Nucleic acid mixed detection self-sampling method and system based on image analysis security verification

Abstract

The application discloses a nucleic acid mixed detection self-sampling method and system based on image analysis security verification, and relates to the technical field of image processing, which comprises the following steps: a system working area gridding model is constructed through gridding processing, and each preset space point is set according to a preset path; a first model and a second model are respectively constructed according to the structural features of the end of a mechanical arm and the end of a swab; real-time images in the system working area during a nucleic acid sampling process are acquired, and each preset space point is marked in combination with the gridding model; the space points where the end of the mechanical arm and the end of the swab are located in the real-time images are identified according to the first model and the second model; correction is performed according to an offset; and the current mixed detection test tube is packaged and placed in a test tube rack. Through identification of the end feature points and the preset space points, the mechanical arm trajectory and the swab sampling state are determined, so that the trajectory of the mechanical arm is adjusted in time, and the reversal of the operation sequence during mixed detection is avoided.

Description

Technical Field

[0001] This invention relates to the field of image processing technology, and specifically discloses a nucleic acid pooled testing self-sampling method and system based on image analysis security verification. Background Technology

[0002] Given the severity of the pandemic, there is an urgent need for an automated nucleic acid sampling robot that can replace manual labor to complete the entire process of large-scale nucleic acid screening sampling, including standardized and high-quality swab sampling, sample preservation solution recovery, and virus disinfection. In addition to possessing the performance of existing automated nucleic acid sampling robot systems that can automatically complete the entire nucleic acid sampling process without human assistance, so as to reduce the workload of manual sampling and avoid cross-infection, it should also meet the needs of pooled testing and have a certain degree of deviation self-correction capability. Summary of the Invention

[0003] To automate the sampling of pooled nucleic acid tests and reduce operational inaccuracies caused by operational deviations, this invention proposes a self-sampling method for pooled nucleic acid tests based on image analysis for security verification, comprising the following steps:

[0004] S1: Construct a gridded model of the system's working area through gridding processing, and set the preset spatial points according to the preset path;

[0005] S2: Construct the first model and the second model based on the structural features of the robotic arm end and the swab end, respectively;

[0006] S3: Acquire real-time images of the system's working area during nucleic acid sampling and mark each preset spatial point using a gridded model;

[0007] S4: Identify the spatial locations of the robotic arm end and swab end in the real-time image based on the first model and the second model;

[0008] S5: Sequentially determine whether the positional relationship between the spatial points at the end of the robotic arm and the end of the swab and each preset spatial point meets the preset requirements. If not, correct according to the offset and proceed to step S6. If yes, proceed to step S6.

[0009] S6: Determine whether the current mixed testing task has been completed. If yes, seal the current mixed testing tubes and place them in the tube rack. If not, return to step S3.

[0010] Furthermore, during the nucleic acid sampling process, when the end of the robotic arm moves sequentially to each preset spatial point, it sequentially completes the operations of swab picking, nucleic acid sampling, swab tube loading, swab cutting, test tube packaging, and test tube racking.

[0011] Furthermore, during nucleic acid sampling, the robotic arm adjusts the spatial position of the swab tip based on depth camera images.

[0012] Furthermore, in step S6, the condition for determining the completion of the current mixed testing task is the completion of a preset number of nucleic acid samplings, and the robotic arm end and swab end running a preset path once according to preset requirements is recorded as the completion of one nucleic acid sampling.

[0013] Furthermore, step S6 also includes the step of:

[0014] The system checks whether the number of nucleic acid samplings completed matches the number of people registered by scanning the code at the current stage; if not, the system reports an error.

[0015] This invention also proposes a nucleic acid pooled testing self-sampling system based on image analysis security verification, comprising:

[0016] The point setting module is used to construct a gridded model of the system's working area through gridding processing, and to set various preset spatial points according to preset paths;

[0017] The instrument modeling module is used to construct a first model and a second model based on the structural features of the robotic arm end and the swab end, respectively.

[0018] The image acquisition module is used to acquire real-time images of the system's working area during the nucleic acid sampling process;

[0019] The instrument recognition module is used to mark each preset spatial point by combining real-time images with a gridded model, and to identify the spatial points where the robotic arm end and the swab end are located in the real-time image according to the first model and the second model.

[0020] The trajectory correction module is used to correct the positional relationship between the spatial points at the end of the robotic arm and the end of the swab and each preset spatial point in turn according to the offset amount when the positional relationship between them does not meet the preset requirements.

[0021] The packaging control module is used to control the robotic arm to package the current mixed test tubes and place them into the test tube rack when completing the current mixed test task.

[0022] Furthermore, during the nucleic acid sampling process, when the end of the robotic arm moves sequentially to each preset spatial point, it sequentially completes the operations of swab picking, nucleic acid sampling, swab tube loading, swab cutting, test tube packaging, and test tube racking.

[0023] Furthermore, during nucleic acid sampling, the robotic arm adjusts the spatial position of the swab tip based on depth camera images.

[0024] Furthermore, in the encapsulation control module, the condition for determining the completion of the current mixed testing task is the completion of a preset number of nucleic acid samplings. The robotic arm end and the swab end run a preset path once according to preset requirements to record as the completion of one nucleic acid sampling.

[0025] Furthermore, the encapsulation control module also includes:

[0026] The personnel verification unit is used to report an error when the number of nucleic acid samplings completed does not match the number of people registered by scanning the code at the current stage.

[0027] Compared with the prior art, the present invention has at least the following beneficial effects:

[0028] (1) The nucleic acid pooled testing self-sampling method and system based on image analysis security verification described in this invention determines the trajectory of the robotic arm and the swab sampling status by identifying the end feature points and preset spatial points in the real-time image. When the point information does not meet the preset requirements, the trajectory of the robotic arm is adjusted in time, thereby avoiding the problem of reversed operation order in pooled testing.

[0029] (2) By verifying the number of sampling completions, the predicted number of nucleic acid samplings, and the number of people registered by scanning codes, nucleic acid testing can be carried out under single or multiple mixed nucleic acid testing according to actual needs, while meeting data registration requirements and avoiding the occurrence of missed detection problems. Attached Figure Description

[0030] Figure 1 This is a step diagram of a nucleic acid pooled testing self-sampling method based on image analysis for security verification;

[0031] Figure 2 This is a structural diagram of a nucleic acid pooled testing self-sampling system based on image analysis for security verification.

[0032] Figure 3 This is a schematic diagram of the preset spatial point locations.

[0033] Explanation of the attached diagram labels: 1-swab point, 2-sampling point, 3-collection tube / swab cutting point, 4-verification swab tip cutting point, 5-medical waste collection point. Detailed Implementation

[0034] The following are specific embodiments of the present invention, which are described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0035] Example 1

[0036] Similar to existing intelligent nucleic acid sampling robots, this invention uses a robotic arm to automatically pick up test tubes, scan the QR code on the tube wall, unscrew the cap, and place them in the position for collecting the sample, completing the sampling preparation. Subsequently, the person being tested scans the QR code outside the queue line to register their identity and proceeds to the designated location for testing. The robotic arm then automatically completes the operations of swab picking, nucleic acid sampling, swab placement in tubes, swab cutting (i.e., retaining only the swab end and removing the gripping end), test tube sealing, and test tube racking, until the number of people being tested reaches the target pooled testing quantity. Then, the robotic arm picks up a new test tube to start the next group of sampling, until all sampling tasks are completed. To improve the accuracy of the sampling process, such as... Figure 1 As shown, this invention proposes a nucleic acid pooled testing self-sampling method based on image analysis security verification, including the following steps:

[0037] S1: Construct a gridded model of the system's working area through gridding processing, and set the preset spatial points according to the preset path;

[0038] S2: Construct the first model and the second model based on the structural features of the robotic arm end and the swab end, respectively;

[0039] S3: Acquire real-time images of the system's working area during nucleic acid sampling and mark each preset spatial point using a gridded model;

[0040] S4: Identify the spatial locations of the robotic arm end and swab end in the real-time image based on the first model and the second model;

[0041] S5: Sequentially determine whether the positional relationship between the spatial points at the end of the robotic arm and the end of the swab and each preset spatial point meets the preset requirements. If not, correct according to the offset and proceed to step S6. If yes, proceed to step S6.

[0042] S6: Determine whether the current mixed testing task has been completed. If yes, seal the current mixed testing tubes and place them in the tube rack. If not, return to step S3.

[0043] In this process, the robotic arm controls the spatial position of the swab tip based on depth camera images when performing nucleic acid sampling.

[0044] As can be seen from the above description of the steps, the present invention does not simply involve robotic arm control based on a preset trajectory. Instead, during the sampling process, in order to ensure sampling quality and avoid problems such as mixed testing, reversed timing, and missed testing, a dual safety verification mechanism is adopted. Only when the verification mechanism passes can the next spatial point be entered; otherwise, the problems found during verification are resolved first.

[0045] A schematic diagram of the preset path for nucleic acid sampling is shown below. Figure 3As shown, taking a specific embodiment as an example, firstly, a gridded model of the work area is constructed according to a preset path through gridding processing, and precise spatial locations are set for swab point 1, sampling point 2, test tube / swab cutting point 3, swab tip cutting point 4, and medical waste collection point 5. Then, a first model and a second model are constructed based on the structural features of the robotic arm tip and swab tip, respectively, to facilitate dynamic video image analysis during subsequent image tracking. The image recognition analysis results determine whether the robot system is operating on the predetermined path and whether it has moved to the preset spatial locations. Furthermore, the combination of gridded space and feature recognition functions verifies whether each key step of nucleic acid sampling has achieved its set functions. For example, if the robotic arm end is detected between point 5 and point 1 but the swab end cannot be detected, while the robotic arm end and the swab end can be detected simultaneously between point 1 and point 2, it indicates that the robotic arm has successfully and automatically picked up the swab; if the robotic arm end and the swab end can be detected simultaneously between point 1 and point 2, but the swab end cannot be detected at point 4, it indicates that the robotic arm has successfully and automatically delivered the sampling swab end to the recovery test tube, and the swab end has been automatically cut off and recovered by the test tube.

[0046] By using spatial point recognition based on dynamic video image analysis to determine the position of feature points at each end of the system, the system can safely determine the operation path and proceed to the next path point only after the current path point is correct or corrected, thereby avoiding the reversal of the time sequence of operations during a single nucleic acid sampling.

[0047] To avoid missed detections during the sampling process, in addition to the security checks mentioned above, a second security check is included throughout the nucleic acid sampling process to ensure the implementation of the pooled testing function. This is achieved by verifying whether the number of people registered with their QR code identity and the number of nucleic acid samples collected match the preset number of nucleic acid samples (i.e., the total number of samples collected per test tube). Specifically, each time the robotic arm and swab end run a preset path according to preset requirements, it is recorded as a completed nucleic acid sampling. Only when these three counts are equal can the next test tube be sampled; otherwise, the system will report an error and remind staff to perform a re-verification.

[0048] For the two types of verifications mentioned above, if a verification fails, the system will handle the situation automatically if possible, and manually if it cannot. For example, if the safety verification fails due to a robotic arm malfunction deviating from its fixed path or a critical point not being in place, the system can automatically correct the deviation and / or restart the process. Similarly, if the robotic arm fails to pick up the swab, it can return to point 1 to re-grab it. Even at point 4, if the swab tip is still detected (swab cutting failed but the tip was not retrieved by the test tube), the robotic arm can return to point 3 to re-cut the swab and retrieve the tip. Verification failures that the system cannot handle automatically will trigger an alarm, prompting manual verification and remedial action.

[0049] Example 2

[0050] To better understand the technical content of this invention, this embodiment describes the invention through a system structure, such as... Figure 2 As shown, a nucleic acid pooled testing self-sampling system based on image analysis security verification includes:

[0051] The point setting module is used to construct a gridded model of the system's working area through gridding processing, and to set various preset spatial points according to preset paths;

[0052] The instrument modeling module is used to construct a first model and a second model based on the structural features of the robotic arm end and the swab end, respectively.

[0053] The image acquisition module is used to acquire real-time images of the system's working area during the nucleic acid sampling process;

[0054] The instrument recognition module is used to mark each preset spatial point by combining real-time images with a gridded model, and to identify the spatial points where the robotic arm end and the swab end are located in the real-time image according to the first model and the second model.

[0055] The trajectory correction module is used to correct the positional relationship between the spatial points at the end of the robotic arm and the end of the swab and each preset spatial point in turn according to the offset amount when the positional relationship between them does not meet the preset requirements.

[0056] The packaging control module is used to control the robotic arm to package the current mixed test tubes and place them into the test tube rack when completing the current mixed test task.

[0057] Furthermore, during the nucleic acid sampling process, as the robotic arm's end moves sequentially to each preset spatial point, it sequentially completes the operations of swab picking, nucleic acid sampling, swab tube loading, swab cutting, test tube packaging, and test tube racking.

[0058] Furthermore, during nucleic acid sampling, the robotic arm adjusts the spatial position of the swab tip based on depth camera images.

[0059] Furthermore, in the packaging and control module, the condition for determining the completion of the current mixed testing task is to complete a preset number of nucleic acid samplings. The robotic arm end and the swab end run a preset path once according to preset requirements to record as the completion of one nucleic acid sampling.

[0060] Furthermore, the encapsulated control module also includes:

[0061] The personnel verification unit is used to report an error when the number of nucleic acid samplings completed does not match the number of people registered by scanning the code at the current stage.

[0062] In summary, the nucleic acid pooled testing self-sampling method and system based on image analysis security verification described in this invention determines the trajectory of the robotic arm and the swab sampling status by identifying end feature points and preset spatial points in real-time images. When the point information does not meet the preset requirements, the trajectory of the robotic arm is adjusted in a timely manner, thereby avoiding the problem of reversed operation order in pooled testing.

[0063] By verifying the number of completed samplings, the predicted number of nucleic acid samplings, and the number of people registered by scanning codes, nucleic acid testing can be carried out for single or multiple people under mixed nucleic acid testing according to actual needs, while meeting data registration requirements and avoiding the occurrence of missed detections.

[0064] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0065] Furthermore, in this invention, descriptions involving terms such as "first," "second," and "a" are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0066] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection or an electrical connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0067] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

Claims

1. A nucleic acid pooled testing self-sampling method based on image analysis security verification, characterized in that, Including the following steps: S1: The system's working area is constructed using a gridded model, and preset spatial points are set according to a preset path; the preset spatial points include swab points, sampling points, test tube / swab cutting points, swab tip cutting points for verification, and medical waste collection points; S2: Construct the first model and the second model based on the structural features of the robotic arm end and the swab end, respectively; S3: Acquire real-time images of the system's working area during nucleic acid sampling and mark each preset spatial point using a gridded model; S4: Identify the spatial locations of the robotic arm end and swab end in the real-time image based on the first model and the second model; S5: Sequentially determine whether the end of the robotic arm and the end of the swab have passed through each preset spatial point in sequence, and determine whether the positional relationship between them and each preset spatial point meets the preset requirements. If not, correct according to the offset and proceed to step S6. If yes, proceed to step S6. S6: Determine whether the robotic arm end and swab end have run the preset path once according to the preset requirements. If so, record the completion of one nucleic acid sampling. Once the preset number of nucleic acid samples has been collected, the current pooled testing task is deemed complete. The current pooled testing tube is then packaged and placed into the test tube rack. Otherwise, the process returns to step S3.

2. The nucleic acid pooled testing self-sampling method based on image analysis security verification as described in claim 1, characterized in that, During the nucleic acid sampling process, the robotic arm sequentially completes the operations of swab picking, nucleic acid sampling, swab loading, swab cutting, test tube packaging, and test tube placement when the end of the robotic arm moves to each preset spatial point.

3. The nucleic acid pooled testing self-sampling method based on image analysis security verification as described in claim 2, characterized in that, During nucleic acid sampling, the robotic arm adjusts the spatial position of the swab tip based on depth camera images.

4. The nucleic acid pooled testing self-sampling method based on image analysis security verification as described in claim 1, characterized in that, Step S6 further includes the following step: The system checks whether the number of nucleic acid samplings completed matches the number of people registered by scanning the code at the current stage; if not, the system reports an error.

5. A nucleic acid pooled testing self-sampling system based on image analysis security verification, characterized in that, include: The point setting module is used to construct a gridded model of the system's working area through gridding processing, and to set various preset spatial points according to preset paths; The preset spatial locations include swab points, sampling points, test tube / swab cutting points, swab tip cutting points for verification, and medical waste collection points; The instrument modeling module is used to construct a first model and a second model based on the structural features of the robotic arm end and the swab end, respectively. The image acquisition module is used to acquire real-time images of the system's working area during the nucleic acid sampling process; The instrument recognition module is used to mark each preset spatial point by combining real-time images with a gridded model, and to identify the spatial points where the robotic arm end and the swab end are located in the real-time image according to the first model and the second model. The trajectory correction module is used to correct the trajectory based on the offset when the robotic arm end and the swab end do not pass through the preset spatial points in sequence or when their positional relationship does not meet the preset requirements. The encapsulation control module is used to record the completion of one nucleic acid sampling when the robotic arm end and swab end run a preset path recording according to preset requirements, and to control the robotic arm to encapsulate the current mixed test tube and place it into the test tube rack after completing a preset number of nucleic acid samplings.

6. The nucleic acid pooled testing self-sampling system based on image analysis security verification as described in claim 5, characterized in that, During the nucleic acid sampling process, the robotic arm sequentially completes the operations of swab picking, nucleic acid sampling, swab loading, swab cutting, test tube packaging, and test tube placement when the end of the robotic arm moves to each preset spatial point.

7. The nucleic acid pooled testing self-sampling system based on image analysis security verification as described in claim 6, characterized in that, During nucleic acid sampling, the robotic arm adjusts the spatial position of the swab tip based on depth camera images.

8. The nucleic acid pooled testing self-sampling system based on image analysis security verification as described in claim 5, characterized in that, The encapsulation control module also includes: The personnel verification unit is used to report an error when the number of nucleic acid samplings completed does not match the number of people registered by scanning the code at the current stage.

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