Contactless Nucleic Acid Collection Robot Based on Acoustic Tweezers

Abstract

The present invention discloses a contactless nucleic acid collection robot based on acoustic tweezers, which includes: a sampling droplet syringe for extruding sampling droplets; a detection test tube conveying system for conveying, replacing, opening, and closing the lids of medical detection test tubes; an ultrasonic suspension end sampling robotic arm system including a robotic arm and an ultrasonic suspension acoustic tweezer end effector; the ultrasonic suspension acoustic tweezer end effector is used to capture the sampling droplets and suspend them, and transfer the sampling droplets into the medical detection test tube through the movement of the robotic arm; and a control unit for controlling the actions of the sampling droplet syringe, the detection test tube conveying system, and the ultrasonic suspension end sampling robotic arm system. The above contactless nucleic acid collection robot can greatly reduce the probability of cross-infection during nucleic acid sampling, can save a large amount of consumables such as sampling test tubes, nucleic acid detection reagents, and sampling cotton swabs, realize automated sampling, reduce sampling costs, and improve sampling safety.

Description

Technical Field

[0001] The present invention relates to the technical field of nucleic acid detection, and specifically relates to a non-contact nucleic acid collection robot based on acoustic tweezers. Background Art

[0002] Currently, there is still a significant demand for nucleic acid testing in the context of the COVID-19 pandemic. While ensuring people's life and health, issues such as the high cost of massive use of nucleic acid testing reagents, the discomfort caused by healthcare workers wearing protective clothing for a long time, and cross-infection during the testing process have also attracted attention. Research in the field of robotics aims to free people from simple and boring work, such as assembly line workers and nucleic acid testers, allowing people to participate in more meaningful production activities. Automating, unmanning, and securing repetitive work is an important goal in the field of robotics.

[0003] Currently, nucleic acid testing generally adopts the method of throat swab pooling to balance efficiency and economy. Since the number of throat swab cotton swabs that can be placed in a pooling tube is limited, usually only 5 - 10 people can be tested in a single pooling tube. There is still greater potential for nucleic acid testing reagents in terms of the number of people in pooling tests, and in areas where the epidemic is not severe, more people are allowed to be pooled in the same testing tube. Additionally, existing automated nucleic acid testing methods have not broken away from the limitations of traditional methods, using robotic arms to imitate human hands and clamp testing cotton swabs for nucleic acid testing. Although this can achieve unmanned nucleic acid testing, a single nucleic acid testing pooling tube can still only test 5 - 10 people, and there is no improvement in the economy of nucleic acid testing in terms of raw materials. Moreover, when the tested person opens their mouth for nucleic acid testing, the testing system has direct contact with the tested person, which is likely to contaminate the testing system and cause cross-infection among the tested people. At the same time, new infectious diseases have emerged in recent years, and new testing ideas that are economical, safe, and effective are urgently needed.

[0004] To improve the economy and safety of nucleic acid testing and achieve automation and unmanning of nucleic acid testing, both the interaction method between the testing system and humans and the sampling tool need to be improved. Summary of the Invention

[0005] In view of this, the present invention provides a non-contact nucleic acid collection robot based on acoustic tweezers. This non-contact nucleic acid collection robot can significantly reduce the probability of cross-infection during nucleic acid sampling, greatly save the usage of consumables such as sampling test tubes, nucleic acid testing reagents, and sampling cotton swabs, achieve sampling automation, reduce sampling costs, and improve sampling safety.

[0006] The present invention adopts the following specific technical solutions:

[0007] A non-contact nucleic acid collection robot based on acoustic tweezers, the non-contact nucleic acid collection robot comprising:

[0008] A sampling droplet syringe for extruding sampling droplets; the sampling droplets are used for contact sampling by means of a disposable sampling stick used by the person to be sampled;

[0009] A test tube conveying system for conveying, replacing, opening the lid and closing the lid of a medical test tube, the medical test tube being used for collecting sampling droplets smeared with the sample of the person to be sampled;

[0010] An ultrasonic suspension end sampling robotic arm system located between the test tube conveying system and the sampling droplet syringe, and comprising a robotic arm and an ultrasonic suspension tweezer end effector mounted at the end of the robotic arm; the ultrasonic suspension tweezer end effector is used for capturing a sampling droplet and suspending it, and transferring the sampling droplet into a medical test tube through the movement of the robotic arm;

[0011] And a control unit for controlling the actions of the sampling droplet syringe, the test tube conveying system and the ultrasonic suspension end sampling robotic arm system.

[0012] Furthermore, the test tube conveying system comprises a test tube storage library, a sample collection test tube library, a conveying mechanism and a lid opening and closing mechanism;

[0013] The test tube storage library is used for storing medical test tubes;

[0014] The sample collection test tube library is used for storing medical test tubes containing sampling droplets;

[0015] The conveying mechanism is located between the test tube storage library and the sample collection test tube library and is signal-connected to the control unit for conveying medical test tubes;

[0016] The lid opening and closing mechanism is mounted on the conveying mechanism and is signal-connected to the control unit for opening and closing the lid of the medical test tube.

[0017] Furthermore, the ultrasonic suspension tweezer end effector is composed of an ultrasonic suspension support, an ultrasonic transducer array and a control drive system;

[0018] The ultrasonic suspension support is fixedly mounted at the output end of the robotic arm;

[0019] The ultrasonic transducer array comprises a plurality of ultrasonic transducers array-mounted on the ultrasonic suspension support for forming a sound field capable of suspending sampling droplets;

[0020] The control drive system is signal-connected to the control unit for controlling the ultrasonic transducer array to emit signals.

[0021] Furthermore, the ultrasonic suspension support is manufactured by a 3D printing process.

[0022] Furthermore, the syringe needle of the sampling droplet syringe is bent to reduce the capillary force of the needle orifice on the sampling droplet, facilitating the ultrasonic suspension end effector of the acoustic tweezer to pick up the sampling droplet at the orifice.

[0023] Furthermore, it also includes a sampling stick supply box for providing disposable sampling sticks.

[0024] Furthermore, it also includes a medical waste trash can;

[0025] The medical waste trash can is used to recycle the used disposable sampling sticks.

[0026] Furthermore, the liquid used for the sampling droplet is a viral nucleic acid preservation solution.

[0027] Furthermore, the sampling end of the disposable sampling stick is provided with a hydrophobic structure.

[0028] Beneficial effects:

[0029] The non-contact nucleic acid collection robot of the present invention includes a sampling droplet syringe, a detection test tube conveying system, and an ultrasonic suspension end sampling robotic arm system; the sampling droplet syringe is used to extrude sampling droplets, and the sampling droplets extruded by the sampling droplet syringe are transferred to a medical detection test tube by suspension through the ultrasonic suspension end sampling robotic arm system, and the sampling is carried out by contacting with a disposable sampling stick during the suspension of the sampling droplet. The medical detection test tube is conveyed, replaced, opened, and closed through the detection test tube conveying system, so as to collect the samples of the sampled personnel by using the medical detection test tube; since the entire sampling process can be completed without the participation of medical staff, and cross-infection between people is avoided; the sample is transmitted through the suspended droplet, greatly reducing the volume of the sample carrier and expanding the capacity of the medical detection test tube during mixed detection; compared with the existing manual sampling and existing nucleic acid sampling robots, the non-contact nucleic acid collection robot of the present invention can not only greatly reduce the probability of cross-infection in terms of contact characteristics during nucleic acid sampling, but also can save a large amount of consumables such as sampling test tubes, nucleic acid detection reagents, and sampling cotton swabs. Except for taking away the sampled samples for testing and regular disinfection, it is completely automated, reducing the cost during nucleic acid sampling, improving the safety of sampling, and being able to provide good economic benefits for the prevention and control of COVID-19 infection.

[0030] Therefore, the contactless nucleic acid sampling robot of the present invention can greatly reduce the probability of cross-infection during nucleic acid sampling, can save a large amount of consumables such as sampling test tubes, nucleic acid detection reagents, and sampling swabs, realize automatic sampling, reduce sampling costs, and improve sampling safety; at the same time, it effectively solves the problems of discomfort caused by long-term wearing of protective clothing by nucleic acid testers during nucleic acid testing, fewer mixed tests in test tubes, high costs, and easy cross-infection. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 FIG. is a schematic structural diagram of the contactless nucleic acid sampling robot of the present invention when taking liquid;

[0032] Figure 2 is Figure 1 a partial enlarged structural diagram of part A in;

[0033] Figure 3 FIG. is a schematic structural diagram of the contactless nucleic acid sampling robot of the present invention when collecting sampling droplets into a medical test tube;

[0034] Figure 4 is Figure 3 a partial enlarged structural diagram of part B in;

[0035] Figure 5 FIG. is a schematic structural diagram of the test tube conveying system;

[0036] Figure 6 FIG. is a schematic structural diagram of the ultrasonic suspension end sampling robotic arm system;

[0037] Figure 7 FIG. is a schematic structural diagram of the person being sampled during self-sampling;

[0038] Figure 8 FIG. is a schematic structural diagram of the person being sampled discarding a disposable sampling stick;

[0039] Figure 9 FIG. is a schematic overall structural diagram of the disposable sampling stick;

[0040] Figure 10 is Figure 9 a partial enlarged structural diagram of the sampling end of the disposable sampling stick in.

[0041] Among them, 1 - medical test tube, 2 - test tube conveying system, 3 - ultrasonic suspension acoustic tweezer end effector, 4 - robotic arm, 5 - sampling droplet, 6 - sampling droplet syringe, 7 - open medical test tube, 8 - disposable sampling stick, 9 - person being sampled, 10 - medical waste trash can, 11 - syringe, 12 - hydrophobic structure DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The present invention will be described in detail below with reference to the accompanying drawings and by way of examples.

[0043] An embodiment of the present invention provides a non-contact nucleic acid collection robot based on acoustic tweezers, as Figure 1 and Figure 3 shown in the structure. The non-contact nucleic acid collection robot includes a sampling droplet syringe 6, a detection test tube conveying system 2, an ultrasonic suspension end sampling robotic arm system, and a control unit;

[0044] As Figure 1 and Figure 2 shown, the sampling droplet syringe 6 is used to extrude a sampling droplet 5; the sampling droplet 5 is used to perform contact sampling with a disposable sampling swab 8 used by the person to be sampled 9, so as to transfer the sampling sample of the person to be sampled 9 to the sampling droplet 5, avoiding direct contact between the nucleic acid detection system and the person to be sampled 9; the needle tube 11 of the sampling droplet syringe 6 is bent to reduce the capillary force of the tube orifice of the needle tube 11 on the sampling droplet 5, facilitating the ultrasonic suspension acoustic tweezer end effector 3 to pick up the sampling droplet 5 at the tube orifice; the liquid used for the sampling droplet 5 is a viral nucleic acid preservation solution; the extruded and suspended sampling droplet 5 is approximately spherical in shape and has a diameter of approximately 1 mm; as Figure 9 and Figure 10 shown, a hydrophobic structure 12 is provided at the sampling end of the disposable sampling swab 8 to prevent the suspended sampling droplet 5 from being sucked away due to the capillary force at the end of the disposable sampling swab 8 when the sample of the person to be tested is smeared onto the suspended sampling droplet 5, resulting in sampling failure. The hydrophobic structure 12 at the end of the disposable sampling swab 8 can refer to Figure 10 , and the hydrophobic structure 12 is formed by a plurality of rectangular prism arrays provided at the sampling end. The spacing between the rectangular prisms and the side lengths of the contact surfaces of the rectangular prisms are much smaller than the diameter of the sampling droplet 5.

[0045] As Figure 1 , Figure 3 and Figure 5As shown, the test tube conveying system 2 adopts an automated assembly line operation mode for the conveyance, replacement, opening, and closing of medical test tubes 1, which are used to collect the sampling droplets 5 smeared with the samples of the sampled person 9; the test tube conveying system 2 includes a test tube storage library, a sample collection test tube library, a conveying mechanism, and a lid opening and closing mechanism; the test tube storage library is used to store the medical test tubes 1, and the medical test tubes 1 stored in the test tube storage library are unused empty test tubes; the sample collection test tube library is used to store the medical test tubes 1 containing the sampling droplets 5, and the medical test tubes 1 stored in the sample collection test tube library all collect the samples of the sampled person 9, and the sampled samples are stored in the test tube with liquid as the carrier; the conveying mechanism is located between the test tube storage library and the sample collection test tube library and is signal-connected to the control unit for conveying the medical test tubes 1; the conveying mechanism can be a belt conveying mechanism, a chain conveying mechanism, etc.; the lid opening and closing mechanism is installed on the conveying mechanism and is signal-connected to the control unit for opening and closing the medical test tubes 1; when the number of medical test tubes 1 on the conveying mechanism is insufficient, the empty medical test tubes 1 are transported out of the medical test tube 1 storage library; when the ultrasonic suspension tweezer end effector 3 is ready to deliver the sampling droplet 5 above the test tube, the lid opening and closing mechanism opens the lid on the top of the medical test tube 1;

[0046] As Figure 1 , Figure 3 and Figure 6 shown, the ultrasonic suspension end sampling robotic arm system is located between the test tube conveying system 2 and the sampling droplet syringe 6 and includes a robotic arm 4 and an ultrasonic suspension tweezer end effector 3 installed at the end of the robotic arm 4; the robotic arm 4 can use a common industrial robotic arm that meets the degree-of-freedom requirements; the ultrasonic suspension tweezer end effector 3 is used to capture the sampling droplet 5 and make it suspended, and transfer the sampling droplet 5 into the medical test tube 1 through the movement of the robotic arm 4; Figure 1 and Figure 2 schematically show the working state of the ultrasonic suspension tweezer end effector 3 when capturing the sampling droplet 5 extruded by the sampling droplet syringe 6; Figure 3 and Figure 4 schematically show the working state of the ultrasonic suspension tweezer end effector 3 when transferring the sampling droplet 5 that has interacted with the disposable sampling stick 8 of the sampled person 9 into the opened medical test tube 7; under the movement of the robotic arm 4, the ultrasonic suspension tweezer end effector 3 can move from the liquid-taking state in Figure 1 to Figure 3The droplet state in it; The end effector 3 of the ultrasonic suspension acoustic tweezer consists of an ultrasonic suspension support, an ultrasonic transducer array, and a control drive system; The ultrasonic suspension support is fixedly installed at the output end of the robotic arm 4; The ultrasonic suspension support is fabricated using 3D printing technology; During mass production, the ultrasonic suspension support can also be made of ordinary plastic. In addition to fixing the ultrasonic transducer, the ultrasonic suspension support also serves the function of being fixedly installed with the robotic arm 4 through screws; The ultrasonic transducer array includes a plurality of ultrasonic transducers array-mounted on the ultrasonic suspension support, which is used to form an acoustic field capable of suspending the sampling liquid droplet 5; The control drive system is signal-connected to the control unit and is used to control the ultrasonic transducer array to emit signals;

[0047] The control unit is used to control the actions of the sampling liquid droplet syringe 6, the test tube conveying system 2, and the ultrasonic suspension end sampling robotic arm system. Through the control unit, it is possible to control the sampling liquid droplet syringe 6 to automatically extrude the sampling liquid droplet 5 in a timely and appropriate amount. While extruding, it controls the robotic arm 4 to pick up the sampling liquid droplet 5 that enters the designated position through the end effector 3 of the ultrasonic suspension acoustic tweezer. After the interaction between the sampling liquid droplet 5 and the disposable sampling swab 8 of the person to be sampled 9 is completed, it controls the robotic arm 4 to move to the top of the opened medical test tube 7. The robotic arm 4 places the end effector 3 of the ultrasonic suspension acoustic tweezer in a horizontal state as shown in Figure 3 a horizontal position, and then controls the robotic arm 4 to gradually translate and lower its height in this posture until the sampling liquid droplet 5 falls into the opened medical test tube 7 due to the shielding of the opened medical test tube, resulting in an acoustic field that is insufficient to suspend the sampling liquid droplet 5.

[0048] Furthermore, the above non-contact nucleic acid collection robot further includes a medical waste trash can 10 and a sampling swab supply box for providing disposable sampling swabs 8; As shown in Figure 7 and Figure 8 shown, the medical waste trash can 10 is used to recycle the used disposable sampling swab 8, that is, after the person to be sampled 9 uses the disposable sampling swab 8 to complete sampling and smear it on the sampling liquid droplet 5, the disposable sampling swab 8 is discarded into the medical waste trash can 10. The sampling swab supply box can be set in the interaction area between the nucleic acid detection system and the person to be sampled 9 to provide disposable sampling swabs 8 for the person to be sampled 9. The sampling swab supply box can provide one by one in the extraction and automatic replenishment mode of a restaurant chopstick machine, avoiding contact between the person to be sampled 9 and the nucleic acid detection system. After the person to be sampled 9 finishes using the disposable sampling swab 8, it is discarded into the medical waste trash can 10.

[0049] The above non-contact nucleic acid sampling robot includes a sampling droplet injector 6, a detection test tube conveying system 2, and an ultrasonic suspension end sampling robotic arm system; the sampling droplet injector 6 is used to extrude sampling droplets 5, and the sampling droplets 5 extruded by the sampling droplet injector 6 are transferred to a medical test tube 1 through suspension by the ultrasonic suspension end sampling robotic arm system, and are sampled by contacting a disposable sampling stick 8 during the suspension process of the sampling droplets 5. The medical test tube 1 is conveyed, replaced, opened, and closed through the detection test tube conveying system 2, so as to collect the samples of the sampled person 9 by using the medical test tube 1; since the entire sampling process can be completed without the participation of medical staff, cross-infection between people is avoided; the sample is transmitted through the suspended droplets, greatly reducing the volume of the sample carrier and expanding the capacity of the medical test tube 1 during mixed testing; compared with the existing manual sampling and existing nucleic acid sampling robots, the above non-contact nucleic acid sampling robot can not only greatly reduce the probability of cross-infection in terms of contact characteristics during nucleic acid sampling, but also save a large amount of consumables such as sampling test tubes, nucleic acid detection reagents, and sampling cotton swabs. Except for the removal and testing of the sampled samples and regular disinfection, it is completely automated, reducing the cost during nucleic acid sampling, improving the safety of sampling, and being able to provide good economic benefits for the prevention and control of COVID-19 infection.

[0050] Therefore, the non-contact nucleic acid sampling robot of the present invention can greatly reduce the probability of cross-infection during nucleic acid sampling, can save a large amount of consumables such as sampling test tubes, nucleic acid detection reagents, and sampling cotton swabs, realize sampling automation, reduce sampling costs, and improve sampling safety; at the same time, it effectively solves the problems of discomfort caused by long-term wearing of protective clothing by nucleic acid testers during nucleic acid testing, fewer mixed test numbers of test tubes, high costs, and easy cross-infection.

[0051] The specific usage method of the above non-contact nucleic acid sampling robot is as follows:

[0052] When the person to be sampled 9 comes to the nucleic acid sampling system for independent nucleic acid sampling, after receiving the disposable sampling swab 8 from the nucleic acid sampling system, the person to be sampled 9 conducts the pharyngeal swab sampling process by himself / herself. The robotic arm 4 moves the position of the central stationary point of the sound field formed by the ultrasonic suspension acoustic tweezer end effector 3 to the nozzle of the sampling droplet syringe 6. When the ultrasonic suspension acoustic tweezer end effector 3 reaches the position, the sampling droplet syringe 6 slowly extrudes an appropriate amount of sampling droplets 5, and the droplets are immediately captured by the sound field formed by the ultrasonic suspension acoustic tweezer end effector 3. After the capture is completed, the robotic arm 4 moves the ultrasonic suspension acoustic tweezer end effector 3 suspending the sampling droplets 5 to the sampling window, waiting for the person to be sampled 9 to smear the sample collected on the disposable sampling swab 8 onto the suspended sampling reagent droplets. When the person to be sampled 9 smears the end of the disposable sampling swab 8 with the pharyngeal swab saliva sample onto the sampling droplet 5 suspended in front of the sampling window, the robotic arm 4 moves the ultrasonic suspension acoustic tweezer end effector 3 above the opened medical test tube 7 and controls the end rotating joint of the robotic arm 4 to slowly rotate 90°, so that the ultrasonic suspension acoustic tweezer end effector 3 is gradually placed horizontally, and then gradually translated and lowered in height until the sampling droplet 5 falls into the opened medical test tube 7 due to the shielding of the opened medical test tube, resulting in the sound field being insufficient to suspend the sampling reagent droplet. When the sampling droplet 5 falls into the medical test tube 1 and the robotic arm 4 leaves, the lid closing mechanism of the test tube conveying system 2 closes the lid of the medical test tube 1.

[0053] During pooled sampling, when the medical test tube 1 collects a sufficient number of sampling droplets 5 smeared with the samples collected by the person to be sampled 9, the test tube conveying system 2 transports it to the sample collection test tube library, waiting for the staff to take it away for laboratory analysis; during single-tube sampling, when the medical test tube 1 collects a single sampling droplet 5 smeared with the samples collected by the person to be sampled 9 that has fallen into it, the test tube conveying system 2 transports it to the sample collection test tube library, waiting for the staff to take it away for laboratory analysis.

[0054] After the sampling is completed, the person to be sampled 9 discards the disposable sampling swab 8 into the medical waste trash can 10 and leaves the area where the nucleic acid sampling system is located; during the whole process, there is no direct contact between the person to be sampled 9 and the nucleic acid sampling system.

[0055] In summary, the above is only the preferred embodiment of the present invention and is not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A contactless nucleic acid collection robot based on acoustic tweezers, characterized in that, Comprising: A sampling droplet syringe for extruding sampling droplets; the sampling droplets are used for contact sampling with a disposable sampling stick used by the person to be sampled; A detection test tube conveying system for conveying, replacing, opening the lid and closing the lid of a medical detection test tube, the medical detection test tube being used to collect the sampling droplets smeared with the sample of the person to be sampled; An ultrasonic suspension end sampling robotic arm system located between the detection test tube conveying system and the sampling droplet syringe, and comprising a robotic arm and an ultrasonic suspension tweezer end effector mounted at the end of the robotic arm; the ultrasonic suspension tweezer end effector is used to capture the sampling droplets and suspend them, and transfer the sampling droplets into the medical detection test tube through the movement of the robotic arm; And a control unit for controlling the actions of the sampling droplet syringe, the detection test tube conveying system and the ultrasonic suspension end sampling robotic arm system; The ultrasonic suspension tweezer end effector is composed of an ultrasonic suspension support, an ultrasonic transducer array and a control drive system; the ultrasonic suspension support is fixedly installed at the output end of the robotic arm; the ultrasonic transducer array includes a plurality of ultrasonic transducers array-mounted on the ultrasonic suspension support for forming a sound field capable of suspending the sampling droplets; the control drive system is signal-connected to the control unit for controlling the ultrasonic transducer array to emit signals; The sampling end of the disposable sampling stick is provided with a hydrophobic structure.

2. The contactless nucleic acid collection robot according to claim 1, wherein, The detection test tube conveying system includes a test tube storage library, a sample collection test tube library, a conveying mechanism and a lid opening and closing mechanism; The test tube storage library is used for storing medical detection test tubes; The sample collection test tube library is used for storing the medical detection test tubes containing the sampling droplets; The conveying mechanism is located between the test tube storage library and the sample collection test tube library and is signal-connected to the control unit for conveying the medical detection test tubes; The lid opening and closing mechanism is installed on the conveying mechanism and is signal-connected to the control unit for opening and closing the lid of the medical detection test tube.

3. The contactless nucleic acid collection robot according to claim 1, wherein, The ultrasonic suspension support is made by 3D printing technology.

4. The contactless nucleic acid collection robot according to claim 1, wherein, The needle tube of the sampling droplet syringe is bent to reduce the capillary force of the tube orifice of the needle tube on the sampling droplets, facilitating the ultrasonic suspension tweezer end effector to pick up the sampling droplets at the tube orifice.

5. The contactless nucleic acid collection robot according to claim 1, wherein, It further includes a sampling stick supply box for providing disposable sampling sticks.

6. The contactless nucleic acid collection robot according to claim 1, wherein, It further includes a medical waste trash can; The medical waste trash can is used for recycling the used disposable sampling sticks.

7. The contactless nucleic acid collection robot according to any one of claims 1-6, characterized in that The liquid used for the sampling droplets is a virus nucleic acid preservation solution.

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