A placental tissue sampling robot

Abstract

This invention discloses a placental tissue sampling robot, comprising a support frame, a support platform, an identification device, and a moving device. The support platform is mounted on the support frame. The identification device is mounted on the support frame, facing the support platform, and is used to identify and locate the required cutting position of the placenta. The moving device is mounted on the support frame, and its moving end is equipped with a clamping component, which is located above the support platform. Both clamping ends of the clamping component are equipped with cutting components. The moving device controls the cutting components to cut the placenta at the designated cutting position based on the identification and positioning of the required cutting position by the identification device. A frame-shaped cutting section is provided on the side of each cutting component facing the other. When the clamping component is closed, the two frame-shaped cutting sections are tangent to remove a placental sample of the corresponding frame size. Through these features, the robot can automatically avoid unsampling areas and achieve automated cutting and sampling of precise sampling points in safe, non-calcified areas.

Description

Technical Field

[0001] This invention belongs to the technical field of placental sampling structures, and specifically relates to a placental tissue sampling robot. Background Technology

[0002] The placenta is a temporary organ connecting the mother and fetus during pregnancy. Rich in stem cells, growth factors, and bioactive substances, it is an important sample source for regenerative medicine, tissue engineering, and perinatal disease research. Placental tissue sampling is usually performed immediately or shortly after delivery for subsequent cell isolation, genomic analysis, and pathological examination. The placenta is relatively large (15-25 cm in diameter, 2-4 cm thick) and has heterogeneous tissue structure, including the chorionic plate, basal plate, vascular network, calcifications, and blood clots. Different regions exhibit significantly different biological characteristics; therefore, sampling must avoid areas with low-activity calcifications, highly vascularized areas prone to bleeding and contamination, areas with blood clots / contamination, and areas with excessively thin edges.

[0003] Existing methods typically involve manual sampling:

[0004] 1. Ideally, the entire placenta should be disposed of within 30 minutes after delivery, and at the latest within 40 minutes. Alternatively, the entire placenta can be refrigerated and disposed of within 24 hours while refrigerated.

[0005] 2. Trim the membranes, weigh them, and measure their length, width, and thickness.

[0006] 3. Using the umbilical cord insertion point as a reference, cut a strip approximately 3cm wide along the longest axis of the placenta (including the umbilical cord).

[0007] 4. Lay the strip flat with the fleece film facing up, and take a photo to record its position.

[0008] 5. Using a sterile scalpel or sampling forceps, manually select sampling points on the strip, and cut a tissue block of about 2cm×2cm×2cm from each point.

[0009] 6. Immediately freeze the sample in liquid nitrogen or fix it in formalin / RNA later.

[0010] However, this manual sampling procedure requires manual operation of various tools, such as scalpels, sampling forceps, and sterile trays; it also requires visual judgment and the use of measuring tools, such as rulers and balances. In other words, medical staff need to macroscopically locate the placental anatomy, manually select points, cut, grasp, and transfer samples. Therefore, the entire process relies heavily on human experience, which may lead to problems such as inconsistent sample size; inaccurate identification of calcified / vascular / contaminated areas; and a high risk of contamination from contact-based procedures. Summary of the Invention

[0011] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a placental tissue sampling robot that can automatically avoid unsampling areas and achieve automated cutting and sampling of precise sampling points in safe, non-calcified areas, thus solving the problems of low accuracy, poor repeatability, high risk of contamination, and low efficiency of manual sampling.

[0012] The objective of this invention is achieved through the following technical solution:

[0013] A placental tissue sampling robot includes a scaffold, a support platform, an identification device, and a moving device;

[0014] The support platform is mounted on the bracket and is used to place or fix the placenta.

[0015] The identification device is mounted on the bracket and faces the support platform, and is used to identify and locate the placenta at the required cutting position.

[0016] The moving device is mounted on the support, and the moving end of the moving device is equipped with a clamping member. The clamping member is located above the support platform, and both clamping ends of the clamping member are equipped with cutting members. The moving device controls the cutting members to cut the placenta at the positioning position based on the identification and positioning of the placenta by the identification device. The side of the cutting member facing the other cutting member is provided with a frame-shaped cutting part. When the clamping member is closed, the two frame-shaped cutting parts are tangent to remove the placenta sample of the corresponding frame size.

[0017] Furthermore, the clamping component is an electric gripper, and the cutting component includes a chuck. The chuck is detachably connected to the clamping end of the electric gripper. A cutting blade is fixedly provided at the bottom end of the chuck. The frame-shaped cutting part uses a surrounding cutting blade. The surrounding cutting blade is square and has a side length of 2cm±1mm. The surrounding cutting blade is fixedly provided on the side of the chuck. When the two chucks clamp each other, the two surrounding cutting blades match and are tangent.

[0018] Furthermore, a storage groove is provided on the side of the clamp facing the other clamp, and a first elastic element is fixedly provided on the inner bottom surface of the storage groove. A push plate is fixedly connected to the first elastic element, and the push plate is inserted into the storage groove. When the first elastic element is in the initial state, the push plate is flush with the opening of the storage groove.

[0019] Furthermore, a sleeve is fixedly connected to the gripping end of the electric gripper, and a through hole is formed on the surface of the sleeve; a tube is fixedly connected to the top surface of the chuck, and a mating hole is formed on the inner wall of the tube; a snap fastener is fixedly connected to the inner wall of the tube opposite to the mating hole; a second elastic element is fixedly connected to the snap fastener; the tube is inserted into the sleeve, the mating hole coincides with and is directly opposite the through hole; the snap fastener, under the elastic force of the second elastic element, simultaneously engages with both the mating hole and the through hole, so that the tube and the sleeve are connected as one unit.

[0020] Furthermore, the support adopts a cubic frame support, and the moving device includes an X-axis moving component, a Y-axis moving component, and a Z-axis moving component arranged perpendicularly to each other.

[0021] The X-axis moving component is mounted on the cubic frame support. The X-axis moving component includes a first driving component, a first linear moving component, and a first slider. The first slider is connected to the first linear moving component. The first driving component drives the first linear moving component to move the first slider linearly.

[0022] The Y-axis moving component is disposed on the first slider. The Y-axis moving component includes a second driving member, a second linear moving member, and a second slider. The clamping member is connected to the second slider, and the second slider is connected to the second linear moving member. The second driving member drives the second linear moving member to move the second slider linearly.

[0023] The Z-axis moving component is mounted on the cubic frame support. The Z-axis moving component includes a third driving component, a third linear moving component, and a third slider. The support platform is connected to the third slider, and the third slider is connected to the third linear moving component. The third driving component drives the third linear moving component to move the third slider up and down.

[0024] Furthermore, the support platform includes a fixed plate, a support plate, several adjusting bolts, and several third elastic elements; the fixed plate is fixedly connected to the third slider, the support plate is disposed above the fixed plate, the several adjusting bolts are evenly distributed on the fixed plate, the adjusting bolts are threaded through the fixed plate, the top end of the adjusting bolt is threadedly connected to the bottom surface of the support plate, the bottom end of the adjusting bolt is fixedly connected to an adjusting knob, the several third elastic elements correspond to the several adjusting bolts respectively, the third elastic elements are disposed in the gap between the fixed plate and the support plate, and the two ends of the third elastic elements are respectively abutted against the fixed plate and the support plate.

[0025] Furthermore, the support platform also includes a disposable tray and clamps. The disposable tray is clamped to the support plate by the clamps, and the disposable tray is used to temporarily fix the placenta by fixing pins or clamps.

[0026] Furthermore, the identification device employs a depth camera, which is used to acquire RGB depth images of the placenta and identify sampleable areas.

[0027] Furthermore, the X-axis moving assembly is disposed on the top of the cubic frame support. The first driving component includes a bidirectional driving motor, which is screwed and attached to the top of the cubic frame support. There are two sets of the first linear moving components, which are distributed on both sides of the bidirectional driving motor along the Y-axis. Each first linear moving component includes a transmission belt and two transmission wheels. The two transmission wheels are rotatably mounted on both sides of the cubic frame support along the X-axis. The transmission belt is wound and tensioned around the outer periphery of the two transmission belts. The two driving ends of the bidirectional driving motor are respectively connected to the corresponding transmission wheels of the two sets of the first linear moving components through couplings. The first slider is mounted on the transmission belt.

[0028] Furthermore, the two first sliders are provided with the same crossbeam, the length direction of which is parallel to the Y-axis; the second driving component includes a linear drive motor, which is screwed and mounted on the end of the crossbeam; the second linear moving component includes a conveyor belt and two conveyor wheels, which are rotatably mounted on both ends of the crossbeam, and the conveyor belt is wrapped around the outer circumference of the two tensioned conveyor wheels, one of which is connected to the driving end of the linear drive motor, and the second slider is connected to the conveyor belt.

[0029] The present invention has the following beneficial effects:

[0030] The placental tissue sampling robot of the present invention comprises a support platform, an identification device, and a moving device. The support platform holds the placenta, and the identification device identifies and locates the desired sampling position. The moving device controls the movement of a clamping component based on the identified sampling position, allowing two cutting components on the clamping component to cut. During the cutting process, the placenta's position can be manually adjusted. The moving device then further controls the two cutting components on the clamping component to cut a full-length strip of placenta. The full-length placental strip is then covered and hung on a frame-shaped cutting section. The clamping component brings the two frame-shaped cutting sections together to achieve clamping closure, thus cutting the full-length placental strip into placental samples of the required standardized size. Compared to existing technologies that use manual sampling, this invention automatically avoids unsampling areas and achieves automated cutting and sampling at precise sampling points in safe, non-calcified areas. It also overcomes the problems of low sampling accuracy, poor repeatability, high risk of contamination, and low efficiency associated with manual placental sampling in existing technologies. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0032] Figure 2 This is a rear view of the overall structure of the present invention.

[0033] Figure 3 This is a schematic diagram of the overall structure from another perspective of the present invention.

[0034] Figure 4 This is a schematic diagram of the support platform and electric gripper of the present invention.

[0035] Figure 5 This is a schematic diagram of the support platform of the present invention.

[0036] Figure 6 This is a schematic diagram of the overall structure and installation of the clamp, cutting component and frame-shaped cutting part of the present invention.

[0037] In the picture:

[0038] 1. Cubic frame support; 11. Slide groove; 12. Straight groove;

[0039] 2. Depth camera;

[0040] 3. X-axis moving assembly; 31. Bidirectional drive motor; 32. First linear moving component; 321. Transmission belt; 322. Transmission wheel; 33. First slider; 34. Inserting wheel;

[0041] 4. Y-axis moving assembly; 41. Crossbeam; 42. Linear drive motor; 43. Second linear moving component; 431. Conveyor belt; 432. Conveyor wheel; 44. Second slider; 45. Hanging wheel;

[0042] 5. Z-axis moving assembly; 51. Stepper motor; 52. Third linear moving component; 521. Lead screw; 53. Third slider; 54. Guide rod;

[0043] 6. Support platform; 61. Fixing plate; 62. Support plate; 63. Adjusting bolt; 64. Third elastic element; 65. Disposable tray; 66. Clamp;

[0044] 7. Electric gripper; 70. Sleeve; 701. Through hole; 71. Chuck; 711. Storage slot; 72. Cutting blade; 73. Encircling cutting blade; 74. First elastic element; 75. Push plate; 76. Sleeve; 761. Mating hole; 77. Snap-on seat; 78. Second elastic element; 79. Snap-on. Detailed Implementation

[0045] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Terms such as “upper,” “inner,” “middle,” “left,” “right,” and “one” used in this specification are merely for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention.

[0046] To address the problems of low sampling accuracy, poor repeatability, high risk of contamination, and low efficiency in existing technologies that use manual methods to sample the placenta, a placental tissue sampling robot was developed. This robot can automatically avoid unsampling areas and achieve automated cutting and sampling of precise sampling points in safe, non-calcified areas.

[0047] A placental tissue sampling robot, such as Figures 1 to 6 As shown, it includes a bracket, a support platform 6, an identification device, and a moving device.

[0048] The support adopts a cubic frame support 1, which is mainly composed of eight rods spliced ​​together to form a frame shape. The cubic frame support 1 has two mutually perpendicular X-axis, Y-axis and Z-axis directions, of which the Z-axis direction is the vertical direction.

[0049] The support platform 6 is set on the cubic frame bracket 1 and is used to place or fix the placenta.

[0050] The identification device is mounted on the cubic frame support 1, facing the support platform 6, and is used to identify and locate the placenta at the required cutting position.

[0051] The moving device is mounted on the cubic frame support 1. A clamping component is located at the moving end of the moving device, above the support platform 6. Both clamping ends of the clamping component are equipped with cutting components. Based on the identification and positioning of the placenta at the required cutting location by the identification device, the moving device controls the cutting components to cut the placenta at the designated position, thus cutting out a full-length strip of appropriate size. A frame-shaped cutting section is provided on the side of the cutting component facing the other cutting component. When the full-length strip is positioned between the two cutting components of the clamping component, and the clamping component closes the area, the two frame-shaped cutting sections become tangent to remove a placental sample tissue block of the corresponding frame size.

[0052] In this embodiment, the recognition device employs a depth camera 2, which is used to acquire RGB depth images of the placenta and identify sampleable regions. The depth camera 2 module includes an image acquisition and preprocessing unit, an AI semantic segmentation unit, and a target pose prediction unit. The image acquisition and preprocessing unit sequentially performs denoising, scale normalization, contrast enhancement, and channel normalization on the acquired images. The AI ​​semantic segmentation unit segments the placental image into at least two categories: non-calcified tissue, suspected calcified areas, vascular membrane, blood clots, contaminated areas, and areas with too thin edges to be sampled. The target pose prediction unit, based on a semantic mask of the non-calcified tissue region, performs safety boundary shrinkage and minimum sampling area screening, and outputs the spatial coordinates of multiple sampling points and the tool orientation pose.

[0053] In this embodiment, as Figures 1 to 3 As shown, the moving device includes an X-axis moving component 3, a Y-axis moving component 4, and a Z-axis moving component 5, which are arranged perpendicularly to each other.

[0054] The X-axis moving component 3 is mounted on the cubic frame support 1. The X-axis moving component 3 includes a first driving member, a first linear moving member 32 and a first slider 33. The first slider 33 is connected to the first linear moving member 32. The first driving member drives the first linear moving member 32 to move the first slider 33 linearly along the X-axis.

[0055] The Y-axis moving component 4 is disposed on the first slider 33. The Y-axis moving component 4 includes a second driving member, a second linear moving member 43 and a second slider 44. The clamping member is connected to the second slider 44, and the second slider 44 is connected to the second linear moving member 43. The second driving member drives the second linear moving member 43 to move the second slider 44 linearly along the Y-axis direction, thereby enabling the clamping member to move arbitrarily on the plane formed by the X-axis direction and the Y-axis direction.

[0056] Z-axis moving assembly 5 is mounted on the cubic frame support 1. Z-axis moving assembly 5 includes a third drive component, a third linear moving component 52, and a third slider 53. Support platform 6 is connected to the third slider 53, and the third slider 53 is connected to the third linear moving component 52. The third drive component drives the third linear moving component 52 to move the third slider 53 up and down along the Z-axis. Therefore, by coordinating the Z-axis moving assembly 5 to move the support platform up and down, the cutting of the clamping component on the support platform 6 can be controlled to cut the placenta on the support platform 6 to cut a strip of appropriate size. The cut strip is then placed between two cutting components, and the clamping component clamps the two cutting components together so that the two frame-shaped cutting sections are tangent to remove a placental sample tissue block of the corresponding frame size.

[0057] In this embodiment, the X-axis moving assembly 3 is disposed on the top of the cubic frame support 1. The first driving component includes a bidirectional drive motor 31, which is screwed and attached to the top of the cubic frame support 1. There are two sets of first linear moving components 32, distributed on both sides of the bidirectional drive motor 31 along the Y-axis. Each first linear moving component 32 includes a transmission belt 321 and two transmission wheels 322. The two transmission wheels 322 are rotatably mounted on both sides of the cubic frame support 1 along the X-axis. The transmission belt 321 is wound and tensioned around the outer circumference of the two transmission wheels 322. Both driving ends of the bidirectional drive motor 31 are connected to the corresponding transmission wheels 322 of the two sets of first linear moving components 32 via couplings or coupling rods. First sliders 33 are mounted on the transmission belt 321. Therefore, when the bidirectional drive motor 31 is working, it can synchronously drive the two sets of transmission wheels 322 to rotate, and cause the two transmission belts 321 to transmit synchronously, thus driving the two first sliders 33 to move synchronously.

[0058] To improve the stability of the first slider 33 during its movement, grooves 11 are provided on both sides of the support beam corresponding to the first linear moving member 32 at the top of the cubic frame bracket 1. The grooves 11 extend along the X-axis. Two sets of embedded wheels 34 are rotatably connected to the bottom surface of the first slider 33. The two sets of embedded wheels 34 slide in cooperation with the two grooves 11 respectively. This improves the stability of the first slider 33 during its movement and also prevents the first slider 33 from sliding out or falling out.

[0059] In this embodiment, two first sliders 33 are screwed and mounted on the same crossbeam 41, the length direction of which is parallel to the Y-axis. The second driving component includes a linear drive motor 42, which is screwed and mounted on the end of the crossbeam 41. The second linear moving component 43 includes a conveyor belt 431 and two conveyor wheels 432, which are rotatably mounted on both ends of the crossbeam 41. The conveyor belt 431 is wrapped around the outer circumference of the two tensioned conveyor wheels 432. One of the conveyor wheels 432 is connected to the driving end of the linear drive motor 42, and the second slider 44 is connected to the conveyor belt 431. Therefore, when the linear drive motor 42 is working, it drives the conveyor wheels 432 and the conveyor belt 431, thereby moving the second slider 44 along the Y-axis.

[0060] To improve the stability of the second slider 44 during movement, straight grooves 12 are provided on the top and bottom surfaces of the crossbeam 41, extending along the Y-axis. The side of the second slider 44 is provided with two rows of upper and lower hanging wheels 45, which slide in cooperation with the upper and lower straight grooves 12 of the crossbeam 41 respectively. This improves the stability of the second slider 44 during movement and prevents the second slider 44 from sliding out or falling out.

[0061] In this embodiment, the third driving component is a stepper motor 51, which is screwed and mounted on the bottom of the cubic frame support 1. The third linear moving component 52 is a lead screw 521, one end of which is connected to the driving end of the stepper motor 51, and the other end of which is rotatably connected to the cubic frame support 1 via a plate. The length direction of the lead screw 521 is parallel to the Z-axis direction. The third slider 53 is threaded through the lead screw 521 and slides with the cubic frame support 1. When the stepper motor 51 is working, it drives the lead screw 521 to rotate, thereby driving the third slider 53 to move up and down.

[0062] To improve the stability of the lifting and lowering motion of the third slider 53, guide rods 54 are provided on both sides of the lead screw 521 in the cubic frame support 1. The guide rods 54 are parallel to the lead screw 521. The third slider 53 is connected to the guide rods 54 through the sleeve 70 to improve the stability of the lifting and lowering motion of the third slider 53.

[0063] In this embodiment, as Figures 2 to 5 As shown, the support platform 6 includes a fixed plate 61, a support plate 62, several adjusting bolts 63, several third elastic elements 64, a disposable tray 65, and a clamp 66.

[0064] The fixed plate 61 is locked to the third slider 53 by screws. The support plate 62 is positioned above the fixed plate 61. Four adjusting bolts 63 are evenly distributed at the four corners of the fixed plate 61. The adjusting bolts 63 are threaded through the fixed plate 61 from bottom to top, and the four adjusting bolts 63 also correspond to the four corners of the support plate 62. The top of each adjusting bolt 63 is threaded to the bottom surface of the support plate 62, and an adjusting knob is fixedly connected to the bottom of each adjusting bolt 63 for easy adjustment by rotating the knob. Adjusting bolt 63 is used to adjust the support plate 62; four third elastic elements 64 are used, each corresponding to one of the four adjusting bolts 63. The third elastic elements 64 are springs and are located in the gap between the fixed plate 61 and the support plate 62. The third elastic elements 64 are sleeved with the adjusting bolts 63, and both ends of the third elastic elements 64 are pressed against the fixed plate 61 and the support plate 62 respectively. This can provide prestress to both ends of the adjusting bolts 63 and further improve the stability of the support plate 62.

[0065] Meanwhile, a disposable tray 65 is placed on the top surface of the support plate 62. The disposable tray 65 is clamped onto the support plate 62 by a clip 66. The disposable tray 65 is used to place and fix the placenta. The placenta can be temporarily fixed by fixing pins or fixing clips.

[0066] In this embodiment, the clamping component is an electric gripper 7. The main body of the electric gripper 7 is screwed and attached to the second slider 44. The electric gripper 7 is a conventional electric clamping structure in the prior art. Its clamping principle structure mainly adopts the lead screw 521 module structure, so that the two clamping ends of the electric gripper 7 can move closer to each other to clamp or move away from each other to release the clamping. At the same time, when cutting the placenta, the electric gripper 7 can adjust the distance between the two clamping ends to cut out the full-length strip of placenta of the required size. In actual cutting operations, the two cutting parts of the electric gripper 7 are usually adjusted to a distance of 3cm. After the first cut, the disposable tray 65 is adjusted by 90 degrees and then a second cut is made to cut out a 3cm*3cm full-length strip of placenta, which facilitates the subsequent clamping and cutting of the placental sample tissue block of the required size.

[0067] Among them, such as Figure 5 and Figure 6As shown, the cutting component includes a chuck 71, which is detachably connected to the clamping end of an electric gripper 7. A cutting blade 72 is fixedly mounted on the bottom end of the chuck 71. The bottom end and cross-section of the chuck 71 are inverted conical to reduce the contact area during the cutting process and improve cutting efficiency. The frame-type cutting part uses a surrounding cutting blade 73, which is fixedly mounted on the side of the chuck 71. The surrounding cutting blade 73 is square, and its side length is 2cm ± 1mm. When the two chucks 71 are close to each other, the two surrounding cutting blades 73 fit together tangentially to remove a placental sample tissue with a size of approximately 2cm * 2cm. The dimensional tolerance of the side length of the surrounding cutting blade 73 is also the fitting tolerance of the two surrounding cutting blades 73 when they fit together tangentially.

[0068] Meanwhile, a storage groove 711 is provided on the side of the chuck 71 facing the other chuck 71. The depth of the storage groove 711 is 1cm±0.2mm. The cutting blade 73 is fixedly set at the opening of the storage groove 711. Therefore, when the electric gripper 7 is working, the two chucks 71 move closer to each other to cut a 2cm*2cm placental sample tissue from the full-length strip of the 3cm*3cm placenta and store it in the storage groove 711. When the electric gripper 7 releases the gripping operation, the corresponding 2cm*2cm*2cm placental sample tissue can be taken out from the storage groove 711.

[0069] To facilitate the removal of placental sample tissue from the storage slot 711, a first elastic element 74, which is a spring, is embedded and fixedly installed on the inner bottom surface of the storage slot 711. A push plate 75 is fixedly connected to the end of the first elastic element 74 away from the inner bottom surface of the storage slot 711. The push plate 75 is inserted into the storage slot 711. When the first elastic element 74 is in its initial state, the push plate 75 is flush with the opening of the storage slot 711. Therefore, when the electric gripper 7 is operating, the two grippers 71 move closer together to cut a 2cm*2cm placental sample tissue from the entire length of the placenta and store it in the storage slot 711. When the electric gripper 7 releases its gripping action, the push plate 75 can push the placental sample tissue out of the storage slot 711 under the elastic force of the first elastic element 74, thereby reducing the possibility of tissue blockage.

[0070] In this embodiment, a sleeve 70 is fixedly connected to the gripping end of the electric gripper 7, and a through hole 701 is formed on the surface of the sleeve 70. A tube 76 is fixedly connected to the top surface of the chuck 71, and a mating hole 761 is formed on the inner wall of the tube 76. A buckle seat 77 is fixedly fastened to the inner wall of the tube opposite to the mating hole 761 by screws or welding. A second elastic element 78 is fixedly connected to the buckle seat 77. The second elastic element 78 is a spring, and a buckle 79 is fixedly connected to the end of the second elastic element 78 away from the buckle seat 77. The tube 76 is inserted into the sleeve 70, and the mating hole 761 coincides with and is directly opposite the through hole 701. Under the elastic force of the second elastic element 78, the buckle 79 simultaneously engages with both the mating hole 761 and the through hole 701, so that the tube 76 and the sleeve 70 are connected as one unit. When the sleeve 76 and the sleeve 70 are disengaged, the buckle 79 can be pressed inside the box to make the buckle 79 located inside the sleeve 76. At the same time, the sleeve 76 can be pulled down to remove the sleeve 76 and the clamping parts. This has the advantage of being easy to disassemble and assemble.

[0071] Based on the above description of the structure of the placental tissue sampling robot of the present invention, the following is a detailed description of the robot's workflow:

[0072] Step 1: Medical staff secure the placenta to a disposable tray 65;

[0073] Step 2: Start the whole device, and the depth camera 2 of the recognition device will collect RGB color images and depth maps of the placenta. The cutting position of the placenta will be obtained by recognition. The size of the pre-cut placenta is 3cm*3cm.

[0074] Step 3: Based on the identification device, the placenta is identified at the required cutting position. First, the distance between the cutting parts of the two clamping ends of the electric gripper 7 is adjusted to 3cm. Then, the X-axis moving component 3, Y-axis moving component 4 and Z-axis moving component 5 are controlled respectively to move the two cutting parts on the electric gripper 7 to make the first cut on the placenta on the disposable tray 65. The cutting distance is greater than 3cm.

[0075] Step 4: After the initial cut is completed, the disposable tray 65 is adjusted by 90 degrees, and the depth camera 2 of the recognition device is used again to collect the RGB color image and depth map of the placenta. The previous cutting position of the placenta is obtained by recognition. Then, according to the cutting position, the X-axis moving component 3, Y-axis moving component 4 and Z-axis moving component 5 are controlled respectively to move the two cutting parts on the electric gripper 7 to perform a second cut on the placenta. The cutting distance is greater than 3cm, thus cutting out a 3cm*3cm full-length strip of placenta.

[0076] Step 5: Next, use tweezers or other tools to cover the entire length of the placenta strip and hang it on the cutting blade 73 of one of the clamps 71. Then, start the electric clamp 7 to clamp the placenta, so that the two clamps 71 are close to each other and the two cutting blades 73 are in contact and tangent. At the same time, cut out a 2cm*2cm placenta sample tissue from the entire length of the placenta strip and store it in the storage groove 711. When the electric clamp 7 releases the clamp, the push plate 75 can push the placenta sample tissue out of the storage groove 711 under the elastic force of the first elastic element 74.

[0077] Step 6: Sampling is complete, and the system prompts you to remove the sample tissue.

[0078] In summary, the placental tissue sampling robot of the present invention comprises a support platform 6, an identification device, and a moving device. The support platform 6 is used to place the placenta, and the identification device is used to identify and locate the position of the placenta to be cut and sampled. The moving device controls the movement of the clamping member according to the position of the required cutting and sampling identified by the identification device, so that the two cutting members on the clamping member can cut. During the cutting process, the position of the placenta can also be adjusted manually. The moving device further controls the two cutting members on the clamping member to cut the placenta into a full-length strip. Then, the full-length strip of placenta is covered and hung on one of its frame-shaped cutting parts. The clamping member then brings the two frame-shaped cutting parts together to achieve clamping closure, so that the full-length strip of placenta can be cut into placental sample tissue of the required standard size using the frame-shaped cutting part. Compared to existing technologies that use manual sampling, this invention can automatically avoid unsampling areas and achieve automated cutting and sampling of precise sampling points in safe, non-calcified areas. It also overcomes the problems of low sampling accuracy, poor repeatability, high risk of contamination, and low efficiency associated with manual sampling of the placenta in existing technologies.

[0079] The embodiments of the present invention are not limited thereto. Based on the above description of the present invention, and using common technical knowledge and conventional means in the field, the present invention can be modified, replaced or combined in various other forms without departing from the basic technical idea of ​​the present invention, and all such modifications, replacements or combinations fall within the scope of protection of the present invention.

Claims

1. A placental tissue sampling robot, characterized by, include: support; A support platform, mounted on the bracket, is used to place or secure the placenta; An identification device is mounted on the bracket and faces the support platform. It is used to identify and locate the placenta at the required cutting position. A mobile device is mounted on the support. The mobile end of the mobile device is equipped with a clamping member, which is located above the support platform. Both clamping ends of the clamping member are equipped with cutting members. The mobile device controls the cutting members to cut the placenta at the desired cutting position based on the identification and positioning of the placenta by the identification device. The cutting members have frame-shaped cutting portions on their sides facing the other cutting member. When the clamping member is closed, the two frame-shaped cutting portions are tangent to remove a placenta sample of the corresponding frame size.

2. The placental tissue sampling robot as described in claim 1, characterized in that, The clamping component uses an electric gripper, and the cutting component includes a chuck. The chuck is detachably connected to the clamping end of the electric gripper. A cutting blade is fixedly provided at the bottom end of the chuck. The frame-shaped cutting part uses a surrounding cutting blade. The surrounding cutting blade is square and has a side length of 2cm±1mm. The surrounding cutting blade is fixedly provided on the side of the chuck. When the two chucks clamp each other, the two surrounding cutting blades match and are tangent.

3. The placental tissue sampling robot as described in claim 2, characterized in that, The clamp has a storage groove on its side facing the other clamp. A first elastic element is fixedly provided on the inner bottom surface of the storage groove. A push plate is fixedly connected to the first elastic element. The push plate is inserted into the storage groove. When the first elastic element is in the initial state, the push plate is flush with the opening of the storage groove.

4. The placental tissue sampling robot as described in claim 2, characterized in that, The clamping end of the electric gripper is fixedly connected to a sleeve, and the surface of the sleeve has a through hole; the top surface of the chuck is fixedly connected to a tube, the inner wall of the tube has a mating hole, and the inner wall of the tube opposite to the mating hole is fixedly connected to a buckle seat, the buckle seat is fixedly connected to a second elastic element, and the second elastic element is fixedly connected to a buckle; the tube is inserted into the sleeve, the mating hole and the through hole coincide and are directly opposite each other, and the buckle is simultaneously inserted and engaged with the mating hole and the through hole under the elastic force of the second elastic element, so that the tube and the sleeve are connected as one unit.

5. The placental tissue sampling robot as described in claim 1, characterized in that, The support frame adopts a cubic frame support, and the moving device includes an X-axis moving component, a Y-axis moving component, and a Z-axis moving component arranged perpendicularly to each other. The X-axis moving component is mounted on the cubic frame support. The X-axis moving component includes a first driving component, a first linear moving component, and a first slider. The first slider is connected to the first linear moving component. The first driving component drives the first linear moving component to move the first slider linearly. The Y-axis moving component is disposed on the first slider. The Y-axis moving component includes a second driving member, a second linear moving member, and a second slider. The clamping member is connected to the second slider, and the second slider is connected to the second linear moving member. The second driving member drives the second linear moving member to move the second slider linearly. The Z-axis moving component is mounted on the cubic frame support. The Z-axis moving component includes a third driving component, a third linear moving component, and a third slider. The support platform is connected to the third slider, and the third slider is connected to the third linear moving component. The third driving component drives the third linear moving component to move the third slider up and down.

6. The placental tissue sampling robot as described in claim 5, characterized in that, The support platform includes a fixed plate, a support plate, several adjusting bolts, and several third elastic elements. The fixed plate is fixedly connected to the third slider. The support plate is positioned above the fixed plate. The several adjusting bolts are evenly distributed on the fixed plate. The adjusting bolts are threaded through the fixed plate. The top end of the adjusting bolt is threaded to the bottom surface of the support plate. An adjusting knob is fixedly connected to the bottom end of the adjusting bolt. The several third elastic elements correspond to the several adjusting bolts respectively. The third elastic elements are positioned in the gap between the fixed plate and the support plate. The two ends of the third elastic elements abut against the fixed plate and the support plate respectively.

7. The placental tissue sampling robot as described in claim 6, characterized in that, The support platform also includes a disposable tray and clamps. The disposable tray is clamped to the support plate by the clamps. The disposable tray is used to temporarily fix the placenta by fixing pins or clamps.

8. The placental tissue sampling robot as described in claim 1, characterized in that, The identification device employs a depth camera, which is used to acquire RGB depth images of the placenta and identify sampleable areas.

9. The placental tissue sampling robot as described in claim 5, characterized in that, The X-axis moving assembly is disposed on the top of the cubic frame support. The first driving component includes a bidirectional drive motor, which is screwed and attached to the top of the cubic frame support. There are two sets of first linear moving components, which are distributed on both sides of the bidirectional drive motor along the Y-axis. Each first linear moving component includes a transmission belt and two transmission wheels. The two transmission wheels are rotatably mounted on both sides of the cubic frame support along the X-axis. The transmission belt is wound and tensioned around the outer circumference of the two transmission belts. The two driving ends of the bidirectional drive motor are respectively connected to the corresponding transmission wheels of the two sets of first linear moving components through couplings. The first slider is mounted on the transmission belt.

10. The placental tissue sampling robot as described in claim 9, characterized in that, The two first sliders are provided with the same crossbeam, the length direction of which is parallel to the Y-axis; the second driving component includes a linear drive motor, which is attached to the end of the crossbeam by screws; the second linear moving component includes a conveyor belt and two conveyor wheels, which are respectively rotatably mounted at both ends of the crossbeam, and the conveyor belt is wrapped around the outer circumference of the two tensioned conveyor wheels, one of which is connected to the driving end of the linear drive motor, and the second slider is connected to the conveyor belt.

Images