Nasal swab sampling robot with force feedback device and sampling method

Abstract

The invention relates to the field of medical instruments, in particular to a nose swab sampling robot with a force feedback device, which comprises a multidirectional action mechanism, a nose swab sampling head and the force feedback device, the multidirectional action mechanism comprises a front-back moving mechanism, a vertical moving mechanism, a pitch angle swinging mechanism and a circumferential angle swinging mechanism; the swab is used for standardizing each sampling operation of different patients and accurately controlling each sampling force so as to avoid the problem that the sampling efficiency is affected due to unstable swab quality caused by manual operation. The synthetic trajectory of the nose swab sampling head in multi-directional displacement is adjusted through the multi-directional action mechanism so as to adapt to sampling of accurate positions of different patients; the sampling force is controlled through the force feedback device, so that the discomfort of a patient is reduced; the standard sampling of the sampling robot avoids unstable swab quality caused by manual operation, and improves the sampling efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and more specifically, to a nasal swab sampling robot with a force feedback device and a sampling method. Background Art

[0002] During the nasal swab operation, medical staff must be in close contact with the patient. Patients coughing and breathing hard can produce a large amount of droplets or aerosols. The sampling workers (medical staff) and the nasopharyngeal swab sampling objects (patients) are also in close contact. Especially when the nasopharyngeal swab is inserted into the nostril, the patient is easily stimulated by the swab and "sneezes", increasing the risk of the nasal swab breaking in the nasopharynx, and bringing great risks to the sampling workers. At the same time, the process of collecting nasal swabs has different levels of medical staff and irregular nasal swab collection operations, which leads to differences in swab quality, affecting the judgment of the condition.

[0003] The current sampling device relies on manual labor. During the manual sampling process, not only is it impossible to control the strength, causing patients to feel obvious discomfort when being sampled, but also the quality of the swabs varies significantly due to the non-standard sampling operation, which affects the accuracy of sample collection. How to standardize each sampling operation for different patients and accurately control the sampling strength each time to avoid unstable swab quality caused by manual operation, thereby affecting the sampling efficiency, is a technical problem that needs to be solved in this field. Summary of the invention

[0004] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned prior art and provide a nasal swab sampling robot and sampling method with a force feedback device, which are used to standardize the sampling operation of different patients each time and accurately control the sampling force each time to avoid the problem of unstable swab quality caused by manual operation, thereby affecting the sampling efficiency.

[0005] The technical solution adopted by the present invention provides a nasal swab sampling robot with a force feedback device, which includes a multi-directional action mechanism, a nasal swab sampling head, and a force feedback device. The nasal swab sampling head is connected to the force feedback device to realize automatic telescopic adjustment of sampling, and the nasal swab sampling head is connected to the multi-directional action mechanism to realize multi-directional displacement adjustment; the multi-directional action mechanism includes a forward and backward moving mechanism, a vertical moving mechanism, a pitch angle swing mechanism, and a circumferential angular swing mechanism. The nasal swab sampling head is connected to the forward and backward moving mechanism through a force feedback device, and the forward and backward moving mechanism, the pitch angle swing mechanism, and the circumferential angular swing mechanism are all connected to the vertical moving mechanism, which are used to adjust the composite trajectory of the vertical displacement, circumferential swing displacement and pitch angle swing displacement of the nasal swab sampling head.

[0006] It is beneficial to adjust the multi-directional displacement of the nasal swab sampling head through the multi-directional action mechanism to adapt to the precise sampling of different patients, and to control the sampling force through the force feedback device to reduce the discomfort of the patient during the sampling process; the displacement adjustment of the nasal swab sampling head in the front and back directions and the up and down directions is achieved through the front and back moving mechanism and the vertical moving mechanism, as well as the adjustment of the displacement composite trajectory of the two; the swing arc displacement adjustment of the nasal swab sampling head in the circumferential angle is achieved through the circumferential angle swing mechanism, as well as the adjustment of the displacement composite trajectory with the front and back moving mechanism and the vertical moving mechanism.

[0007] Furthermore, the forward and backward moving mechanism includes a telescopic frame, a telescopic block, a rack shaft, and a forward and backward rotating gear. The forward and backward rotating gear is fixedly connected to the telescopic frame, and the forward and backward rotating gear is meshed with the rack shaft. One end of the rack shaft is connected to the telescopic block, and the other end is connected to the nasal swab sampling head. The forward and backward rotating gear is driven by a first motor to move on the rack shaft, thereby driving the telescopic block to move in the telescopic frame and the forward and backward movement of the nasal swab sampling head.

[0008] It is beneficial to limit the direction and trajectory of the telescopic displacement through the telescopic frame; realize the forward and backward movement of the nasal swab sampling head through the telescopic block; and realize precise control of the displacement through the cooperation of the rack shaft and the front and rear rotating gears.

[0009] Furthermore, the output shaft of the first motor is provided with a driving bevel gear, and the end of the telescopic frame is provided with a driven bevel gear, the driving bevel gear and the driven bevel gear are connected via a bearing, and the driven bevel gear is coaxially connected with the front and rear rotating gears; the first motor drives the driving bevel gear to rotate, the driving bevel gear drives the driven bevel gear to rotate, and the driven bevel gear drives the front and rear rotating gears to rotate.

[0010] It is beneficial to achieve that the output shaft of the first motor and the front and rear rotating gears are parallel to each other with the rack shaft through the cooperation of the active bevel gear and the driven bevel gear, thereby avoiding the collision of the first motor with other mechanisms when the nasal swab sampling head moves forward and backward, and at the same time reducing the volume of the sampling robot; through the bearing connection between the active bevel gear and the driven bevel gear, high-precision rotation transmission between the output shaft of the first motor and the front and rear rotating gears is achieved.

[0011] Furthermore, the force feedback device includes a fixed end support, a movable end support, and a pressure sensor. The end of the rack shaft is fixedly connected to the fixed end support, the nasal swab sampling head is movably connected to the movable end support through a telescopic sleeve, and the pressure sensor is connected between the fixed end support and the movable end support.

[0012] It is beneficial to transmit the force of the nasal swab sampling head moving forward and backward to the movable end support through the telescopic sleeve; the tension or thrust in the movable end support is detected by the pressure sensor, and the fixed end support is used as a fixed support for the pressure sensor, so that when the force of the nasal swab sampling head squeezing backward is too large, it can be controlled to retract backward to avoid causing harm to the patient.

[0013] Furthermore, the vertical movement mechanism includes a sliding support and a movable seat in a groove, the movable seat in the groove slides vertically in the sliding support, and the pitch angle swing mechanism is connected to the sliding support through the movable seat in the groove; the sliding support includes a vertical groove, an active end rotating wheel, a synchronous belt, a driven end rotating wheel, and a swinging rotation gear, the movable seat in the groove includes a slot portion, a conversion portion and a gear portion, the side surface of the movable seat in the groove is fixedly connected to the synchronous belt, the slot portion is slidingly connected to the vertical groove, the swinging rotation gear is meshed and connected to the gear portion, and the conversion portion is rotationally connected to the front and rear moving mechanism; the swinging rotation gear drives the movable seat in the groove to rotate in the pitch angle direction through a second motor, the active end rotating wheel is driven by a third motor, driving the synchronous belt to drive the driven end rotating wheel to rotate, and the synchronous belt drives the movable seat in the groove to move in the vertical groove.

[0014] It is beneficial to achieve vertical fixation through the sliding support and vertical displacement of the nasal swab sampling head through the moving seat in the groove; through the connection between the pitch angle swing mechanism and the sliding support, the synthetic trajectory of the pitch angle swing and vertical movement of the nasal swab sampling head is realized, so as to standardize each sampling step and achieve accurate sampling; the third motor drives the rotation of the active end wheel, thereby driving the synchronous rotation of the driven end wheel and the synchronous belt; through the fixed connection between the synchronous belt and the moving seat in the groove, the slot part moves vertically following the vertical movement of the synchronous belt, thereby realizing the vertical displacement of the nasal swab sampling head; the second motor drives the swing gear to rotate, thereby making the gear part meshing with the swing gear rotate synchronously, and the gear part drives the adapter part to rotate, thereby realizing the swing of the nasal swab sampling head in the pitch angle direction.

[0015] Furthermore, the circumferential angular swing mechanism includes a circumferential guide rail, a circumferential moving block and a circumferential rotating gear, and the vertical moving mechanism includes a fixed seat, which is fixed to the bottom of the sliding support, and the top of the circumferential moving block is connected to the sliding support through the fixed seat, and the bottom of the circumferential moving block slides along the circumferential guide rail through the circumferential rotating gear.

[0016] It is beneficial to limit the arc and trajectory of the circumferential movement through the cooperation of the circumferential guide rail and the circumferential moving block; the circumferential moving block is driven to move on the circumferential guide rail by the annular rotating gear, and the circumferential moving block and the sliding support are connected by the fixed seat, so that the nasal swab sampling head forms a synthetic trajectory in three directions in the circumferential movement direction based on the synthetic trajectory of the pitch angle swing and the vertical direction movement.

[0017] Furthermore, the annular guide rail includes an annular groove and annular outer teeth, the annular moving block includes a connecting seat and a slider, the annular rotating gear is fixedly connected to the slider via the connecting seat, the annular rotating gear is meshingly connected to the annular outer teeth, and the annular rotating gear is driven to rotate by a fourth motor, driving the connecting seat to move along the direction of the annular outer teeth, thereby driving the slider to slide in the annular groove.

[0018] It is beneficial to realize the snap-fitting through the annular groove and the slider, and the fourth motor drives the annular rotating gear to rotate, so that the connecting seat is driven by the annular rotating gear to move along the annular outer edge gear meshing with the annular rotating gear.

[0019] Furthermore, the circumferential angular swing mechanism also includes a guide rail support base and a counterweight support base, the circumferential guide rail is fixed above the guide rail support base, and the counterweight support base is fixed below the guide rail support base, and the ratio of the bottom area of ​​the counterweight support base to the bottom area of ​​the guide rail support base is in the range of 1.5-3.

[0020] It is beneficial to raise the circumferential guide rail to a certain height through the guide rail support base to prevent the sampling robot from colliding with the desktop when it pitches down; the counterweight support base is used to prevent the displacement caused by the unstable center of gravity when the sampling robot moves in three directions at the same time, thereby affecting the accuracy of sampling; and the specific ratio of the bottom area of ​​the counterweight support base and the guide rail support base is used to adapt to the weight of the sampling robot.

[0021] Furthermore, it also includes a positioning mechanism, which includes a limit frame and a visual device. The limit frame is hollowed out in the front and rear directions to limit the vertical displacement of the nasal swab sampling head. The visual device is arranged on the top of the limit frame to accurately position the nasal swab sampling head.

[0022] It is beneficial to protect the multi-directional action mechanism in the frame through the limit frame, which not only avoids external collisions but also limits the swing amplitude of the pitch angle, so that the visual device installed on the limit frame can accurately observe the movement trajectory of the nasal swab sampling head.

[0023] S1. Use the visual device to determine whether there is a patient in front of the sampling robot. If not, keep the robot in the off state. If yes, turn on the standby state.

[0024] S2. The visual device determines the position of the nostril to be sampled according to the images of patients of different heights and ages in front, thereby issuing instructions to control the front and rear moving mechanism, the vertical moving mechanism, and the circumferential angular swing mechanism to make a rough adjustment at the entrance of the nostril position;

[0025] S3. The visual device determines the position of the bridge of the nose that needs to be sampled according to the influence, calculates the inclination angle of the nostril close to the bridge of the nose, and automatically issues a command to control the pitch angle swing mechanism to make a rough adjustment in a direction parallel to the inclination angle;

[0026] S4. After the roughly adjusted nasal swab sampling head enters the nostril, feedback instructions are sent to the pitch angle swing mechanism, the front and rear movement mechanism, and the circumferential angle swing mechanism for fine adjustment according to the resistance encountered by the force feedback device in the nasal cavity;

[0027] S5. Arrive at the sampling position in the nasal cavity, and after rapid sampling, exit the nasal cavity in the direction parallel to the tilt angle in S3.

[0028] Compared with the prior art, the beneficial effects of the present invention are: adjusting the synthetic trajectory of the multi-directional displacement of the nasal swab sampling head in forward and backward movement, vertical movement, circumferential swing, and pitch swing through a multi-directional action mechanism to adapt to the precise position sampling of different patients; the sampling force is controlled by a force feedback device to reduce the discomfort of patients during the sampling process; the standardized sampling of the sampling robot and the precise control of the sampling force avoid the unstable swab quality caused by manual operation, thereby improving the sampling efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is the structural three views of the present invention.

[0030] Figure 2 It is a schematic diagram of the circumferential angular swing mechanism of the present invention.

[0031] Figure 3 It is a connection diagram of the circumferential angular swing mechanism, the pitch angular swing mechanism and the vertical movement mechanism of the present invention.

[0032] Figure 4 It is a schematic diagram of the forward and backward moving mechanism of the present invention.

[0033] Figure 5 It is another schematic diagram of the forward and backward moving mechanism of the present invention.

[0034] Figure 6 It is a cross-sectional schematic diagram of the forward and backward moving mechanism of the present invention.

[0035] Figure 7 It is a schematic diagram of the positioning mechanism of the present invention.

[0036] Description of the symbols in the accompanying drawings: circumferential angular swing mechanism 1, vertical moving mechanism 2, pitch angle swing mechanism 3, front and rear moving mechanism 4, positioning mechanism 5, counterweight support base 101, guide rail support base 102, annular groove 103, annular outer edge tooth 104, annular moving block 105, fourth motor 106, annular rotating gear 107, gear fixing block 108, driven end rotating wheel 201, fixed seat 202, synchronous belt 203, second motor 204, swing rotating gear 205, third motor 206, sliding support 207, active end Rotating wheel 208, active end adapter shaft 209, movable seat in groove 210, driven end adapter shaft 211, telescopic frame 301, telescopic block 302, rack shaft 303, first motor 304, active bevel gear 305, front and rear rotating gear 306, driven bevel gear 307, gear part 308, fixed end support 309, pressure sensor 310, movable end support 311, telescopic sleeve 313, sampling head adapter cover 314, nasal swab sampling head 315, compression spring 312, visual device 401, limit frame 402. DETAILED DESCRIPTION

[0037] The drawings of the present invention are only for illustrative purposes and should not be construed as limiting the present invention. In order to better illustrate the following embodiments, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; it is understandable to those skilled in the art that some well-known structures and their descriptions in the drawings may be omitted. Example 1

[0038] like Figure 1-7 As shown, this embodiment provides a nasal swab sampling robot with a force feedback device, which includes a multi-directional action mechanism, a nasal swab sampling head 315, and a force feedback device. The nasal swab sampling head 315 is connected to the force feedback device to realize automatic telescopic adjustment of sampling, and the nasal swab sampling head 315 is connected to the multi-directional action mechanism to realize multi-directional displacement adjustment; the multi-directional action mechanism includes a forward and backward moving mechanism 4, a vertical moving mechanism 2, a pitch angle swing mechanism 3, and a circumferential angle swing mechanism 1. The nasal swab sampling head 315 is connected to the forward and backward moving mechanism 4 through a force feedback device, and the forward and backward moving mechanism 4, the pitch angle swing mechanism 3, and the circumferential angle swing mechanism 1 are all connected to the vertical moving mechanism 2, which are used to adjust the composite trajectory of the vertical displacement, circumferential swing displacement and pitch angle swing displacement of the nasal swab sampling head 315.

[0039] In this embodiment, the multi-directional action mechanism in the sampling robot is used to control the movement of the nasal swab sampling head 315, and the force feedback device is used to detect whether the sampling force exceeds the threshold value so as to realize the automatic rebound of the nasal swab sampling head 315. The installation direction of the nasal swab sampling head 315 is the front-to-back direction, and the installation direction perpendicular to the nasal swab sampling head 315 is the vertical direction. The nasal swab sampling head 315 is fixed in a certain vertical direction and then swings up and down in the pitch direction, and the nasal swab sampling head 315 is fixed in a certain vertical direction and then swings in the horizontal plane in the circular swing direction. The front-to-back moving mechanism 4 controls the movement of the nasal swab sampling head 315 in the front-to-back direction, the vertical moving mechanism 2 controls the movement of the nasal swab sampling head 315 in the vertical direction, the pitch angle swing mechanism 3 controls the movement of the nasal swab sampling head 315 in the pitch direction, and the circumferential angle swing mechanism 1 controls the movement of the nasal swab sampling head 315 in the circular swing direction.

[0040] The forward and backward moving mechanism 4 includes a telescopic frame 301, a telescopic block 302, a rack shaft 303, and a forward and backward rotating gear 306. The forward and backward rotating gear 306 is fixedly connected to the telescopic frame 301, and the forward and backward rotating gear 306 is meshed and connected to the rack shaft 303. One end of the rack shaft 303 is connected to the telescopic block 302, and the other end is connected to the nasal swab sampling head 315. The forward and backward rotating gear 306 is driven by the first motor 304 to move on the rack shaft 303, thereby driving the telescopic block 302 to move in the telescopic frame 301 and the nasal swab sampling head 315 to move forward and backward.

[0041] In this embodiment, a dovetail groove is provided inside the telescopic frame 301 in the forward and backward moving mechanism 4, and a telescopic block 302 is installed at the dovetail groove. The telescopic block 302 moves forward and backward inside the telescopic frame 301. A first motor 304 and a forward and backward rotating gear 306 are fixed to the outside of the telescopic frame 301. One end of the telescopic block 302 is fixedly connected to the nasal swab sampling head 315, and the other end is fixedly connected to the rack shaft 303. The upper end teeth of the rack shaft 303 are meshed with the forward and backward rotating gear 306. When the first motor 304 drives the forward and backward rotating gear 306 to rotate, the rack shaft 303 drives the telescopic block 302 and the nasal swab sampling head 315 to move in the forward and backward direction through the meshing action.

[0042] The output shaft of the first motor 304 is provided with a driving bevel gear 305, and the end of the telescopic frame 301 is provided with a driven bevel gear 307, the driving bevel gear 305 and the driven bevel gear 307 are connected through a bearing, and the driven bevel gear 307 is coaxially connected with the front and rear rotating gear 306; the first motor 304 drives the driving bevel gear 305 to rotate, the driving bevel gear 305 drives the driven bevel gear 307 to rotate, and the driven bevel gear 307 drives the front and rear rotating gear 306 to rotate.

[0043] In this embodiment, the upper end of the telescopic frame 301 is fixedly connected to the first motor 304 by a flange fixing method. The driving bevel gear 305 is installed on the output shaft of the first motor 304, and the two are fixed by a top screw. A bearing hole is opened at the 90° position of the mounting bevel gear on the telescopic frame 301, and a bearing is installed inside. The driven bevel gear 307 shaft is installed inside the bearing. The two bevel gears are relatively meshed to complete relative rotation. The other end of the driven bevel gear 307 shaft is fixedly installed with a front and rear rotating gear 306, which rotates coaxially with the bevel gear shaft.

[0044] The force feedback device includes a fixed end support 309, a movable end support 311, and a pressure sensor 310. The end of the rack shaft 303 is fixedly connected to the fixed end support 309. The nasal swab sampling head 315 is movably connected to the movable end support 311 through a telescopic sleeve 313. The pressure sensor 310 is connected between the fixed end support 309 and the movable end support 311.

[0045] In this embodiment, the fixed end support 309, the pressure sensor 310, and the movable end support 311 are fixed in the axial direction of the rack shaft 303. In order to ensure the coaxiality of the three connections. The telescopic sleeve 313 is installed on the outside of the movable end support 311, so that the telescopic sleeve 313 and the movable end support 311 can slide relative to each other. A compression spring 312 is installed between the inside of the movable end support 311 and the inner end surface of the telescopic sleeve 313. The sampling head adapter cover 314 is installed at the front end of the telescopic sleeve 313, and the two can be quickly installed. The front end of the sampling head adapter cover 314 is installed with a fixed nasal swab sampling head 315. When the first motor 304 is driven, it is transmitted to the gear rack structure group through the bevel gear transition transmission to complete the linear movement function. The linear telescopic function of the nasal swab sampling head 315 is realized. At the same time, under the action of the force sense and the compression spring 312, if the nasal swab sampling head 315 is inserted into the nostril and extends too far, and the resistance is too great, it can automatically retract to prevent the sampling force from being too great and causing injury to the sampling personnel.

[0046] In this embodiment, the pressure sensor 310 converts the pressure difference between the fixed end support 309 and the movable end support 311 into an electrical signal, and sends the electrical signal to the first motor 304 through a wireless transmitter. When the pressure difference increases, the electrical signal increases, and the first motor 304 drives the active bevel gear 305 to rotate, thereby driving the front and rear rotating gears 306 to move toward the fixed end support 309, so as to achieve the retreat of the nasal swab sampling head 315.

[0047] The vertical moving mechanism 2 includes a sliding support 207 and an in-slot moving seat 210 . The in-slot moving seat 210 vertically slides in the sliding support 207 . The pitch angle swing mechanism 3 is connected to the sliding support 207 via the in-slot moving seat 210 .

[0048] The sliding support member 207 includes a vertical groove, an active end rotating wheel 208, a synchronous belt 203, a driven end rotating wheel 201, and a swinging rotating gear 205. The in-groove movable seat 210 includes a slot portion, a switching portion and a gear portion 308. The side surface of the in-groove movable seat 210 is fixedly connected to the synchronous belt 203, the slot portion is slidingly connected to the vertical groove, the swinging rotating gear 205 is meshingly connected to the gear portion 308, and the switching portion is rotationally connected to the forward and backward moving mechanism 4; the swinging rotating gear 205 drives the in-groove movable seat 210 to rotate in the pitch angle direction through the second motor 204, the active end rotating wheel 208 is driven by the third motor 206, driving the synchronous belt 203 to drive the driven end rotating wheel 201 to rotate, and the synchronous belt 203 drives the in-groove movable seat 210 to move in the vertical groove.

[0049] In this embodiment, the connection between the pitch angle swing mechanism 3 and the in-slot movable seat 210 combines the vertical motion trajectory of the in-slot movable seat 210 with the pitch motion trajectory of the pitch angle swing mechanism 3 , making the sampling motion trajectory more flexible to adapt to different sampling positions.

[0050] In this embodiment, the third motor 206 is installed at the upper flange of the sliding support 207, and the third motor 206 is connected to the sliding support 207 by screw fixing; the output end of the third motor 206 is installed with an active end adapter shaft 209, and the active end adapter shaft 209 is connected to the third motor 206 by tight screw fixing; the active end rotating wheel 208 is installed on the active end adapter shaft 209, and the active end rotating wheel 208 is axially positioned at the shoulder of the active end adapter shaft 209, and the two are fixed by tight screws; so that the third motor 206 drives the active end rotating wheel 208 to rotate. The lower end of the sliding support 207 is installed with a driven end adapter shaft 211 and a driven end rotating wheel 201 to meet the relative rotation between the driven end rotating wheel 201 and the sliding support 207. During the installation process, it is necessary to ensure that the driven end rotating wheel 201 and the driving end rotating wheel 208 remain flush in the axial end surface. At the same time, the synchronous belt 203 is installed between the driving end rotating wheel 208 and the driven end rotating wheel 201, so that when the third motor 206 drives the synchronous belt 203 to rotate, the transmission of the synchronous belt 203 between the two wheels is ensured to remain stable.

[0051] In this embodiment, a vertical groove is provided inside the sliding support body, and the vertical groove is in the shape of a dovetail groove, and a slot moving seat 210 is installed inside the slot moving seat 210. The side of the slot moving seat 210 is fixed to the side of the synchronous belt 203 by clamping screws to form a whole. When the third motor 206 drives the active end rotating wheel 208 to rotate, the sliding support 207 controls the slot moving seat 210 to move up and down along the vertical groove between the two rotating wheels, so as to achieve the precise control of the up and down movement of the nasal swab sampling head 315. The slot moving seat 210 is installed at the flange of the second motor 204, and the output shaft of the second motor 204 is installed with a swinging rotating gear 205, which is connected to the second motor 204 by screw fixing; the end of the output shaft of the second motor 204 is provided with a bearing, and the outer ring of the bearing is installed with a gear part 308, and the gear part 308 is connected to the bearing in the axial direction by a retaining ring, so that the gear part 308 rotates relative to the slot moving seat 210 in the radial direction. The end face of the positioning rotating gear 205 is linked with the front-rear moving mechanism 4 to form a whole. The positioning rotating gear 205 is meshed with the gear part 308, so that after the second motor 204 drives the positioning rotating gear 205 to rotate, the gear part 308 is driven to rotate through the meshing action. The gear part 308 controls the movable seat 210 in the slot to swing in the pitch direction, thereby realizing the pitch and swing motion function of the nasal swab sampling head 315.

[0052] The circumferential angular swing mechanism 1 includes a circumferential guide rail, a circumferential moving block 105 and a circumferential rotating gear 107, and the vertical moving mechanism 2 includes a fixed seat 202, and the fixed seat 202 is fixed to the bottom of the sliding support 207, the top of the circumferential moving block 105 is connected to the sliding support 207 through the fixed seat 202, and the bottom of the circumferential moving block 105 slides along the circumferential guide rail through the circumferential rotating gear 107.

[0053] In this embodiment, the fixed seat 202 is frame-shaped, and the sliding support member 207 is inserted into the frame-shaped fixed seat 202, and the two are fixedly connected. The upper end of the annular moving block 105 is L-shaped, and the top of the L-shaped annular moving block 105 is fixed on the fixed seat 202, and the bottom moves in coordination with the annular guide rail. The annular rotating gear 107 is fixedly connected to the annular moving block 105 through the gear fixing block 108. When the annular rotating gear 107 rotates, the annular moving block 105 slides annularly along the annular guide rail.

[0054] The circumferential guide rail includes an annular groove 103 and an annular outer tooth 104, the annular moving block 105 includes a connecting seat and a slider, the annular rotating gear 107 is fixedly connected to the slider via the connecting seat, the annular rotating gear 107 is meshingly connected to the annular outer tooth 104, and the annular rotating gear 107 is driven to rotate by the fourth motor 106, driving the connecting seat to move along the direction of the annular outer tooth 104, thereby driving the slider to slide in the annular groove 103.

[0055] In this embodiment, an annular groove 103 is provided inside the annular guide rail, and the annular groove 103 is in the shape of a dovetail groove. An annular moving block 105 is installed at the dovetail groove, so that the annular moving block 105 can slide inside the annular groove 103. A connecting seat is provided above the annular moving block 105, and the connecting seat protrudes in the side direction, and is used to install the fourth motor 106. An annular rotating gear 107 is installed at the output shaft of the fourth motor 106, and an annular outer edge tooth 104 is installed in the circumferential direction of the outer edge of the annular groove 103. The annular rotating gear 107 is meshed with the annular outer edge tooth 104. When the fourth motor 106 drives the annular rotating gear 107 to rotate, the annular rotating gear 107 drives the connecting block to move along the trajectory of the annular outer edge tooth 104 through meshing, thereby driving the annular moving block 105 to move in an annular manner in the dovetail groove, so as to meet the function of the nasal swab sampling head 315 to swing left and right in the horizontal direction.

[0056] The circumferential angular swing mechanism 1 also includes a guide rail support base 102 and a counterweight support base 101. The circumferential guide rail is fixed above the guide rail support base 102, and the counterweight support base 101 is fixed below the guide rail support base 102. The ratio of the bottom area of ​​the counterweight support base 101 to the bottom area of ​​the guide rail support base is in the range of 1.5-3.

[0057] In this embodiment, a counterweight support base 101 is provided at the bottom of the circumferential angular swing mechanism 1, and a guide rail support base 102 is installed at the upper end of the counterweight support base 101. The circumferential guide rail is fixedly installed at the positioning step of the guide rail support base 102, so that the circumferential guide rail and the guide rail support base 102 are fixed in a horizontal state. The bottom area of ​​the counterweight support base 101 is twice the bottom area of ​​the guide rail support seat.

[0058] It also includes a positioning mechanism 5, which includes a limit frame 402 and a visual device 401. The limit frame 402 is hollowed out in the front and rear directions to limit the vertical displacement of the nasal swab sampling head 315. The visual device 401 is arranged on the top of the limit frame 402 to accurately position the nasal swab sampling head 315.

[0059] In this embodiment, the visual device 401 is mounted on a limit frame 402. The side and bottom surfaces of the limit frame 402 are fixedly connected to the multi-directional action mechanism. The visual device 401 includes a camera, and the focus of the camera always corresponds to the end of the nasal swab sampling head 315, so as to achieve accurate positioning of the sampling position of the patient by the sampling robot during the sampling process, and complete automatic detection of multiple positions of the patient. The limit frame 402 is hollowed out in the front and rear directions, thereby limiting the amplitude of the nasal swab sampling head 315 in the pitch direction to avoid excessive amplitude affecting the sampling hygiene. Example 2

[0060] In this embodiment, the sampling method includes:

[0061] S1. Use the visual device to determine whether there is a patient in front of the sampling robot. If not, keep the robot in the off state. If yes, turn on the standby state.

[0062] S2. The visual device determines the position of the nostril to be sampled according to the images of patients of different heights and ages in front, thereby issuing instructions to control the front and rear moving mechanism, the vertical moving mechanism, and the circumferential angular swing mechanism to make a rough adjustment at the entrance of the nostril position;

[0063] S3. The visual device determines the position of the bridge of the nose that needs to be sampled according to the influence, calculates the inclination angle of the nostril close to the bridge of the nose, and automatically issues a command to control the pitch angle swing mechanism to make a rough adjustment in a direction parallel to the inclination angle;

[0064] S4. After the roughly adjusted nasal swab sampling head enters the nostril, feedback instructions are sent to the pitch angle swing mechanism, the front and rear movement mechanism, and the circumferential angle swing mechanism for fine adjustment according to the resistance encountered by the force feedback device in the nasal cavity;

[0065] S5. Arrive at the sampling position in the nasal cavity, and after rapid sampling, exit the nasal cavity in the direction parallel to the tilt angle in S3.

[0066] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the technical solution of the present invention, and are not intended to limit the specific implementation methods of the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the claims of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A nasal swab sampling robot with a force feedback device, characterized in that: It includes a multi-directional action mechanism, a nasal swab sampling head, and a force feedback device. The nasal swab sampling head is connected to the force feedback device to realize automatic telescopic adjustment of sampling. The nasal swab sampling head is connected to the multi-directional action mechanism to realize multi-directional displacement adjustment; the multi-directional action mechanism includes a front-and-back moving mechanism, a vertical moving mechanism, a pitch angle swing mechanism, and a circumferential angle swing mechanism. The nasal swab sampling head is connected to the front-and-back moving mechanism through the force feedback device. The front-and-back moving mechanism, the pitch angle swing mechanism, and the circumferential angle swing mechanism are all connected to the vertical moving mechanism, which are used to adjust the composite trajectory of the vertical displacement, circumferential swing displacement and pitch angle swing displacement of the nasal swab sampling head.

2. A nasal swab sampling robot with a force feedback device according to claim 1, characterized in that: The forward and backward moving mechanism includes a telescopic frame, a telescopic block, a rack shaft, and a forward and backward rotating gear. The forward and backward rotating gear is fixedly connected to the telescopic frame, and the forward and backward rotating gear is meshed with the rack shaft. One end of the rack shaft is connected to the telescopic block, and the other end is connected to the nasal swab sampling head. The forward and backward rotating gear is driven by a first motor to move on the rack shaft, thereby driving the telescopic block to move in the telescopic frame and the nasal swab sampling head to move forward and backward.

3. A nasal swab sampling robot with a force feedback device according to claim 2, characterized in that: The output shaft of the first motor is provided with a driving bevel gear, and the end of the telescopic frame is provided with a driven bevel gear, the driving bevel gear and the driven bevel gear are connected through a bearing, and the driven bevel gear is coaxially connected with the front and rear rotating gears; the first motor drives the driving bevel gear to rotate, the driving bevel gear drives the driven bevel gear to rotate, and the driven bevel gear drives the front and rear rotating gears to rotate.

4. A nasal swab sampling robot with a force feedback device according to claim 2, characterized in that: The force feedback device includes a fixed end support, a movable end support, and a pressure sensor. The end of the rack shaft is fixedly connected to the fixed end support. The nasal swab sampling head is movably connected to the movable end support through a telescopic sleeve. The pressure sensor is connected between the fixed end support and the movable end support.

5. A nasal swab sampling robot with a force feedback device according to claim 1, characterized in that: The vertical movement mechanism includes a sliding support and a movable seat in a groove, the movable seat in the groove slides vertically in the sliding support, and the pitch angle swing mechanism is connected to the sliding support through the movable seat in the groove; the sliding support includes a vertical groove, an active end rotating wheel, a synchronous belt, a driven end rotating wheel, and a swinging rotation gear, and the movable seat in the groove includes a clamping groove part, a conversion part and a gear part, the side surface of the movable seat in the groove is fixedly connected to the synchronous belt, the clamping groove part is slidingly connected to the vertical groove, the swinging rotation gear is meshed and connected to the gear part, and the conversion part is rotationally connected to the front and rear moving mechanism; the swinging rotation gear drives the movable seat in the groove to rotate in the pitch angle direction through the second motor, and the active end rotating wheel is driven by the third motor, driving the synchronous belt to drive the driven end rotating wheel to rotate, and the synchronous belt drives the movable seat in the groove to move in the vertical groove.

6. A nasal swab sampling robot with a force feedback device according to claim 5, characterized in that: The circumferential angular swing mechanism includes a circumferential guide rail, a circumferential moving block and a circumferential rotating gear. The vertical moving mechanism includes a fixed seat, which is fixed to the bottom of the sliding support. The top of the circumferential moving block is connected to the sliding support through the fixed seat, and the bottom of the circumferential moving block slides along the circumferential guide rail through the circumferential rotating gear.

7. A nasal swab sampling robot with a force feedback device according to claim 6, characterized in that: The annular guide rail includes an annular groove and annular outer teeth, the annular moving block includes a connecting seat and a slider, the annular rotating gear is fixedly connected to the slider via the connecting seat, the annular rotating gear is meshingly connected to the annular outer teeth, and the annular rotating gear is driven to rotate by a fourth motor, driving the connecting seat to move along the direction of the annular outer teeth, thereby driving the slider to slide in the annular groove.

8. A nasal swab sampling robot with a force feedback device according to claim 6, characterized in that: The circumferential angular swing mechanism also includes a guide rail support base and a counterweight support base. The circumferential guide rail is fixed above the guide rail support base, and the counterweight support base is fixed below the guide rail support base. The ratio of the bottom area of ​​the counterweight support base to the bottom area of ​​the guide rail support seat is in the range of 1.5-3.

9. A nasal swab sampling robot with a force feedback device according to claim 1, characterized in that: It also includes a positioning mechanism, which includes a limit frame and a visual device. The limit frame is hollowed out in the front and back directions to limit the vertical displacement of the nasal swab sampling head. The visual device is arranged on the top of the limit frame to accurately position the nasal swab sampling head.

10. A sampling method, characterized in that: A nasal swab sampling robot with a force feedback device according to any one of claims 1 to 9, comprising the following steps: S1. Use the visual device to determine whether there is a patient in front of the sampling robot. If not, keep the robot in the off state. If yes, turn on the standby state. S2. The visual device determines the position of the nostril to be sampled according to the images of patients of different heights and ages in front, thereby issuing instructions to control the front and rear moving mechanism, the vertical moving mechanism, and the circumferential angular swing mechanism to make a rough adjustment at the entrance of the nostril position; S3. The visual device determines the position of the bridge of the nose that needs to be sampled according to the influence, calculates the inclination angle of the nostril close to the bridge of the nose, and automatically issues a command to control the pitch angle swing mechanism to make a rough adjustment in a direction parallel to the inclination angle; S4. After the roughly adjusted nasal swab sampling head enters the nostril, feedback instructions are sent to the pitch angle swing mechanism, the front-back movement mechanism, and the circumferential angle swing mechanism for fine adjustment according to the resistance encountered by the force feedback device in the nasal cavity; S5. Arrive at the sampling position in the nasal cavity, and after rapid sampling, exit the nasal cavity in the direction parallel to the tilt angle in S3.

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