Nasopharyngeal swab sampling method and device, electronic equipment and storage medium

Abstract

The invention provides a nasopharyngeal swab sampling method and a device, electronic equipment and a storage medium, and the method comprises the steps: controlling a mechanical arm to move towards a collection object, obtaining a first face image of the collection object through an RGBD camera, and obtaining a second face image of the collection object through a laser radar; determining two-dimensional feature points based on the first face image, and determining anatomical mark points based on the second face image; obtaining a target three-dimensional point based on the two-dimensional feature points, and selecting a target anatomical mark point from the anatomical mark points; calculating a first gravity center based on the target three-dimensional point, and calculating a second gravity center based on the target anatomical mark point; determining a sampling point according to the first gravity center and the second gravity center; and updating the sampling point is updated in real time, calculating the distance between the sampling point and the head of the swab, and adjusting the moving speed of the mechanical arm based on the distance. According to the embodiment of the invention, the sampling efficiency of the nasopharyngeal swab is improved.

Description

technical field [0001] This application relates to the application of machine vision technology in the medical and health field, in particular to a nasopharyngeal swab sampling method, device, electronic equipment and storage medium. Background technique [0002] At this stage, whether it is nasopharyngeal swab sampling or throat swab sampling, there is a large degree of dependence on the manual operation of medical staff, and manual operation will undoubtedly increase the infection risk of medical staff. In view of this, some institutions have carried out research on sampling robots, and some of the research results have been put into use. Using sampling robots to assist in the sampling of pharyngeal swabs or nasopharyngeal swabs is a major measure to protect medical staff. The situation is complex and diverse. In order to ensure the accuracy of sampling positioning, the existing research does not have too many requirements on the speed of sampling robots. In large-scale co...

AI Technical Summary

Problems solved by technology

In view of this, some institutions have carried out research on sampling robots, and some of the research results have been put into use. Using sampling robots to assist in the sampling of pharyngeal swabs or nasopharyngeal swabs is a major measure to protect medical staff. The situation is complex and diverse. In order to ensure the accuracy of sampling positioning, the existing research does not have too many requirements on the speed of sampling robots. In large-scale community and street sampling, the sampling efficiency of sampling robots is relatively low

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