B10/02G06T17/00A61B2010/0216
Inventor 高庆陈勇全王启文池楚亮
Owner THE CHINESE UNIV OF HONG KONG SHENZHEN
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