Nasal swab sampling robot with force feedback apparatus and sampling method

Abstract

A nasal swab sampling robot with a force feedback apparatus, comprising a multi-directional motion mechanism, a nasal swab sampling head (315), and the force feedback apparatus. The multi-directional motion mechanism comprises a front-rear movement mechanism (4), a vertical movement mechanism (2), a pitch angle swing mechanism (3), and a circumferential angle swing mechanism (1). The multi-directional motion mechanism adjusts a composite trajectory of multi-directional displacements of the nasal swab sampling head (315), so as to adapt to precise sampling for different patients. The force feedback apparatus enables control of the sampling force, so as to reduce patient discomfort. The standardized sampling of the nasal swab sampling robot avoids unstable swab quality caused by manual operation, improving the sampling efficiency and accuracy.

Description

A nasal swab sampling robot with force feedback device and sampling method Technical Field

[0001] This 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 thereof. Background Technology

[0002] During nasal swab collection, medical staff must be in close contact with patients. Patients' coughing and forceful breathing can generate a large amount of droplets or aerosols, creating close contact between the sampling worker (medical staff) and the nasopharyngeal swab sample recipient (patient). Especially when the nasopharyngeal swab is inserted into the nostril, the patient is prone to sneezing due to swab stimulation, increasing the risk of the swab breaking off in the nasopharynx and posing a significant risk to the sampling worker. Furthermore, variations in the skill level of different medical personnel and improper nasal swab collection procedures can lead to differences in swab quality, affecting the assessment of the patient's condition. Technical issues

[0003] Current sampling devices rely on manual labor. Manual sampling not only lacks control over the sampling pressure, leading to significant discomfort for patients, but also results in inconsistent swab quality due to improper sampling techniques, impacting sample collection accuracy. How to standardize the sampling procedure for each patient and precisely control the sampling pressure to avoid inconsistent swab quality caused by manual operation, thereby affecting sampling efficiency, is a pressing technical problem that needs to be solved in this field. Technical solutions

[0004] The present invention aims to overcome at least one of the defects (deficiencies) of the prior art and provides a nasal swab sampling robot and sampling method with a force feedback device, which is used to solve the problem of standardizing the sampling operation for different patients each time, and accurately controlling the sampling force each time to avoid the instability of swab quality caused by manual operation, thereby affecting the sampling efficiency.

[0005] The present invention provides a nasal swab sampling robot with a force feedback device, comprising a multi-directional motion mechanism, a nasal swab sampling head, and a force feedback device. The nasal swab sampling head is connected to the force feedback device to achieve automatic extension and retraction adjustment for sampling. The nasal swab sampling head is connected to the multi-directional motion mechanism to achieve multi-directional displacement adjustment. The multi-directional motion mechanism includes a forward and backward movement mechanism, a vertical movement mechanism, a pitch angle swing mechanism, and a circumferential angle swing mechanism. The nasal swab sampling head is connected to the forward and backward movement mechanism via the force feedback device. The forward and backward movement mechanism, the pitch angle swing mechanism, and the circumferential angle swing mechanism are all connected to the vertical movement mechanism, 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 facilitates the adjustment of the nasal swab sampling head's multi-directional displacement through a multi-directional motion mechanism to adapt to the precise sampling positions of different patients. The sampling force is controlled through a force feedback device to reduce patient discomfort during sampling. The nasal swab sampling head's displacement in the forward and backward and up and down directions is adjusted through a forward and backward movement mechanism and a vertical movement mechanism, as well as the adjustment of the combined displacement trajectory of the two. The circumferential oscillation mechanism adjusts the nasal swab sampling head's circumferential oscillation arc displacement, as well as the adjustment of the combined displacement trajectory with the forward and backward and vertical movement mechanisms.

[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 meshes 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 moving the telescopic block within the telescopic frame and the nasal swab sampling head forward and backward.

[0008] It is advantageous to limit the direction and trajectory of telescopic displacement through the telescopic frame; to realize the forward and backward movement of the nasal swab sampling head through the telescopic block; and to achieve precise displacement control 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 by a bearing, and the driven bevel gear is coaxially connected with the front and rear rotating gears. The first motor drives the rotation of the driving bevel gear, the driving bevel gear drives the rotation of the driven bevel gear, and the driven bevel gear drives the rotation of the front and rear rotating gears.

[0010] It is beneficial to achieve the output shaft of the first motor and the front and rear rotating gears being parallel to each other with the rack shaft through the cooperation of the active bevel gear and the driven bevel gear, thereby avoiding collisions between the first motor and other mechanisms when the nasal swab sampling head moves back and forth, and reducing the size of the sampling robot; through the bearing connection between the active bevel gear and the driven bevel gear, high-precision rotational 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 back and forth 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 serves 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 moving mechanism includes a sliding support and a slotted moving seat. The slotted moving seat slides vertically within the sliding support, and the pitch angle swing mechanism is connected to the sliding support via the slotted moving seat. The sliding support includes a vertical groove, a driving end wheel, a synchronous belt, a driven end wheel, and a swing rotation gear. The slotted moving seat includes a slot portion, a connecting portion, and a gear portion. The side of the slotted moving seat is fixedly connected to the synchronous belt. The slot portion is slidably connected to the vertical groove. The swing rotation gear meshes with the gear portion. The connecting portion is rotatably connected to the front and rear moving mechanism. The swing rotation gear drives the slotted moving seat to rotate in the pitch angle direction via a second motor. The driving end wheel is driven by a third motor, which drives the synchronous belt to drive the driven end wheel to rotate. The synchronous belt drives the slotted moving seat to move within the vertical groove.

[0014] It facilitates vertical fixation through the sliding support and vertical displacement of the nasal swab sampling head through the movable seat in the slot. The connection between the pitch angle swing mechanism and the sliding support allows for the synthesis of the pitch angle swing and vertical movement of the nasal swab sampling head, standardizing each sampling step and achieving accurate sampling. A third motor drives the rotation of the active end wheel, which in turn drives the driven end wheel and the synchronous belt to rotate synchronously. The fixed connection between the synchronous belt and the movable seat in the slot allows the slot to move vertically following the synchronous belt, achieving vertical displacement of the nasal swab sampling head. A second motor drives the swing gear to rotate, causing the gear meshing with the swing gear to rotate synchronously. The gear then drives the transition part to rotate, achieving pitch angle swing of the nasal swab sampling head.

[0015] Furthermore, the circumferential oscillation mechanism includes a circumferential guide rail, a circumferential moving block, and a ring rotating gear. The vertical moving mechanism includes a fixed base, 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 base, and the bottom of the circumferential moving block slides along the circumferential guide rail through the ring rotating gear.

[0016] It is beneficial to limit the arc and trajectory of circumferential movement by cooperating with the circumferential guide rail and the circumferential moving block; the circumferential moving block is driven to move on the circumferential guide rail by the ring 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 composite trajectory in three directions in the circumferential movement direction on the basis of the composite trajectory of pitch angle swing and vertical movement.

[0017] Furthermore, the circumferential guide rail includes an annular groove and an annular outer edge tooth, the circumferential moving block includes a connecting seat and a slider, the annular rotating gear is fixedly connected to the slider through the connecting seat, the annular rotating gear meshes with the annular outer edge tooth, and the annular rotating gear is driven to rotate by a fourth motor, which drives the connecting seat to move along the direction of the annular outer edge tooth, thereby driving the slider to slide in the annular groove.

[0018] It is advantageous to achieve a snap-fit ​​connection through the annular groove and the slider. The rotation of the annular rotating gear is driven by the fourth motor, so that the connecting seat is driven by the annular rotating gear to move along the annular outer edge teeth that mesh with the annular rotating gear.

[0019] Furthermore, the circumferential oscillation 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 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 avoid the sampling robot from bumping against the table when tilting down; the counterweight support base prevents the sampling robot from shifting due to instability of the center of gravity when moving in three directions at the same time, thus affecting the sampling accuracy; and the specific ratio of the bottom area of ​​the counterweight support base to 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 limiting frame and a vision device. The limiting frame is hollowed out in the front-to-back direction to limit the vertical displacement of the nasal swab sampling head. The vision device is located at the top of the limiting frame to accurately position the nasal swab sampling head.

[0022] The limiting frame helps to protect the multi-directional motion mechanism within the frame, avoiding external impacts and limiting the pitch angle swing range, so that the vision device installed on the limiting frame can accurately observe the movement trajectory of the nasal swab sampling head.

[0023] S1. Determine whether there is a patient in front of the sampling robot through the vision device; otherwise, keep the robot off; otherwise, turn it on into standby mode.

[0024] S2. Based on the images of patients of different heights and ages in front, the visual device determines the position of the nostrils to be sampled, and then issues commands to control the forward and backward movement mechanism, the vertical movement mechanism, and the circumferential oscillation mechanism to make coarse adjustments 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 based on the influence, calculates the tilt angle of the nostrils near the bridge of the nose, and then automatically issues a command to control the pitch angle swing mechanism to make a coarse adjustment in the direction parallel to the tilt angle.

[0026] S4. After the nasal swab sampling head is roughly adjusted, it enters the nostril and sends feedback commands to the pitch angle swing mechanism, the forward and backward movement mechanism, and the circumferential angle swing mechanism for fine adjustment based on the resistance encountered by the force feedback device in the nasal cavity.

[0027] S5. Reach the sampling position in the nasal cavity, quickly sample, and then exit the nasal cavity in the direction parallel to the tilt angle as described in S3. Beneficial effects

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: by adjusting the composite trajectory of the nasal swab sampling head in forward and backward movement, vertical movement, circumferential swing, and pitch swing through a multi-directional motion mechanism, it can adapt to the sampling of different patients at precise locations; by controlling the sampling force through a force feedback device, it can reduce the discomfort of patients during the sampling process; the standardized sampling of the sampling robot and the precise control of the sampling force can avoid the instability of swab quality caused by manual operation, thereby improving sampling efficiency and accuracy. Attached Figure Description

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

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

[0031] Figure 3 is a schematic diagram showing the connection between the circumferential oscillation mechanism, the pitch oscillation mechanism and the vertical movement mechanism of the present invention.

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

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

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

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

[0036] Explanation of reference numerals in the attached diagram: 1. Circumferential oscillation mechanism; 2. Vertical movement mechanism; 3. Pitch oscillation mechanism; 4. Forward and backward movement mechanism; 5. Positioning mechanism; 101. Counterweight support base; 102. Guide rail support base; 103. Annular groove; 104. Annular outer edge tooth; 105. Circumferential moving block; 106. Fourth motor; 107. Annular rotating gear; 108. Gear fixing block; 201. Driven end wheel; 202. Fixed seat; 203. Synchronous belt; 204. Second motor; 205. Swaying rotating gear; 206. Third motor; 207. Sliding support; 207. Driving end. Rotating wheel 208, active end adapter shaft 209, slotted moving seat 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 section 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, vision device 401, limit frame 402. Embodiments of the present invention

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

[0038] As shown in Figures 1-7, this embodiment provides a nasal swab sampling robot with a force feedback device, which includes a multi-directional motion 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 achieve automatic extension and retraction adjustment for sampling. The nasal swab sampling head 315 is connected to the multi-directional motion mechanism to achieve multi-directional displacement adjustment. The multi-directional motion mechanism includes a forward and backward movement mechanism 4, a vertical movement 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 movement mechanism 4 through the force feedback device. The forward and backward movement mechanism 4, the pitch angle swing mechanism 3, and the circumferential angle swing mechanism 1 are all connected to the vertical movement mechanism 2 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 motion 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 a threshold, thereby realizing the automatic rebound of the nasal swab sampling head 315. The installation direction of the nasal swab sampling head 315 is the front-back direction, the direction perpendicular to the installation direction of 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 along the pitch direction, and the nasal swab sampling head 315 is fixed in a certain vertical direction and then swings along the horizontal plane along the circumferential direction. The front-back movement mechanism 4 controls the movement of the nasal swab sampling head 315 in the front-back direction, the vertical movement 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 circumferential 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 meshes with 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 to move on the rack shaft 303 by a first motor 304, thereby causing 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, the telescopic frame 301 of the forward and backward moving mechanism 4 has a dovetail groove inside, and a telescopic block 302 is installed at the dovetail groove. The telescopic block 302 moves back and forth 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 teeth of the rack shaft 303 mesh with the forward and backward rotating gear 306. When the first motor 304 drives the forward and backward rotating gear 306 to rotate, the meshing action causes the rack shaft 303 to drive the telescopic block 302 and the nasal swab sampling head 315 to move in the forward and backward direction.

[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 by a bearing, and the driven bevel gear 307 is coaxially connected with the front and rear rotating gears 306. The first motor 304 drives the rotation of the driving bevel gear 305, the driving bevel gear 305 drives the rotation of the driven bevel gear 307, and the driven bevel gear 307 drives the rotation of the front and rear rotating gears 306.

[0043] In this embodiment, the upper end of the telescopic frame 301 is fixedly connected to the first motor 304 via a flange. A driving bevel gear 305 is mounted on the output shaft of the first motor 304, and the two are fixed together with a set screw. A bearing hole is provided at the 90° position of the mounting bevel gear on the telescopic frame 301, and a bearing is installed inside. A driven bevel gear 307 shaft is installed inside the bearing. This allows the two bevel gears to mesh relative to each other, completing relative rotation. A front-to-back rotating gear 306 is fixedly mounted on the other end of the driven bevel gear 307 shaft, rotating 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, a fixed end support 309, a pressure sensor 310, and a movable end support 311 are fixed axially to the rack shaft 303. To ensure coaxiality of the connection between the three, a telescopic sleeve 313 is installed on the outside of the movable end support 311, allowing the telescopic sleeve 313 and the movable end support 311 to slide relative to each other. A compression spring 312 is installed between the inside of the movable end support 311 and the inner end face of the telescopic sleeve 313. A sampling head adapter cover 314 is installed at the front end of the telescopic sleeve 313, allowing for quick mounting. A fixed nasal swab sampling head 315 is installed at the very front end of the sampling head adapter cover 314. When the first motor 304 is driven, the transmission is transferred to the rack and pinion structure via a bevel gear, completing the linear movement function. This achieves the linear telescopic function of the nasal swab sampling head 315. Meanwhile, under the action of the force sensor and the compression spring 312, if the nasal swab sampling head 315 extends too far when inserted into the nostril and the resistance is too great, it can automatically retract to prevent excessive sampling force from injuring 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 transmits the electrical signal to the first motor 304 via 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 closer to the fixed end support 309, realizing the retraction of the nasal swab sampling head 315.

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

[0048] The sliding support 207 includes a vertical groove, a driving end wheel 208, a synchronous belt 203, a driven end wheel 201, and a swing rotation gear 205. The groove-in-moving seat 210 includes a slot, a connecting part, and a gear part 308. The side of the groove-in-moving seat 210 is fixedly connected to the synchronous belt 203. The slot is slidably connected to the vertical groove. The swing rotation gear 205 is meshed with the gear part 308. The connecting part is rotatably connected to the front and rear moving mechanism 4. The swing rotation gear 205 drives the groove-in-moving seat 210 to rotate in the pitch direction via a second motor 204. The driving end wheel 208 is driven by a third motor 206, which drives the synchronous belt 203 to drive the driven end wheel 201 to rotate. The synchronous belt 203 drives the groove-in-moving seat 210 to move in the vertical groove.

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

[0050] In this embodiment, a 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. An active end adapter shaft 209 is installed at the output end of the third motor 206, and the active end adapter shaft 209 is connected to the third motor 206 by fastening screws. An active end wheel 208 is installed on the active end adapter shaft 209, and the active end wheel 208 is axially positioned at the shoulder of the active end adapter shaft 209, and the two are fixed together by fastening screws; this allows the third motor 206 to drive the rotation of the active end wheel 208. A driven end adapter shaft 211 and a driven end wheel 201 are installed at the lower end of the sliding support 207 to allow relative rotation between the driven end wheel 201 and the sliding support 207. During installation, it is necessary to ensure that the driven end pulley 201 and the driving end pulley 208 are flush on the axial end face. At the same time, a synchronous belt 203 is installed between the driving end pulley 208 and the driven end pulley 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 pulleys remains stable.

[0051] In this embodiment, a vertical groove is formed inside the sliding support component. The vertical groove is dovetail-shaped, and an in-groove movable seat 210 is installed inside it. The side of the in-groove movable seat 210 is fixed to the side of the synchronous belt 203 as a whole by clamping screws. When the sliding support component 207 drives the active end wheel 208 to rotate, it controls the in-groove movable seat 210 to move up and down along the vertical groove between the two wheels, realizing precise control of the up and down movement of the nasal swab sampling head 315. A second motor 204 is installed at the flange of the in-groove movable seat 210. The output shaft of the second motor 204 is equipped with a swing rotation 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. A gear part 308 is installed on the outer ring of the bearing. The gear part 308 is connected to the bearing in the axial direction by a snap ring, so that the gear part 308 rotates relative to the in-groove movable seat 210 in the radial direction. The end face of the positioning rotating gear 205 is linked with the front and rear moving mechanism 4 to form an integral whole. The positioning rotating gear 205 meshes 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 moving seat 210 in the slot to swing in the pitch direction, thereby realizing the pitch swing motion function of the nasal swab sampling head 315.

[0052] The circumferential oscillation mechanism 1 includes a circumferential guide rail, a circumferential moving block 105, and a ring rotating gear 107. The vertical moving mechanism 2 includes a fixed base 202, which 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 base 202, and the bottom of the circumferential moving block 105 slides along the circumferential guide rail through the ring rotating gear 107.

[0053] In this embodiment, the fixed base 202 is frame-shaped, and the sliding support 207 passes through the frame-shaped fixed base 202, and the two are fixedly connected. The upper end of the circumferential moving block 105 is L-shaped, with the top of the L-shaped circumferential moving block 105 fixed to the fixed base 202 and the bottom cooperating with the circumferential guide rail for movement. The annular rotating gear 107 is fixedly connected to the circumferential moving block 105 through the gear fixing block 108. When the annular rotating gear 107 rotates, the circumferential moving block 105 slides circumferentially along the circumferential guide rail.

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

[0055] In this embodiment, the annular guide rail has an annular groove 103 inside, which is dovetail-shaped. A circumferential moving block 105 is installed in the dovetail groove, allowing the circumferential moving block 105 to slide inside the annular groove 103. Above the circumferential moving block 105 is a connecting seat, which protrudes laterally for mounting a fourth motor 106. An annular rotating gear 107 is installed on the output shaft of the fourth motor 106, and an annular outer edge tooth 104 is installed on the outer circumferential direction of the annular groove 103. The annular rotating gear 107 meshes 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, through meshing, drives the connecting block to move along the trajectory of the annular outer edge tooth 104, thereby causing the circumferential moving block 105 to move in annular motion within the dovetail groove, thus enabling the nasal swab sampling head 315 to achieve the function of horizontal left-right swinging.

[0056] The circumferential angular swing mechanism 1 further 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, the bottom of the circumferential angular swing mechanism 1 is provided with a counterweight support base 101, and a guide rail support base 102 is installed on the upper end of the counterweight support base 101. A 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 remain fixed in a horizontal state. The bottom area of ​​the counterweight support base 101 is twice the bottom area of ​​the guide rail support base.

[0058] It also includes a positioning mechanism 5, which includes a limiting frame 402 and a vision device 401. The limiting frame 402 is hollowed out in the front-back direction to limit the vertical displacement of the nasal swab sampling head 315. The vision device 401 is located on the top of the limiting frame 402 to accurately position the nasal swab sampling head 315.

[0059] In this embodiment, the vision device 401 is mounted on the limiting frame 402. The sides and bottom of the limiting frame 402 are fixedly connected to a multi-directional motion mechanism. The vision device 401 includes a camera, the focal point of which is always aligned with the end of the nasal swab sampling head 315, enabling the sampling robot to accurately locate the patient's sampling position during the sampling process and automatically detect multiple positions on the patient. The limiting frame 402 is hollowed out in the front-back direction, thereby limiting the pitch range of the nasal swab sampling head 315 and preventing excessive amplitude from affecting sampling hygiene. Example

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

[0061] S1. Determine whether there is a patient in front of the sampling robot through the vision device; otherwise, keep the robot off; otherwise, turn it on into standby mode.

[0062] S2. Based on the images of patients of different heights and ages in front, the visual device determines the position of the nostrils to be sampled, and then issues commands to control the forward and backward movement mechanism, the vertical movement mechanism, and the circumferential oscillation mechanism to make coarse adjustments 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 based on the influence, calculates the tilt angle of the nostrils near the bridge of the nose, and then automatically issues a command to control the pitch angle swing mechanism to make a coarse adjustment in the direction parallel to the tilt angle.

[0064] S4. After the nasal swab sampling head is roughly adjusted, it enters the nostril and sends feedback commands to the pitch angle swing mechanism, the forward and backward movement mechanism, and the circumferential angle swing mechanism for fine adjustment based on the resistance encountered by the force feedback device in the nasal cavity.

[0065] S5. Reach the sampling position in the nasal cavity, quickly sample, and then exit the nasal cavity in the direction parallel to the tilt angle as described 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 of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the claims of the present invention should be included within 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, The device includes a multi-directional motion mechanism, a nasal swab sampling head, and a force feedback device. The nasal swab sampling head is connected to the force feedback device to achieve automatic extension and retraction adjustment for sampling. The nasal swab sampling head is connected to the multi-directional motion mechanism to achieve multi-directional displacement adjustment. The multi-directional motion mechanism includes a forward and backward movement mechanism, a vertical movement mechanism, a pitch angle swing mechanism, and a circumferential angle swing mechanism. The nasal swab sampling head is connected to the forward and backward movement mechanism via the force feedback device. The forward and backward movement mechanism, the pitch angle swing mechanism, and the circumferential angle swing mechanism are all connected to the vertical movement mechanism, used to adjust the combined trajectory of the vertical displacement, circumferential swing displacement, and pitch angle swing displacement of the nasal swab sampling head.

2. The nasal swab sampling robot with 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 meshes 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. A first motor drives the forward and backward rotating gear to move on the rack shaft, thereby moving the telescopic block within the telescopic frame and the nasal swab sampling head 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 by a bearing, and the driven bevel gear is coaxially connected with the front and rear rotating gears. The first motor drives the rotation of the driving bevel gear, the driving bevel gear drives the rotation of the driven bevel gear, and the driven bevel gear drives the rotation of the front and rear rotating gears.

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 moving mechanism includes a sliding support and a slotted moving seat. The slotted moving seat slides vertically within the sliding support, and the pitch angle swing mechanism is connected to the sliding support via the slotted moving seat. The sliding support includes a vertical groove, a driving end wheel, a synchronous belt, a driven end wheel, and a swing rotation gear. The slotted moving seat includes a slot portion, a connecting portion, and a gear portion. The side of the slotted moving seat is fixedly connected to the synchronous belt. The slot portion is slidably connected to the vertical groove. The swing rotation gear meshes with the gear portion. The connecting portion is rotatably connected to the front and rear moving mechanism. The swing rotation gear drives the slotted moving seat to rotate in the pitch angle direction via a second motor. The driving end wheel is driven by a third motor, which drives the synchronous belt to drive the driven end wheel to rotate. The synchronous belt drives the slotted moving seat to move within the vertical groove.

6. A nasal swab sampling robot with a force feedback device according to claim 5, characterized in that, The circumferential oscillation mechanism includes a circumferential guide rail, a circumferential moving block, and a ring rotating gear. The vertical moving mechanism includes a fixed base, 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 base, and the bottom of the circumferential moving block slides along the circumferential guide rail through the ring rotating gear.

7. A nasal swab sampling robot with a force feedback device according to claim 6, characterized in that, The circumferential guide rail includes an annular groove and an annular outer edge tooth. The circumferential moving block includes a connecting seat and a slider. The annular rotating gear is fixedly connected to the slider through the connecting seat. The annular rotating gear meshes with the annular outer edge tooth. The annular rotating gear is driven to rotate by a fourth motor, which drives the connecting seat to move along the direction of the annular outer edge tooth, 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 oscillation mechanism further 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 base 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 limiting frame and a vision device. The limiting frame is hollowed out in the front-to-back direction to limit the vertical displacement of the nasal swab sampling head. The vision device is located at the top of the limiting 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 as described in any one of claims 1-9 includes the following steps: S1. Determine whether there is a patient in front of the sampling robot through the vision device; otherwise, keep the robot off; otherwise, turn it on into standby mode. S2. Based on the images of patients of different heights and ages in front, the visual device determines the position of the nostrils to be sampled, and then issues commands to control the forward and backward movement mechanism, the vertical movement mechanism, and the circumferential oscillation mechanism to make coarse adjustments 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 based on the influence, calculates the tilt angle of the nostrils near the bridge of the nose, and then automatically issues a command to control the pitch angle swing mechanism to make a coarse adjustment in the direction parallel to the tilt angle. S4. After the nasal swab sampling head is roughly adjusted, it enters the nostril and sends feedback commands to the pitch angle swing mechanism, the forward and backward movement mechanism, and the circumferential angle swing mechanism for fine adjustment based on the resistance encountered by the force feedback device in the nasal cavity. S5. Reach the sampling position in the nasal cavity, quickly sample, and then exit the nasal cavity in the direction parallel to the tilt angle as described in S3.

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