Intelligent recovery robot for surgical specimens

Abstract

The invention discloses an intelligent surgical specimen recovery robot, and belongs to the technical field of medical auxiliary equipment. The device comprises a supporting module, a sample storage module, a walking module, a liquid adding module and a control module, wherein the supporting module comprises a box body for structural supporting; the sample storage module comprises a storage chamber arranged in the box body; the walking module comprises a movable walking chassis, and the walking chassis is fixedly connected with the bottom of the box body; the liquid adding module comprises a liquid adding head connected with the top of the box body, and the liquid adding head can add stationary liquid to the surgical specimen in the specimen bag; and the control module can control the stationary liquid adding amount of the liquid adding head relative to the sample bag according to the volume of the surgical sample. The specimen transportation time can be shortened, and the situation that too much or too little stationary liquid is injected is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical auxiliary equipment, and in particular to an intelligent surgical specimen recovery robot. Background Art

[0002] Pathological diagnosis of living specimens is the "gold standard" for the diagnosis of surgical diseases. The specimen processing process refers to the entire process from ex vivo to delivery to the pathology department. Specimen information relies on manual registration, which may be contaminated, damaged, mixed up, or lost, which may delay diagnosis and treatment and even require secondary sampling.

[0003] The existing specimen processing process has the following problems:

[0004] The number of surgeries is large, and each surgical specimen needs to be sent to the operating room by both a doctor and a nurse for examination, which consumes time and manpower, reduces the time that medical staff spend with patients, and increases the connection time between surgeries.

[0005] When specimens from multiple operating rooms are sent to the same specimen room for examination at the same time, it is easy for the specimens to be mixed up, causing interference with the preservation and analysis of the specimens.

[0006] Each surgical specimen is manually added with fixative. When fixative is manually added, there is a possibility of insufficient or excessive addition of fixative. Summary of the invention

[0007] In view of this, it is necessary to provide an intelligent surgical specimen recovery robot to solve the problems of excessive manpower and time consumption, incompatible addition of fixative, and specimen safety in existing specimen processing.

[0008] In a first aspect, the present invention provides a surgical specimen intelligent recovery robot, comprising:

[0009] A support module, the support module comprising a box for structural support;

[0010] A sample storage module, the sample storage module comprising a storage chamber disposed in the box;

[0011] A walking module, the walking module comprising a movable walking chassis, the walking chassis being fixedly connected to the bottom of the box;

[0012] A liquid adding module, the liquid adding module comprising a liquid adding head connected to the top of the box, the liquid adding head being capable of adding fixative to the surgical specimen in the specimen bag;

[0013] A control module, wherein the control module can control the amount of fixative added by the liquid adding head relative to the specimen bag according to the volume of the surgical specimen.

[0014] Furthermore, the control module includes a sample identification unit and a main control unit. The sample identification unit is connected to the top of the box and can identify the volume of the specimen. The main control unit is electrically connected to the sample identification unit and the liquid adding head, respectively, and can adjust the amount of fixative added by the liquid adding head based on the volume data collected by the sample identification unit.

[0015] Furthermore, the sample identification unit includes a light-sensing volume recognition instrument, which is connected to the top of the box and arranged relative to the liquid adding head. The light-sensing volume recognition instrument can measure the volume of the specimen in the specimen bag opened relative to the liquid adding head.

[0016] Furthermore, the liquid adding module further comprises a storage tank body, which is embedded in the top of the box body, and the opening of the storage tank body is arranged opposite to the outlet of the liquid adding head.

[0017] Furthermore, the liquid adding module also includes an infusion system arranged in the box body, the infusion system includes a liquid pump and a liquid storage bottle for storing a fixed liquid, the liquid storage bottle is arranged with the inlet of the liquid adding head through a pipeline, the liquid pump is arranged on the pipeline, and the liquid pump is electrically connected to the control module for controlling the output amount of the fixed liquid in the liquid adding head.

[0018] Furthermore, the sample storage module also includes an electronic scanning window arranged on the box body, and the electronic scanning window can scan the label and work badge of the specimen bag to register and record the specimen information and the person submitting the specimen for inspection.

[0019] Furthermore, a bracket is provided in the storage chamber, the bracket is slidably engaged with the inner wall of the storage chamber, and a plurality of partitions for storing specimen bags are provided on the bracket.

[0020] Furthermore, the control module also includes a touch control screen, and the touch control screen is electrically connected to the walking module, the sample storage module and the liquid adding module.

[0021] Furthermore, the walking chassis includes a disc body and a driving wheel set, and the driving wheel set is rotatably connected to the disc body.

[0022] In a second aspect, the present invention provides a surgical specimen recovery method, which uses the above-mentioned surgical specimen intelligent recovery robot and includes the following operating steps:

[0023] S1 robot call: When the specimen is removed from the body in the operating room, the robot is instructed via the mobile device, and the walking module moves along the pre-set track from the specimen room to the back door of the operating room;

[0024] S2 Specimen volume determination: The control module determines the specimen volume in the specimen bag;

[0025] S3 Fixative filling: The filling head quantitatively fills the fixative into the specimen bag according to the volume measurement result;

[0026] S4 specimen bag storage: Place the specimen bag filled with fixative into the storage chamber for temporary preservation;

[0027] S5 Robot Return: The robot with the specimen bag stored in it starts from the operating room and returns to the specimen room along a preset route.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The present invention provides an intelligent surgical specimen recovery robot, which is provided with a walking module, and the walking module includes a movable walking chassis, which is fixedly connected to the bottom of the box, and the walking chassis can carry the box to move along a predetermined trajectory between the operating room and the specimen room, thereby realizing the rapid transfer of specimens. The robot undertakes tasks such as specimen collection, transportation, and fixative injection, thereby reducing the workload of medical staff and ensuring that they can stay with patients more and provide necessary nursing support. At the same time, each robot can perform a single carrying operation for the corresponding operating room, avoiding confusion of specimens from different operating rooms and interfering with the preservation and analysis of specimens.

[0030] (2) The intelligent surgical specimen recovery robot of the present invention is provided with a liquid adding module, which includes a liquid adding head connected to the top of the box body. The liquid adding head can add fixative liquid into the specimen bag to fix the surgical specimen, thereby ensuring that the physical and chemical properties of the surgical specimen remain stable at all times, which is helpful for later detection.

[0031] (3) The intelligent surgical specimen recovery robot of the present invention is provided with a control module, which can control the amount of fixative added by the liquid adding head relative to the specimen bag according to the volume of the surgical specimen, so that the amount of fixative added is adapted to the volume of the specimen, avoiding too much or too little fixative, and obtaining the best fixation effect. The liquid adding process is automated, reducing the errors caused by human operation, ensuring that the addition of fixative is more balanced and standardized, and greatly improving the accuracy and quality of specimen fixation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the box body and the infusion system of the present invention;

[0035] Figure 3 It is a structural schematic diagram of the box body in the present invention;

[0036] Figure 4 It is a structural schematic diagram of the circuit control system in the present invention;

[0037] Figure 5 It is a step diagram of the recovery method in the present invention.

[0038] In the figure, 100, a support module; 110, a box body;

[0039] 200, sample storage module; 210, storage chamber; 211, bracket; 220, electronic scanning window;

[0040] 300, travel module; 310, travel chassis; 311, drive wheel set;

[0041] 400, liquid adding module; 410, liquid adding head; 420, storage tank body; 430, infusion system; 431, liquid pump; 432, liquid storage bottle;

[0042] 500, control module; 510, sample identification unit; 511, optical volume identification instrument; 520, main control unit; 530, touch control screen. DETAILED DESCRIPTION

[0043] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0044] The present embodiment is a surgical specimen intelligent recovery robot, which relates to the technical field of medical auxiliary equipment. By setting an automatically operable robot to move between an operating room and a specimen room, the manual transportation link can be eliminated, and the transportation time can be shortened. The liquid adding head 410 provided on the robot can add an appropriate amount of fixative according to the volume of the specimen, ensuring that the fixative matches the volume of the specimen, and avoiding excessive or insufficient addition of the fixative.

[0045] See also Figures 1 to 5 In this embodiment, a surgical specimen intelligent recovery robot includes: a support module 100, a sample storage module 200, a walking module 300, a liquid adding module 400 and a control module 500. The support module 100 includes a box 110 for structural support. The box 110 serves as a supporting base for the entire robot and can be connected to other modules to improve the overall structural stability of the robot.

[0046] The sample storage module 200 includes a storage chamber 210 disposed in the box 110. The storage chamber 210 can provide a relatively stable storage environment for the specimen, ensuring that the specimen maintains its original physical and chemical state during transportation, avoiding denaturation of the specimen and affecting the research and judgment of the patient's condition.

[0047] The walking module 300 includes a movable walking chassis 310, which is fixedly connected to the bottom of the box 110. The walking chassis 310 can carry the box 110 between the operating room and the specimen room according to a predetermined trajectory to achieve rapid transfer of specimens. The robot undertakes tasks such as specimen collection, transportation, and fixative injection, thereby reducing the workload of medical staff and ensuring that they can stay with patients more and provide necessary nursing support.

[0048] The liquid adding module 400 includes a liquid adding head 410, which is connected to the top of the box 110. The liquid adding head 410 can add fixative into the specimen bag to fix the surgical specimen, ensuring that the physical and chemical properties of the surgical specimen remain stable at all times, which is helpful for later detection.

[0049] The control module 500 can control the amount of fixative added by the liquid adding head 410 relative to the specimen bag according to the volume of the surgical specimen, so that the amount of fixative added is adapted to the volume of the specimen, avoiding too much or too little fixative, and obtaining the best fixation effect. The liquid adding process is automated, reducing errors caused by human operation, ensuring that the addition of fixative is more balanced and standardized, and greatly improving the accuracy and quality of specimen fixation.

[0050] In some embodiments, see Figure 1 and Figure 4 The control module 500 includes a sample identification unit 510 and a main control unit 520. The sample identification unit is connected to the top of the box 110 and can identify the volume of the specimen. The sample identification unit automatically identifies the volume of the specimen, and the main control unit 520 can calculate the appropriate amount of fixative to be added based on accurate volume data, thereby achieving accurate filling of the liquid adding head 410, thereby effectively avoiding the situation of adding too much or too little liquid in manual operation, ensuring that the specimen obtains an appropriate amount of fixative within a specified time, and achieving the best fixation effect.

[0051] The sample identification unit can collect the volume data of the specimen in real time and feed it back to the main control unit 520. The sample identification unit can automatically record and store all the data to form a complete operation log. The sample identification unit can trace the operation history and provide a basis for subsequent quality control, statistical analysis and equipment maintenance.

[0052] By precisely controlling the amount of fixative added, specimens can be preserved in the most appropriate state. This avoids the adverse effects of excessive or insufficient fixative addition on specimen quality (e.g., excessive fixative addition may lead to waste of fixative, while insufficient fixative addition may affect the fixation effect). Timely and accurate fixative treatment helps ensure that the morphology and biological characteristics of the specimen are not damaged, thereby improving the accuracy of pathological diagnosis.

[0053] The sample identification unit can monitor and identify the volume of each specimen in real time. Different specimens may have different volume requirements, so the main control unit 520 can flexibly adjust the amount of liquid added according to the real-time collected data. This adaptability enables the robot to handle various types of specimens and meet the diverse needs of surgery.

[0054] In some embodiments, the sample identification unit includes a light-sensing volume recognition instrument 511, which is connected to the top of the box 110 and arranged relative to the liquid adding head 410. The light-sensing volume recognition instrument 511 uses optical sensing technology (such as laser or infrared sensor) to measure the volume of the specimen bag. The main control unit 520 can obtain the exact volume data of the specimen bag in real time through the high-precision measurement of the light-sensing volume recognition instrument 511, avoiding errors that may occur in manual measurement. Accurate volume data is the basis for achieving precise control of the amount of liquid added, effectively ensuring the reasonable use of the fixative.

[0055] The main control unit 520 can adjust the amount of fixative injected by the liquid adding head 410 based on the precise volume data obtained by the optical volume recognition instrument 511 to ensure that each specimen receives an appropriate amount of fixative. The precise control process avoids insufficient or excessive liquid addition during manual operation, thereby ensuring the preservation of the specimen.

[0056] The optical volume recognition instrument 511 measures the volume of the specimen bag in a non-contact manner without causing any damage to the specimen bag or the specimen itself, and is particularly suitable for use in the processing of biological samples. The optical volume recognition instrument 511 can also avoid direct contact with the specimen, reducing the risk of contamination. The optical volume recognition instrument 511 can quickly and automatically measure the volume of the specimen bag, thereby saving the time of manual measurement and realizing the automation of the specimen processing process.

[0057] In some embodiments, see Figure 1 The liquid adding module 400 further includes a storage tank body 420, which is embedded in the top of the box body 110. The opening of the storage tank body 420 is arranged relative to the outlet of the liquid adding head 410. The specimen bag can be placed in the storage tank body 420, so that the storage tank body 420 can carry the specimen bag. The storage tank body 420 can also hold the overflowed fixative to prevent the fixative from polluting the environment.

[0058] During the liquid injection process, not only is the specimen bag properly carried, but the recovery of the overflowed liquid also prevents the fixative from flowing into external equipment or the environment, ensuring the continuity and reliability of the liquid addition operation.

[0059] The arrangement of the storage tank 420 makes the liquid adding operation more stable and reliable, reduces the operation interruption or environmental pollution caused by overflow, and improves the stability of the liquid adding module 400 in practical applications. Especially in high-frequency and high-precision medical operations, stability is the key to ensuring specimen quality and operation efficiency.

[0060] The storage tank 420 can effectively collect the overflow of the fixing liquid, which not only helps to prevent pollution, but also improves the maintainability of the equipment. The storage tank 420 allows any overflowed fixing liquid to be collected in the tank, thereby avoiding direct contact of the liquid with the surface of the equipment and reducing the difficulty of cleaning and maintenance. By reducing external pollution and cleaning of overflow liquid, the maintenance of the equipment becomes easier.

[0061] In some embodiments, see Figure 2 The liquid adding module 400 also includes an infusion system 430 disposed in the box 110. The infusion system 430 includes a liquid pump 431 and a liquid storage bottle 432 for storing a fixative. The liquid storage bottle 432 is arranged with the inlet of the liquid adding head 410 through a pipeline. The liquid pump 431 is arranged on the pipeline. The addition of the liquid pump 431 allows the output of the fixative of the liquid adding head 410 to be more accurately controlled. The control of the liquid pump 431 makes the liquid adding process more accurate, avoiding the problem of excessive or insufficient liquid addition that may be caused by traditional manual liquid addition. The system can adjust the output of the fixative in real time according to the specific situation of the specimen, thereby optimizing the specimen preservation process and ensuring its quality.

[0062] The flow rate of the liquid pump 431 can be adjusted in real time according to the volume of the specimen, the liquid addition requirements and other control parameters, and the flow rate of the liquid can be accurately adjusted to ensure that each specimen receives just the right amount of fixative.

[0063] In the specific implementation process, the computer can analyze the amount of fixative required for the specimen and the flow rate of the liquid pump 431, and accurately control the input amount of the fixative by controlling the opening time of the liquid pump 431.

[0064] As another implementation, the measurement by the optical volume recognition instrument 511 may be omitted, and medical staff may add liquid to the specimen bag based on their personal experience, pressurize the liquid storage bottle through a pressure pump, install a valve on the liquid adding head, and manually control the opening and closing time of the valve to control the amount of liquid added.

[0065] The liquid pump 431 is electrically connected to the control module 500. Through the combination of the liquid pump 431 and the control module 500, the infusion system 430 can automatically control the flow and filling process of the fixative, which helps to reduce the need for manual intervention and make the filling process more automated, efficient, and standardized. The highly automated filling process significantly improves work efficiency and reduces the possibility of human operational errors. Medical staff can focus more on other key tasks and improve overall work efficiency.

[0066] In some embodiments, see Figure 1 The sample storage module 200 also includes an electronic scanning window 220 disposed on the box body 110. The electronic scanning window 220 can scan the label of the specimen bag and the work badge of the medical staff to register and record the specimen and the person submitting the specimen for inspection.

[0067] The electronic scanning window 220 scans the label of the specimen bag to quickly and accurately enter the specimen information (such as specimen number, collection date, specimen name, doctor submitting the specimen, etc.). The inspector completes the cabinet opening by scanning the work badge and binds it with the corresponding specimen to complete the registration. This reduces the errors and time consumption of manual input, realizes automated registration and filing, and improves overall management efficiency.

[0068] The scanning function can link the relevant information of the specimen bag with the records in the database in real time, ensuring that the specimen tracking and management process has high accuracy and traceability. This records the entire process of specimen storage, transfer and use, allowing managers to trace the circulation history of each specimen at any time, enhancing the transparency and security of the system.

[0069] Manual input of label information may lead to errors such as mis-entry and omission. By automatically scanning labels, the accuracy and consistency of information entry are guaranteed, reducing errors and omissions in human operations and improving data reliability.

[0070] In the specific implementation process, the medical staff scans the ID card and the specimen label in turn, and then the storage chamber 210 of the box 110 can be opened to store the specimen. Driven by the walking module 300, the robot moves along the set route from the operating room to the specimen room, and the relevant staff scans the ID card and the specimen label again, and the specimen is recovered.

[0071] In some embodiments, see Figure 3 The storage chamber 210 is provided with a bracket 211, which is slidably engaged with the inner wall of the storage chamber 210, so that the bracket 211 can be easily removed or adjusted, which is convenient for cleaning and maintaining the storage chamber 210. The specimen bags are stored in the partition, which also makes the interior of the storage chamber 210 more orderly, and the cleaning and inventory work becomes easier.

[0072] A plurality of partitions for storing specimen bags are arranged on the support 211 , so as to reasonably divide the internal space of the storage chamber 210 and store the specimen bags in an orderly manner.

[0073] By dividing the specimen bags into multiple compartments for storage, sufficient spacing is maintained between the specimen bags, making storage and retrieval more convenient. The design of the sliding clamping bracket 211 enables the operator to easily adjust or remove the required specimen bags, thereby improving storage and retrieval efficiency. Compared with the traditional stacking method, this design can significantly reduce the difficulty of storage and retrieval caused by stacking.

[0074] Storing specimen bags separately by partitions can avoid mutual squeezing or collision between specimen bags, and reduce the risk of spillage, damage or contamination of fixative and specimens due to excessive compression or movement during storage. In addition, the specimen bags are separated by partitions, which reduces the possibility of cross-contamination between specimens and helps improve the hygiene and safety of storage.

[0075] Each partition can store specimen bags of different types or batches separately, and the multiple partitions on the bracket 211 can help achieve classified management of specimens. The partition structure design allows specimens of different specifications to be clearly separated, which facilitates the classification, identification and search of specimens, thereby improving the storage management efficiency.

[0076] In a specific implementation process, the support 211 is cross-shaped, and the support 211 divides the storage chamber 210 into four independent partitions. The specimen bags can be placed in different partitions respectively to complete the specimen preservation.

[0077] In some embodiments, please refer to Figure 1 The control module 500 also includes a touch control screen 530, which is electrically connected to the walking module 300, the sample storage module 200, and the liquid adding module 400. As a centralized control interface, the touch control screen 530 can manage and control the operations of the walking module 300, the sample storage module 200, and the liquid adding module 400 on one interface. The user only needs to perform simple operations and settings through the touch screen to quickly realize the control of each module, which greatly simplifies the operation process and improves the ease of use and efficiency of the system.

[0078] The touch screen can display the working status and feedback information of each module in real time, such as the operating status of the walking module 300, the access status of the sample storage module 200, the liquid addition progress of the liquid addition module 400, etc. The real-time monitoring function can help operators to understand the operation of the system in a timely manner, find potential problems and make adjustments to ensure stable and accurate operation of the system.

[0079] The touch screen not only provides an intuitive operation interface, but can also be integrated with the software system in the control module 500 to achieve automatic control. For example, the touch screen can preset the sample storage and liquid addition process, and automatically execute according to the predetermined program. After the operator simply sets it through the touch screen, the system can automatically complete the task without excessive manual intervention, reducing the workload of the operator.

[0080] In some embodiments, please refer to Figure 1 The walking chassis 310 includes a disc body and a driving wheel set 311, and the driving wheel set 311 is rotatably connected to the disc body. The rotatable connection between the disc body and the driving wheel set 311 allows the driving wheel set 311 to evenly bear the load under the support of the disc body, thereby improving the stability of the entire walking chassis 310. Especially when the ground is uneven or inertia is generated during walking, the rotatable connection design can effectively disperse the pressure, avoid the tilt or imbalance of the chassis, and ensure the smooth walking of the equipment.

[0081] The rotation connection design between the driving wheel set 311 and the disc body can realize efficient power transmission. When the driving wheel set 311 rotates, the disc body can also generate movement synchronously through the rotation connection.

[0082] The rotational connection between the driving wheel set 311 and the disc body provides high flexibility, so that the chassis can adjust the direction or speed as needed during driving. For example, the rotation of the driving wheel set 311 can directly control the motion trajectory of the disc body, and the chassis can flexibly adapt to different environments or working scenes.

[0083] In the specific implementation process, the driving wheel group 311 can be a multi-wheel driving device, and multiple wheels are in direct contact with the ground. The direction can be adjusted while driving the chassis to achieve adjustment and control of the overall movement displacement and direction of the robot.

[0084] The driving wheel set 311 can be a crawler drive device, and the crawler is in direct contact with the ground, and can pass through the stagnant water ground and the threshold relatively easily, and has better passability than the wheel drive device. In addition, the crawler drive device has higher running stability, which can reduce the vibration of the box 110 as a whole, and prevent the specimen bag from being excessively vibrated, which affects the quality of the specimen.

[0085] See also Figure 5 A surgical specimen recovery method using an intelligent surgical specimen recovery robot includes the following steps:

[0086] S1 Robot Calling:

[0087] When the specimen is removed from the body in the operating room, the robotic system receives instructions from the operator through a mobile device.

[0088] The specific steps are as follows:

[0089] Sending operation instructions: The staff in the operating room sends instructions to the surgical specimen recovery robot through mobile devices (such as tablets, mobile phones or computers). The instructions include information such as the location and type of specimens to be recovered.

[0090] Trajectory planning: The robotic system calculates the optimal path based on the pre-set trajectory and operating room environment information (such as obstacles, corridor width, etc.), and plans a suitable route.

[0091] Walking module 300 starts: The robot starts walking module 300 and moves from the specimen room to the back door of the operating room according to the planned trajectory. During this process, the robot may need to avoid obstacles, ensure smooth walking, and avoid collisions with other equipment or personnel.

[0092] S2 specimen volume determination:

[0093] After the robot arrives at the operating room, it begins to perform the task of measuring the specimen volume. The specific steps include:

[0094] Specimen bag position identification: The robot uses a built-in vision system or scanning equipment to identify and locate the specimen bag and determine the specimen bag's position.

[0095] Volume measurement: The control module 500 uses the optical volume recognition device 511 and image processing technology to accurately measure the specimen bag and automatically calculate the volume of the specimen. The volume data will be used for subsequent calculation of the amount of fixative to be added.

[0096] Data analysis and feedback: The system transmits the measured volume data to the control module 500 for analysis to determine whether additional processing or adjustment is required. This information is also transmitted to the liquid addition module 400 for precise control of the amount of fixative added.

[0097] S3 fixative filling:

[0098] According to the volume measurement results of the specimen, the robot will automatically perform quantitative filling of the fixative. The specific steps are as follows:

[0099] Fixative preparation: The liquid adding module 400 inside the robot calculates the required amount of fixative based on the volume data. The type and amount of fixative are automatically adjusted based on parameters such as the volume, type and storage requirements of the specimen.

[0100] Operation of the liquid adding head 410: The liquid adding head 410 of the liquid adding module 400 is aimed at the specimen bag, and the fixing liquid is quantitatively added to the specimen bag through a precise piping system and a pumping device. The liquid adding process will accurately control the speed and quality of the liquid adding to ensure that the specimen is adequately protected and avoid affecting the specimen quality due to insufficient or excessive liquid.

[0101] Filling process monitoring: During the filling process, the robot will monitor the flow rate, pressure and other parameters of the fixing liquid in real time to ensure the smooth completion of the filling process. If there is any abnormality, the robot will automatically stop and issue a warning message so that the operator can deal with it in time.

[0102] S4 specimen bag storage:

[0103] After the specimen bag is filled with the fixative, the robot sends the specimen bag to the storage chamber 210 for low-temperature storage. The specific steps are as follows:

[0104] Specimen bag transportation: After filling, the medical staff carefully places the specimen bag into the storage chamber 210.

[0105] Refrigerated environment setting: The temperature control system in the storage chamber 210 will automatically adjust the temperature and humidity according to the specimen preservation requirements, keep the specimen in a suitable low temperature environment, and ensure the long-term preservation of the specimen. The system will monitor the temperature changes in real time to ensure that the refrigerated environment always meets the preset standards.

[0106] Storage status record: The control module 500 automatically records and archives the storage status of the specimen (such as storage location, storage time, temperature record, etc.) to facilitate later search, tracing or management.

[0107] S5 robot returns:

[0108] After completing the storage of the specimen bag, the robot will return to the specimen room according to the preset route trajectory. The specific steps are as follows:

[0109] Path planning and navigation: The robot recalculates the best path from the storage chamber 210 back to the specimen room through the built-in navigation system. The robot may need to avoid dynamic obstacles (such as personnel, other equipment, etc.) and automatically adjust the travel speed to ensure the safety and stability of the travel.

[0110] Return operation: The robot starts the walking module 300 and moves along the calculated return path to return to the specimen room. During this process, the robot will continue to monitor its position and avoid obstacles through sensors (such as laser radar, infrared sensor, etc.).

[0111] Completion of the recovery task: After the robot arrives at the specimen room, the system will automatically confirm that the task is completed, send a task completion signal to the operator, and record key data of the entire specimen recovery process (such as time, operation steps, volume data, filling amount, etc.) for subsequent query or audit.

[0112] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present invention should be covered by the present invention.

Claims

1. A surgical specimen intelligent recovery robot, characterized in that: include: A support module, the support module comprising a box for structural support; a sample storage module, the sample storage module comprising a storage chamber disposed in the box; A walking module, comprising a movable walking chassis, wherein the walking chassis is fixedly connected to the bottom of the box; a liquid adding module, the liquid adding module comprising a liquid adding head connected to the top of the box, the liquid adding head being capable of adding fixative to the surgical specimen in the specimen bag; A control module is provided, wherein the control module can control the amount of fixative added by the liquid adding head relative to the specimen bag according to the volume of the surgical specimen.

2. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: The control module includes a sample identification unit and a main control unit. The sample identification unit is connected to the top of the box and can identify the volume of the specimen. The main control unit is electrically connected to the sample identification unit and the liquid adding head respectively. The main control unit can adjust the amount of fixative added by the liquid adding head based on the volume data collected by the sample identification unit.

3. The intelligent surgical specimen recovery robot according to claim 2, characterized in that: The sample identification unit includes a light-sensing volume recognition instrument, which is connected to the top of the box and arranged opposite to the liquid adding head. The light-sensing volume recognition instrument can measure the volume of the specimen bag opened relative to the liquid adding head.

4. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: The liquid adding module further comprises a storage tank body, which is embedded in the top of the box body, and the opening of the storage tank body is arranged opposite to the outlet of the liquid adding head.

5. The intelligent surgical specimen recovery robot according to claim 1 or 4, characterized in that: The liquid adding module also includes an infusion system arranged in the box body, and the infusion system includes a liquid pump and a liquid storage bottle for storing a fixative liquid. The liquid storage bottle is arranged with the inlet of the liquid adding head through a pipeline, and the liquid pump is arranged on the pipeline. The liquid pump is electrically connected to the control module to control the output amount of the fixative liquid in the liquid adding head.

6. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: The sample storage module further comprises an electronic scanning window provided on the box body, and the electronic scanning window can scan the label and work badge of the specimen bag to register and record the specimen information and the person submitting the specimen for inspection.

7. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: A bracket is provided in the storage chamber, the bracket is slidably engaged with the inner wall of the storage chamber, and a plurality of partitions for storing specimen bags are provided on the bracket.

8. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: The control module further includes a touch control screen, which is electrically connected to the walking module, the sample storage module and the liquid adding module.

9. The intelligent surgical specimen recovery robot according to claim 1, characterized in that: The walking chassis includes a disc body and a driving wheel set, and the driving wheel set is rotatably connected to the disc body.

10. A method for recovering surgical specimens, characterized in that: The intelligent surgical specimen recovery robot according to any one of claims 1 to 9 is applied, and the following operating steps are included: S1 Robot Call: When the specimen is removed from the body in the operating room, a command is sent to the robot via a mobile device. The walking module moves along a pre-set trajectory from the specimen room to the door of the operating room. S2 Specimen volume measurement: The control module measures the specimen volume in the specimen bag; S3 Fixative filling: The filling head adds the fixative to the specimen bag in a quantitative manner according to the volume measurement results; S4 specimen bag storage: Place the specimen bag filled with fixative into the storage chamber for temporary storage; S5 Robot Return: The robot with the specimen stored in it travels along a preset route from the operating room to the specimen room.

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