A workstation to assist in egg picking

Abstract

The application relates to the technical field of medical devices, and particularly discloses a workstation for assisting in picking up eggs, which is used for constant-temperature conveying of a collection tube containing follicular fluid, and comprises a workstation, a first executing mechanism for opening a cover of the collection tube, and a second executing mechanism for clamping a tube body of the collection tube; the workstation is provided with a delivery window, and a collection tube conveying mechanism for conveying the collection tube is arranged in the delivery window; and a temperature maintaining system is further arranged on the workstation to maintain the temperature of the follicular fluid in the collection tube. The collection tube conveying mechanism arranged in the delivery window is used for conveying the collection tube, and the first executing mechanism and the second executing mechanism are used for realizing the grasping, opening, pouring and discarding of the collection tube, so that special collection tube delivery personnel are not needed, labor is saved, work efficiency is improved, the in-vitro exposure time of the ovum is shortened, and the development potential of the ovum is protected.

Description

Technical Field

[0001] This invention relates specifically to the field of medical device technology, and more specifically to a workstation for assisting in egg retrieval. Background Technology

[0002] In assisted reproductive technology, my country currently performs approximately 1 million in vitro fertilization (IVF) embryo transfer procedures annually. IVF involves stimulating ovulation in women of infertile couples with suitable indications using medication. Once the eggs mature, they are retrieved and fertilized with sperm outside the body to form embryos, which are then transferred into the uterine cavity. The egg retrieval process takes place in an operating room under ultrasound guidance. A needle is inserted through the vagina and ovarian tissue into the follicular cavity. Negative pressure is used to aspirate follicular fluid and eggs into a collection tube. This tube is then manually passed through a transfer window to the adjacent egg collection room. In the collection room, the embryologist receives the collection tube from the transfer staff and pours the follicular fluid into a large collection dish. Under a microscope, the eggs are located in the collection dish and collected into another culture dish for further culture. In short, egg retrieval and collection are performed in two adjacent rooms by different medical personnel.

[0003] The specific process is as follows: In the egg retrieval operating room, one assistant in the surgical team is responsible for transferring the follicular fluid collection tube after egg retrieval to the temperature-controlled test tube rack in the transfer window. In the egg collection room, there is also an assistant in the medical team responsible for passing the follicular fluid collection tube in the transfer window to the embryologist. The embryologist then uses a stereomicroscope in the IVF workstation to locate the eggs and collect them into another culture dish.

[0004] The existing egg retrieval process has a problem: from the time the eggs are retrieved, they are transferred to a temperature-controlled IVF tube rack in the transfer window, and then removed from the rack and delivered to the embryologist at the IVF workstation. During this time, the ambient temperature is usually room temperature (around 25 degrees Celsius). Although the distance is short, even a slight delay in transfer and handover is enough to cause a significant drop in the temperature of the follicular fluid (around 37 degrees Celsius). Eggs are very sensitive to temperature, and low temperatures significantly reduce their developmental potential. Furthermore, the egg retrieval room requires a professional to handle the follicular fluid collection tubes; the work itself is simple, but it wastes manpower. Summary of the Invention

[0005] The purpose of this invention is to provide an auxiliary workstation for egg retrieval, which solves the problem mentioned in the background art that the developmental potential of eggs is reduced due to the decrease in temperature during the egg transfer process, and uses a robotic arm to transfer the follicular fluid collection tube, thus saving manpower.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A workstation for assisting in egg collection, used for temperature-controlled transport of collection tubes containing follicular fluid, includes a workstation with a first actuator for opening the collection tube cap and a second actuator for clamping the collection tube body, for automatic grabbing, opening, emptying, and discarding of the collection tube; the workstation is provided with a transfer window, in which a collection tube transport mechanism is provided for transporting the collection tube, the collection tube transport mechanism including a collection tube frame and a moving groove formed in the collection tube frame for moving the collection tube, the collection tube frame being provided with a pushing component for moving the collection tube from an initial position to an end position, for transporting the collection tube; The workstation is also equipped with a temperature maintenance system, which includes a workstation sidewall with a heat-conducting plate structure, a heat-conducting panel set on the inner wall of the transfer window, a heating resistor for heating the heat-conducting panel, and an air supply system. The air supply system includes a plasma disinfection layer and an electric heating wire mesh layer set along the airflow direction to maintain the temperature of the follicular fluid in the collection tube. The first actuator includes a first robotic arm and a cover opening mechanism installed at the execution end of the first robotic arm. The cover opening mechanism includes a first connecting seat, a first clamping ring and a second clamping ring. The second clamping ring is slidably disposed. A telescopic component that drives the second clamping ring to move is also installed on the first connecting seat. The telescopic component controls the second clamping ring to slide, so as to adjust the distance between the first clamping ring and the second clamping ring, so that the first clamping ring and the second clamping ring clamp the collection tube cover. The collection tube conveying mechanism includes a collection tube frame and a moving trough formed on the collection tube frame for moving the collection tube. The collection tube frame is equipped with a pushing component that moves the collection tube from an initial position to an end position. The side of the moving trough away from the workstation is the initial position of the collection tube, and the side of the moving trough closer to the workstation is the end position of the collection tube. The pushing component includes several cross plates that are synchronously rotatably mounted on one side of the moving trough and a third motor that drives the cross plates to rotate. The movable slot is slidably fitted with an elastic clamping member to fix the collection tube. The collection tube frame is also provided with a linear moving component that drives the collection tube to move from the initial position to the end position. The linear moving component includes a drive screw rotatably installed in the collection tube frame and a sliding sleeve threadedly installed on the drive screw. The sliding sleeve is connected to the elastic clamping member through a connecting structure. The connection structure includes an elastic protrusion fixedly installed on the elastic clamping member and a connecting groove formed on the sliding screw sleeve. The connecting groove cooperates with the elastic protrusion, the elastic protrusion is made of iron material, and an electromagnet is installed inside the connecting groove.

[0007] As a further aspect of the present invention: the second actuator includes a second robotic arm and a tube clamping mechanism installed at the execution end of the second robotic arm. The tube clamping mechanism includes a second connecting seat, a bracket rotatably mounted on the second connecting seat, and a first clamping sleeve and a second clamping sleeve for clamping the tube. An adjustment component is installed on the bracket to drive the first clamping sleeve and the second clamping sleeve to move. The adjustment component controls the movement of the first clamping sleeve and the second clamping sleeve so that the first clamping sleeve and the second clamping sleeve cover the outside of the tube of the collection tube.

[0008] Furthermore, the workstation includes a tabletop, sidewalls disposed on the tabletop, and a support bracket for supporting the tabletop. The first actuator and the second actuator are mounted on the tabletop. The transfer window is located on the side wall. The first actuator is used to pick up the collection tube cover of the collection tube that arrives at the other side of the transfer window in the collection tube transport mechanism. The second actuator is used to grab the collection tube body of the collection tube. The first actuator is also used to screw the collection tube cover to open the collection tube. Furthermore, the transfer window is equipped with a sensor door, which is a double-sided door located on the entrance and exit sides of the transfer window. The entrance side of the transfer window is also equipped with a sensor, which is electrically connected to the display in the egg retrieval area and the egg collection area. The sensor is used to acquire patient information for the egg retrieval surgery and send the information to the display for display.

[0009] As a further aspect of the present invention: the second robotic arm has the same structure as the first robotic arm. The first robotic arm includes a base, a rotating column rotatably mounted on the base, a mounting seat fixedly mounted on the rotating column, and a swing arm. One end of the swing arm is rotatably connected to the mounting seat, and the other end of the swing arm is rotatably connected to a first motor. A hinge seat is fixedly mounted on the output end of the first motor, and a connector is rotatably provided on the hinge seat. The rotating column, the swing arm, and the connector are controlled to rotate to adjust the spatial position of the cover-opening mechanism, so that the cover-opening mechanism can clamp the collection tube cover and drive the collection tube with the collection tube cover to move in the internal space of the workstation, thereby moving the collection tube to a designated position.

[0010] As a further embodiment of the present invention: a first drive motor for driving the rotating column to rotate is installed on the base, a second drive motor for driving the swing arm to rotate is installed on the mounting seat, and a second motor for driving the connector to rotate is installed on the hinge seat.

[0011] As a further embodiment of the present invention: the connector of the first robotic arm is connected to the cover opening mechanism, and the connector of the second robotic arm is connected to the tube clamping mechanism.

[0012] As a further embodiment of the present invention: the first clamping sleeve and the second clamping sleeve have the same structure and are in contact with the surface of the collection tube. The first clamping sleeve and the second clamping sleeve are provided with heaters inside to keep the temperature of the collection tube constant.

[0013] As a further embodiment of the present invention: the adjusting assembly includes an adjusting screw rotatably mounted on the bracket, and two threaded sleeves are symmetrically threaded on the left and right sides of the adjusting screw. One side of the threaded sleeve is slidably connected to the bracket, and the other side of the threaded sleeve is fixedly connected to the first clamping sleeve or the second clamping sleeve. Two kinds of external threads with opposite directions are also symmetrically arranged on the left and right sides of the adjusting screw.

[0014] As a further embodiment of the present invention: a control motor that drives the bracket to rotate is fixedly installed on the second connecting seat, and an adjustment motor that drives the adjustment screw to rotate is also installed on the bracket.

[0015] The first actuator first removes the collection tube from inside the collection tube transport mechanism. Then, the second actuator clamps the tube body of the collection tube. Once the tube body is fixed by the second actuator, the first motor of the first actuator is driven to work. The first motor controls the connector and the cover opening mechanism to rotate, and the cover opening mechanism opens the cover of the collection tube. After the cap-opening mechanism unscrews the tube cap, the cap and tube body of the collection tube separate. The second actuator then rotates the tube body, causing it to tilt and pour out the follicular fluid inside. The workstation is also equipped with an egg-collecting dish to hold the follicular fluid. The second actuator pours the follicular fluid into the egg-collecting dish. After the follicular fluid is poured out, the first and second actuators place the cap and tube body into the waste collection box on the workstation, respectively. The follicular fluid is then poured into the egg-collecting dish by a robotic arm. This eliminates the need for dedicated personnel, saving labor, improving work efficiency, and shortening the time the eggs are exposed outside the body, which helps protect the developmental potential of the eggs.

[0016] As a further embodiment of the present invention: the connecting structure includes an elastic protrusion fixedly installed on the elastic clamping member and a connecting groove formed on the sliding screw sleeve. The connecting groove cooperates with the elastic protrusion, which is made of ferrous material. An electromagnet is installed inside the connecting groove. When the electromagnet is energized, it attracts the elastic protrusion, causing it to extend and engage with the connecting groove, thus connecting the sliding screw sleeve and the elastic clamping member. At this time, the sliding screw sleeve is controlled to slide, driving the collection tube to move from the initial position to the end position. After the electromagnet is de-energized, the elastic protrusion resets, and the sliding screw sleeve separates from the elastic clamping member. At this time, the linear movement component serves as a backup drive mechanism.

[0017] As a further embodiment of the present invention: a first sensor and a second sensor are respectively provided at the bottom of the moving trough at the initial position and the end position; the workstation is also provided with a controller; the first and second sensors are electrically connected to the controller; the controller is electrically connected to the pushing assembly and the linear moving assembly, wherein: The first and second sensors are used to collect the acquisition tube sensing signals at the initial and final positions; The controller generates a first control signal based on the sensor signal from the acquisition tube at the initial position; it is also used to send the first control signal to a third motor or a fourth motor to control the operation of the third motor or the fourth motor. After receiving the first control signal, the third motor drives the cross plate to rotate, and after receiving the first control signal, the fourth motor controls the drive screw to rotate.

[0018] In addition, the controller is also electrically connected to the first actuator. The controller is also used to generate a second control signal based on the sensing signal of the acquisition tube at the endpoint position, and send the second control signal to the first actuator. After receiving the second control signal, the first actuator grabs the acquisition tube at the endpoint position, and the third actuator then controls the tube clamping mechanism to cover the acquisition tube body.

[0019] A third sensor is also installed on the workstation surface at the location where the egg collection dish is placed. The controller is electrically connected to the third sensor, and the controller is also electrically connected to the first actuator and the second actuator, wherein: The third sensor is used to collect the sensor signal of the egg collection dish at the placement location; The controller generates a third control signal and a fourth control signal based on the sensing signal, and sends the third control signal and the fourth control signal to the first actuator and the second actuator. The third control signal controls the first actuator to unscrew the cap of the collection tube, and the fourth control signal controls the second actuator to perform a pouring action after the cap of the collection tube is unscrewed, pouring the follicular fluid in the collection tube into the egg collection dish. Subsequently, the first actuator and the second actuator discard the cap and body of the collection tube into the waste collection bin.

[0020] Compared with the prior art, the beneficial effects of the present invention are: This invention features a transfer window on the side wall of the workstation, directly connecting the transfer window to the side of the workstation. The transfer window is equipped with a temperature control device to maintain a temperature of 37°C. By equipping the transfer window, workstation, and the first and second actuators with temperature control components, the entire transfer process—from oocyte retrieval to the pouring of follicular fluid into the oocyte collection dish—is completed within the set ambient temperature. This multi-stage temperature control ensures the temperature of the follicular fluid collection tube during transport, reducing the damage to oocyte developmental potential caused by temperature drops during transport. Furthermore, the invention utilizes a collection tube transport mechanism within the transfer window to transport the collection tube. The first and second actuators handle the grabbing, opening, pouring, and discarding of the collection tube, eliminating the need for dedicated collection tube transport personnel, saving labor, improving work efficiency, and shortening the oocyte's external exposure time, thus protecting its developmental potential. Attached Figure Description

[0021] Figure 1 A schematic diagram of the workstation used to assist in egg collection.

[0022] Figure 2 A schematic diagram of another structure in a workstation used to assist in egg collection.

[0023] Figure 3 A front view of the workstation used to assist in egg collection.

[0024] Figure 4 A schematic diagram of the first actuator in the workstation that assists in egg retrieval.

[0025] Figure 5 A schematic diagram of the cap-opening mechanism in the workstation used to assist in egg collection.

[0026] Figure 6 A schematic diagram of the second actuator in the workstation used to assist in egg retrieval.

[0027] Figure 7 A schematic diagram of the tube clamping mechanism in the workstation used to assist in egg retrieval.

[0028] Figure 8 A top view of the tube clamping mechanism in the workstation used to assist in egg retrieval.

[0029] Figure 9 A schematic diagram of the collection tube transport mechanism in the workstation used to assist in egg collection.

[0030] Figure 10 A partial cross-sectional view of the collection tube transport mechanism in the workstation used to assist in egg collection.

[0031] Figure 11 A schematic diagram of the transfer window structure in the workstation used to assist in egg retrieval.

[0032] Figure 12 A partial cross-sectional view of the air supply system in the workstation used to assist in egg collection.

[0033] In the diagram: 10-Workstation, 11-Support, 12-Egg collection dish, 13-Waste collection bin, 14-Embedded incubator, 15-Induction door, 151-Sensor, 16-Pass-through window, 17-Air supply system; 20-First actuator, 21-First robotic arm, 211-Base, 212-Rotating column, 213-Mounting seat, 214-Swing arm, 215-First motor, 216-Second motor, 22-Opening mechanism, 221-First connecting seat, 222-First clamping ring, 223-Second clamping ring, 224-Telescopic assembly; 30-Second actuator, 31-Second robotic arm, 32-Pipe clamping mechanism, 321-Second connecting seat, 322-Bracket, 323-Control motor, 324-First clamping sleeve, 325-Second clamping sleeve, 326-Adjusting screw, 327-Screw sleeve; 40-Collection tube conveying mechanism, 41-Collection tube rack, 42-Moving trough, 43-Collection tube, 44-Pushing component, 45-Third motor, 46-Fourth motor, 47-Sliding screw sleeve, 48-Drive screw. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The existing egg retrieval process has a problem: from the time the eggs are retrieved, they are transferred to a temperature-controlled IVF tube rack in the transfer window, and then removed from the rack and delivered to the embryologist at the IVF workstation. During this time, the ambient temperature is usually room temperature (around 25 degrees Celsius). Although the distance is short, even a slight delay in transfer and handover is enough to cause a significant drop in the temperature of the follicular fluid (around 37 degrees Celsius). Eggs are very sensitive to temperature, and low temperatures significantly reduce their developmental potential. Furthermore, the egg retrieval room requires a professional to handle the follicular fluid collection tubes; the work itself is simple, but it wastes manpower.

[0036] To address the aforementioned technical problems, this invention discloses a workstation for assisting egg retrieval, which is described in detail below with reference to embodiments: Please see Figure 1-4In this embodiment of the invention, an auxiliary oocyte retrieval workstation is provided for transporting collection tubes 43 containing follicular fluid and maintaining a constant temperature of the follicular fluid in the collection tubes 43 during transport. The workstation includes a workstation 10, a first actuator 20, a second actuator 30, and a collection tube transport mechanism 40. A transfer window 16 is provided on the side wall of the workstation 10, and the collection tube transport mechanism 40 is installed in the transfer window 16. The collection tube transport mechanism 40 is used to transport the collection tubes outside the transfer window 16 to the inside of the transfer window 16. The inside of the transfer window 16 is the interior of the workstation 10. It should be noted that the area outside the transfer window 16 is the oocyte retrieval area, which in the prior art is the oocyte retrieval room. The area inside the transfer window 16 is the oocyte retrieval area, which is the oocyte retrieval room equipped with an IVF workstation. This invention provides an oocyte retrieval area by opening a transfer window 16 on the side wall of the workstation 10. A pass-through window 16 is provided to directly connect the egg retrieval room and the workstation 10, saving the transportation time of the collection tube 43 and preventing the temperature drop of the collection tube 43 due to excessive transportation time. At the same time, setting the pass-through window 16 on the side wall of the workstation 10 saves the operating space of the egg retrieval room. The workstation 10 includes a table, a side wall set on the table, and a bracket 11 supporting the table. The first actuator 20 and the second actuator 30 are installed on the workstation 10. The pass-through window 16 is opened on the side wall. The first actuator 20 is used to pick up the collection tube cap of the collection tube 43 that arrives at the other side of the pass-through window 16 in the collection tube transportation mechanism 40. The second actuator 30 is used to grab the collection tube body of the collection tube 43. The first actuator 20 is also used to screw the collection tube cap to open the collection tube 43. In addition, in this embodiment of the invention, the sidewall is a heatable constant temperature plate structure with a heating component inside. The heating component heats the constant temperature plate of the sidewall, thereby ensuring that the ambient temperature of the transfer window 16 is controlled at around 37°C.

[0037] It should be noted that the transfer window 16 is a channel structure with a certain length. Both the entrance and exit sides of the transfer window 16 are equipped with sensor doors 15. The sensor doors 15 are double doors set on the entrance and exit sides of the transfer window 16. The entrance side of the transfer window 16 is also equipped with a sensor 151. The sensor 151 is electrically connected to the display in the egg retrieval area and the egg collection area. The sensor 151 is used to acquire patient information for the egg retrieval surgery and send the information to the display for display. Specifically, the sensor 151 includes an ID card reader, a fingerprint or face recognition device. In addition, in this embodiment of the invention, the size of the transfer window 16 is 20X20X30cm. The sensor doors 15 of the transfer window 16 open sensitively and are linked on both sides. That is, the two sides of the sensor doors 15 cannot be opened at the same time, but only one side can be opened alternately. Furthermore, in this embodiment of the invention, a patient information label printing system is also included. The patient information label printing system includes an information acquisition module and a printing module. The information acquisition module is connected to the sensor 151 and also connected to the printing module, wherein: The information acquisition module is used to acquire patient information for egg retrieval surgery and send the patient information to the printing module. The printing module is used to print patient information for the egg retrieval surgery to form a patient information label. The patient information label is used to affix to the patient's egg collection dish to avoid errors in the patient information.

[0038] like Figure 11 As shown, in this embodiment of the invention, the inner wall of the transfer window 16 is provided with a heat-conducting panel 163 and a heating resistor 162 for heating the heat-conducting panel 163. After the heating resistor 162 is energized, it generates heat and transfers the heat to the heat-conducting panel 163, so as to control the temperature inside the transfer window 16 through the heat radiation generated by the heat-conducting panel 163. In this embodiment, the temperature inside the transfer window 16 should be controlled at about 37°C. In addition, a temperature probe is provided inside the transfer window 16 for real-time measurement of the temperature inside the transfer window 16.

[0039] Furthermore, a heat insulation layer 161 is provided at the connection between the transfer window 16 and the side wall of the workstation 10. It can be understood that the heat insulation layer 161 is located on the outside of the heating resistor 162.

[0040] like Figure 1 as well as Figure 12 As shown, in this embodiment of the invention, the workstation 10 is also provided with an air supply system 17, which is a Class 100 laminar flow filtration system. The air supply system 17 is installed on the top of the workstation 10 and includes a plasma disinfection layer 172 and an electric heating wire mesh layer 176 arranged along the airflow direction. The electric heating wire mesh layer 176 has a U-shaped structure. By setting the heating component electric heating wire mesh layer 176 in the air supply system 17, the air entering the workstation 10 is heated to ensure that the ambient temperature of the workstation 10 is maintained at about 37°C. Furthermore, the air supply system 17 also includes a pre-filter 171, an activated carbon layer 173, a HEPA layer 174, a high-efficiency filter 175 arranged along the air direction, and an air distribution hood 177 arranged at the air outlet. By setting multiple filtration components, the air entering the workstation 10 is filtered and disinfected so that the workstation 10 is in a sterile environment.

[0041] In this embodiment of the invention, the first actuator 20 includes a first robotic arm 21 and a cover-opening mechanism 22 mounted on the actuator end of the first robotic arm 21, such as... Figure 5As shown, the opening mechanism 22 includes a first connecting seat 221 and a first clamping ring 222 and a second clamping ring 223 disposed at the bottom of the first connecting seat 221. The first clamping ring 222 is fixedly installed at the bottom of the first connecting seat 221, and the second clamping ring 223 is slidably installed at the bottom of the first connecting seat 221. The first connecting seat 221 is also equipped with a telescopic component 224 for driving the second clamping ring 223 to move. In this embodiment, the telescopic component 224 is preferably a cylinder, which controls the second clamping ring 223 to slide at the bottom of the first connecting seat 221 to adjust the distance between the first clamping ring 222 and the second clamping ring 223, so that the first clamping ring 222 and the second clamping ring 223 can clamp the collection tube cover, thereby driving the collection tube 43 to move. Furthermore, in embodiments of the present invention, such as Figure 4 As shown, the first robotic arm 21 includes a base 211, a rotating column 212 rotatably mounted on the base 211, a mounting base 213 fixedly mounted on the rotating column 212, and a swing arm 214. One end of the swing arm 214 is rotatably connected to the mounting base 213, and the other end of the swing arm 214 is rotatably connected to a first motor 215. The output end of the first motor 215 is fixedly mounted with a hinge seat, and a connector is rotatably provided on the hinge seat. The connector is used to connect and install the cover opening mechanism 22. Furthermore, in this embodiment of the invention, a first drive motor for driving the rotating column 212 to rotate is installed on the base 211, a second drive motor for driving the swing arm 214 to rotate is installed on the mounting base 213, and a second motor 216 for driving the connector to rotate is installed on the hinge base. The rotation of the rotating column 212, the swing arm 214, and the connector is controlled to adjust the spatial position of the opening mechanism 22, so that the opening mechanism 22 can clamp the collection tube cover and drive the collection tube 43 with the collection tube cover to move in the internal space of the workstation 10, thereby moving the collection tube 43 to a designated position.

[0042] In embodiments of the present invention, such as Figure 6-7 As shown, the second actuator 30 includes a second robotic arm 31 and a tube clamping mechanism 32 installed at the execution end of the second robotic arm 31. The second robotic arm 31 has the same structure as the first robotic arm 21. The connector of the second robotic arm 31 is connected to the tube clamping mechanism 32. The tube clamping mechanism 32 is controlled to move in the internal space of the workstation 10 through the second robotic arm 31, so that the tube clamping mechanism 32 can clamp the tube of the collection tube 43 at any position in the internal space of the workstation 10. It should be noted that the first actuator 20 first removes the collection tube 43 from the collection tube transport mechanism 40, and then the second actuator 30 clamps the tube body of the collection tube 43. After the tube body of the collection tube 43 is fixed by the second actuator 30, the first motor 215 of the first actuator 20 is driven to work. The first motor 215 controls the connector and the cap opening mechanism 22 to rotate, and the cap opening mechanism 22 opens the cap of the collection tube 43. After the cap opening mechanism 22 unscrews the cap, the cap and tube body of the collection tube 43 separate, and the second actuator 30 is controlled to drive the tube body to rotate, causing the tube body to tilt, thereby pouring out the follicular fluid inside the tube body. In this embodiment of the invention, the workstation 10 is also equipped with an oocyte collection dish 12 for containing the follicular fluid and a microscope (not shown in the figure) used in conjunction with the oocyte collection dish 12. The second actuator 30 pours the follicular fluid into the oocyte collection dish 12. After the follicular fluid is poured out, the first actuator 20 and the second actuator 30 respectively place the tube cap and tube body into the waste collection box 13 provided on the workstation 10. The follicular fluid is then poured into the oocyte collection dish by a robotic arm mechanism. This eliminates the need for dedicated personnel, saves labor, improves work efficiency, and shortens the time the eggs are exposed outside the body, which is beneficial for protecting the developmental potential of the eggs.

[0043] In this embodiment of the invention, the pipe clamping mechanism 32 includes a second connecting seat 321, a bracket 322 rotatably mounted on the second connecting seat 321, and a first clamping sleeve 324 and a second clamping sleeve 325 for clamping the pipe. The first clamping sleeve 324 and the second clamping sleeve 325 are slidably mounted on the bracket 322. An adjusting component is mounted on the bracket 322 to move the first clamping sleeve 324 and the second clamping sleeve 325. The adjusting component controls the movement of the first clamping sleeve 324 and the second clamping sleeve 325 to make the first clamping sleeve 324 and the second clamping sleeve 325 move. 5. The first clamping sleeve 324 and the second clamping sleeve 325 are covered on the outside of the tube body of the collection tube 43 to clamp the tube body. As can be seen from the figure, in this embodiment of the invention, the first clamping sleeve 324 and the second clamping sleeve 325 have the same structure and are in contact with the surface of the tube body of the collection tube 43. Their specific shape is a "palm" shape with a vertical upper part and a semi-circular lower part, so as to completely cover the tube body of the collection tube 43. In addition, the first clamping sleeve 324 and the second clamping sleeve 325 are equipped with heaters inside to keep the temperature of the collection tube 43 constant. In this embodiment of the invention, the constant temperature of the collection tube 43 is 37°C.

[0044] Furthermore, in this embodiment of the invention, the adjusting assembly includes an adjusting screw 326 rotatably mounted on the bracket 322. Two threaded sleeves 327 are symmetrically threaded on the left and right sides of the adjusting screw 326. One side of each threaded sleeve 327 is slidably connected to the bracket 322, and the other side is fixedly connected to either the first clamping sleeve 324 or the second clamping sleeve 325. The adjusting screw 326 also has two symmetrically arranged external threads with opposite directions. Controlling the rotation of the adjusting screw 326 causes the two threaded sleeves 327 to move towards or away from each other. When the two threaded sleeves 327 move towards each other, they cause the first clamping sleeve 324 and the second clamping sleeve 325 to move closer together to clamp the tube. When the two threaded sleeves 327 move away from each other, they cause the first clamping sleeve 324 and the second clamping sleeve 325 to move away from each other, thereby releasing the tube. It should be noted that a control motor 323 that drives the bracket 322 to rotate is fixedly installed on the second connecting seat 321, and an adjustment motor that drives the adjustment screw 326 to rotate is also installed on the bracket 322.

[0045] Please see Figure 9-10 In this embodiment of the invention, the collection tube conveying mechanism 40 includes a collection tube frame 41. The collection tube frame 41 is provided with a moving groove 42 for the collection tube 43 to move. The side of the moving groove 42 away from the workstation 10 is the initial position of the collection tube, and the side of the moving groove 42 close to the workstation 10 is the end position of the collection tube. The collection tube frame 41 is provided with a pushing component 44 that drives the collection tube 43 to move from the initial position to the end position. The pushing component 44 includes several cross plates that are synchronously rotated and installed on one side of the moving groove 42 and a third motor 45 that drives the cross plates to rotate, controlling the cross plates to rotate synchronously so as to gradually push the collection tube 43 in the moving groove 42 from the initial position to the end position. Furthermore, to ensure the stability of the collection tube 43 during movement, an elastic clamping member is slidably installed inside the moving groove 42 to fix the collection tube 43, such as... Figure 10 As shown, when the collection tube 43 is placed into the moving slot 42, the elastic clamping member automatically clamps the collection tube 43. The elastic clamping member keeps the collection tube in a vertical state during the movement of the collection tube to prevent the collection tube 43 from tipping over.

[0046] Furthermore, in this embodiment of the invention, the collection tube frame 41 is also provided with a linear moving component that drives the collection tube 43 to move from the initial position to the end position. The linear moving component includes a drive screw 48 rotatably installed in the collection tube frame 41 and a sliding sleeve 47 threadedly installed on the drive screw 48. The sliding sleeve 47 is connected to the elastic clamping member through a connecting structure, controlling the drive screw 48 to rotate, so as to drive the elastic clamping member and the collection tube 43 set in the elastic clamping member to move from the initial position to the end position through the sleeve 47. In this embodiment of the invention, the connection structure includes an elastic protrusion fixedly installed on the elastic clamping member and a connecting groove formed on the sliding screw sleeve 47. The connecting groove cooperates with the elastic protrusion, which is made of iron material. An electromagnet is installed inside the connecting groove. When the electromagnet is energized, it attracts the elastic protrusion, causing it to extend and engage with the connecting groove, thus connecting the sliding screw sleeve 47 to the elastic clamping member. At this time, the sliding screw sleeve 47 is controlled to slide, driving the collection tube 43 to move from the initial position to the end position. After the electromagnet is de-energized, the elastic protrusion resets, and the sliding screw sleeve 47 separates from the elastic clamping member. At this time, the linear movement component serves as a backup drive mechanism. Furthermore, in this embodiment of the invention, a fourth motor 46 for controlling the rotation of the drive screw 48 is also provided on the collection tube frame 41.

[0047] To enable the feeding assembly 44 or the linear motion assembly to sense the acquisition tube 43, a first sensor and a second sensor are respectively installed at the bottom of the moving trough 42 at the initial and final positions. The workstation 10 is also equipped with a controller. The first and second sensors are electrically connected to the controller, and the controller is electrically connected to the feeding assembly 44 and the linear motion assembly, wherein: The first and second sensors are used to collect the sensing signals from the acquisition tube 43 at the initial and final positions; The controller generates a first control signal based on the sensing signal from the acquisition tube 43 at the initial position; it is also used to send the first control signal to the third motor 45 or the fourth motor 46 to control the third motor 45 or the fourth motor 46 to work. After receiving the first control signal, the third motor 45 drives the cross plate to rotate, and after receiving the first control signal, the fourth motor 46 controls the drive screw 48 to rotate.

[0048] In addition, the controller is also electrically connected to the first actuator 20. The controller is also used to generate a second control signal based on the sensing signal of the acquisition tube 43 at the end position, and send the second control signal to the first actuator 20. After receiving the second control signal, the first actuator 20 grabs the acquisition tube at the end position, and the third actuator 30 then controls the tube clamping mechanism 32 to cover the tube body of the acquisition tube 43.

[0049] A third sensor is also provided on the workstation 10 at the placement position of the egg collection dish 12. The controller is electrically connected to the third sensor, and the controller is also electrically connected to the first actuator 20 and the second actuator 30, wherein: The third sensor is used to collect the sensor signal of the egg collection dish 12 at the placement location; The controller is used to generate a third control signal and a fourth control signal based on the sensing signal, and send the third control signal and the fourth control signal to the first actuator 20 and the second actuator 30. The third control signal is used to control the first actuator 20 to unscrew the cap of the collection tube 43. The fourth control signal is used to control the second actuator 30 to perform a pouring action after the cap of the collection tube 43 is unscrewed, pouring the follicular fluid in the collection tube 43 into the egg collection dish 12. Subsequently, the first actuator 20 and the second actuator 30 throw the cap and body of the collection tube into the waste collection bin 13. In this embodiment of the invention, the workstation 10 is also provided with an embedded incubator 14 on its table. The cover of the embedded incubator 14 is opened by sliding back and forth, and a mixture of CO2 and N2 gas can be introduced into the chamber.

[0050] In summary, this invention features a transfer window 16 on the side wall of the workstation, directly connecting the transfer window 16 to the side of the workstation. By equipping the transfer window 16, the workstation, and the first and second actuators with temperature-controlled components, the entire transfer process—from oocyte retrieval to the pouring of follicular fluid into the oocyte collection dish—is completed within a set ambient temperature. Multi-stage temperature control ensures the temperature of the follicular fluid collection tube during transport, reducing the damage to oocyte developmental potential caused by temperature drops during transport. Furthermore, this invention utilizes a collection tube transport mechanism within the transfer window 16 to transport the collection tube, and the first and second actuators handle the grabbing, opening, pouring, and discarding of the collection tube. This eliminates the need for dedicated collection tube transport personnel, saving labor, improving work efficiency, shortening the oocyte's external exposure time, and protecting its developmental potential.

[0051] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0052] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A workstation for assisting in oocyte retrieval, used for temperature-controlled transport of collection tubes (43) containing follicular fluid, comprising a workstation (10), characterized in that, The workstation (10) is equipped with a first actuator (20) for opening the cover of the collection tube and a second actuator (30) for clamping the body of the collection tube (43) to automatically grab, open, pour and discard the collection tube; the workstation (10) is equipped with a transfer window (16), and the transfer window (16) is equipped with a collection tube transport mechanism (40) for transporting the collection tube (43); The workstation (10) is also equipped with a temperature maintenance system, which includes a side wall of the workstation (10) with a heatable constant temperature plate structure, a heat-conducting panel (163) set on the inner wall of the transfer window (16), a heating resistor (162) for heating the heat-conducting panel (163), and an air supply system (17). The air supply system (17) includes a plasma disinfection layer (172) and an electric heating wire mesh layer (176) set along the wind direction to maintain the temperature of the follicular fluid in the collection tube (43). The first actuator (20) includes a first robotic arm (21) and a cover opening mechanism (22) installed on the execution end of the first robotic arm (21). The cover opening mechanism (22) includes a first connecting seat (221), a first clamping ring (222) and a second clamping ring (223). The second clamping ring (223) is slidably disposed. The first connecting seat (221) is also equipped with a telescopic component (224) that drives the second clamping ring (223) to move. The telescopic component (224) controls the second clamping ring (223) to slide, so as to adjust the distance between the first clamping ring (222) and the second clamping ring (223) so that the first clamping ring (222) and the second clamping ring (223) clamp the collection tube cover. The collection tube transport mechanism (40) includes a collection tube frame (41) and a moving groove (42) opened on the collection tube frame (41) for the collection tube (43) to move. The collection tube frame (41) is provided with a pushing component (44) that drives the collection tube (43) to move from the initial position to the end position. The side of the moving groove (42) away from the workstation (10) is the initial position of the collection tube, and the side of the moving groove (42) close to the workstation (10) is the end position of the collection tube. The pushing component (44) includes several cross plates that are synchronously rotated and installed on one side of the moving groove (42) and a third motor (45) that drives the cross plates to rotate. The movable slot (42) is slidably installed with an elastic clamping member for fixing the collection tube (43). The collection tube frame (41) is also provided with a linear moving component that drives the collection tube (43) to move from the initial position to the end position. The linear moving component includes a drive screw (48) rotatably installed in the collection tube frame (41) and a sliding sleeve (47) threadedly installed on the drive screw (48). The sliding sleeve (47) is connected to the elastic clamping member through a connecting structure. The connection structure includes an elastic protrusion fixedly installed on the elastic clamping member and a connecting groove opened on the sliding screw sleeve (47). The connecting groove cooperates with the elastic protrusion. The elastic protrusion is made of iron material, and an electromagnet is installed inside the connecting groove.

2. The workstation for assisting egg retrieval according to claim 1, characterized in that, The second actuator (30) includes a second robotic arm (31) and a tube clamping mechanism (32) installed at the execution end of the second robotic arm (31). The tube clamping mechanism (32) includes a second connecting seat (321), a bracket (322) rotatably mounted on the second connecting seat (321), and a first clamping sleeve (324) and a second clamping sleeve (325) for clamping the tube. An adjustment component is installed on the bracket (322) to drive the first clamping sleeve (324) and the second clamping sleeve (325) to move. The adjustment component controls the movement of the first clamping sleeve (324) and the second clamping sleeve (325) so that the first clamping sleeve (324) and the second clamping sleeve (325) cover the outside of the tube of the collection tube (43).

3. The workstation for assisting egg retrieval according to claim 2, characterized in that, The second robotic arm (31) has the same structure as the first robotic arm (21). The first robotic arm (21) includes a base (211), a rotating column (212) rotatably mounted on the base (211), a mounting seat (213) fixedly mounted on the rotating column (212), and a swing arm (214). One end of the swing arm (214) is rotatably connected to the mounting seat (213), and the other end of the swing arm (214) is rotatably connected to a first motor (215). The output end of the first motor (215) is fixedly mounted with a hinge seat, and a connector is rotatably provided on the hinge seat.

4. The workstation for assisting egg retrieval according to claim 3, characterized in that, The base (211) is equipped with a first drive motor that drives the rotating column (212) to rotate, the mounting base (213) is equipped with a second drive motor that drives the swing arm (214) to rotate, and the hinge base is equipped with a second motor (216) that drives the connector to rotate.

5. The workstation for assisting egg retrieval according to claim 4, characterized in that, The first clamping sleeve (324) and the second clamping sleeve (325) have the same structure and fit against the tube surface of the collection tube (43). The first clamping sleeve (324) and the second clamping sleeve (325) are equipped with heaters inside to keep the temperature of the collection tube (43) constant.

6. The workstation for assisting egg retrieval according to claim 5, characterized in that, The adjustment assembly includes an adjustment screw (326) rotatably mounted on the bracket (322). Two threaded sleeves (327) are symmetrically threaded on the left and right sides of the adjustment screw (326). One side of the threaded sleeve (327) is slidably connected to the bracket (322), and the other side of the threaded sleeve (327) is fixedly connected to the first clamping sleeve (324) or the second clamping sleeve (325). Two kinds of external threads with opposite directions are also symmetrically arranged on the left and right sides of the adjustment screw (326).

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