CN115640921A - Method and system for planning transfer path of critical patient in hospital - Google Patents
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Abstract
The invention discloses a method and a system for planning transfer paths of critically ill patients in a hospital, wherein the method comprises the following steps: assessing and grading the condition of the patient; acquiring coordinates of a starting point and an end point; obtaining the passing efficiency of each area and channel in the hospital; planning the transfer path of the critical patient by combining a plurality of algorithms; and adjusting the transfer route according to the evaluation grade of the critical patient. The method adopts a multi-stage path planning strategy, performs different functional area division on the whole area, performs primary path planning on the whole situation, further selects different path planning algorithms to perform internal path planning on different attributes of the areas passing through the inside of each area, and determines the path planning in each area; the efficiency and the precision of path planning are improved, the transfer path of the critical patient is quantitatively planned, the transfer path is planned by combining the conditions of actual passing efficiency and the like, the transfer efficiency of the patient is improved, and the transfer time is shortened.
Description
Technical Field
The invention relates to the field of path planning, in particular to a method and a system for planning a transfer path of a critically ill patient in a hospital.
Background
The emergency department is a place for emergency treatment in a hospital, the state of illness of patients receiving treatment is critical, urgent and complex, life danger can occur at any time, and after the patients are subjected to primary emergency treatment, most of the patients need to be transferred to a professional department for further diagnosis and treatment. The hospital internal transfer emergency treatment of severe patients is an important item in the daily work of emergency department, and the patients are in a moving state, so that various potential safety hazards are easy to appear in the process, the condition of the patients is easy to change, adverse events such as dyspnea are induced, the patients can die in severe cases, and the harmfulness is extremely high. How to transfer the patient at the fastest speed plays an important role in the treatment of the critically ill patient.
The existing hospital transports critical patients according to a fixed route generally based on manual experience, the transport mode is mechanized, and the problem of transport speed in different occasions is not considered, so that the transport speed is influenced, and the optimization of the transport speed cannot be realized.
Disclosure of Invention
Technical problem to be solved
In order to solve the technical problems, the invention provides a method and a system for planning the transfer path of the critical patients in the hospital.
(II) technical scheme
In order to solve the technical problems and achieve the purpose of the invention, the invention is realized by the following technical scheme:
a transfer path planning method for critical patients in a hospital comprises the following steps:
assessing and grading the condition of the patient;
acquiring coordinates of a starting point and an end point, wherein the starting point is the position of a patient, the end point is the position of a patient transfer destination, and the position is determined by medical personnel;
acquiring pedestrian flow conditions of various areas and channels in a hospital, the running busyness of an elevator, fixed obstacles and movable obstacles, and acquiring the traffic efficiency of the minimum unit path;
planning the transfer path of the critical patient by combining a plurality of algorithms;
and adjusting the transfer route according to the evaluation grade of the critical patient.
Further, the evaluation grade is divided into 1-3 grades according to the degree of criticality, and corresponding transfer personnel and equipment are equipped according to the grade standard.
Further, the criticality is as follows:
level 1 patients have a chronic course of disease, have stable vital signs, and do not have artificial airway support and vasoactive drug treatment;
patients of level 2 have clinical problems that may be life threatening, and vital signs are relatively steady after taking corresponding medical support;
patients of grade 3 have clinical problems of life-threatening at any time, and the vital signs are still unstable after taking corresponding medical support.
Further, the path planning step includes:
dividing areas; dividing different functional areas of the hospital based on a map of the whole hospital area, and determining a plurality of different functional areas;
performing preliminary path planning according to the starting point and the end point, and confirming the area through which the optimal path passes;
and selecting different path planning algorithms to plan the internal path according to different attributes of different areas, and determining the path planning in each area.
Further, the primary path planning is performed based on an a-algorithm.
Further, for the area with few obstacles, the improved ant colony algorithm is adopted for planning the internal path, and for the area with more obstacles, the improved RRT algorithm is adopted for planning the internal path.
Further, the improved ant colony algorithm realizes a planning scheme for the transportation requirements of the critically ill patients according to the mutual competition relationship of the transportation requirements of different departments; the transportation demands of the critical patients belonging to the same department are fed back positively through pheromones, and the transportation demands of the critical patients belonging to different departments are mutually inhibited through pheromones.
Further, the improved ant colony algorithm comprises:
the target hospital has n related departments, and k are respectively set 1 、k 2 …k n The concentration of pheromones corresponding to the time t is r (t, 1), r (t, 2), r (t, 3) \8230, r (t, m), wherein m is more than or equal to 1 and less than or equal to n, and the concentration belongs to the ant colony k i The transition probability of ant a moving from position a to position B is expressed as:
wherein ,rij (t, m) pheromones of ant colony m on path i, j at time t, q ij (t, m) is the extent of the colony m's excavation on path i, j at time t, which is determined by the transport demand; alpha and beta are respectively a variation factor,
the sum of the inhibition factors for the other ant colonies to select a path for the ant colony is calculated as follows:
further, the step size adjusting mode of the improved RRT algorithm extension is:
when the search fails at the next point, the step length is adjusted to:
otherwise, the step size is not changed.
The invention also provides a system for planning the transfer path of the critical patient in the hospital, which is characterized by comprising the following components:
the terminal equipment is used for acquiring the positions of a starting point and an ending point of a patient;
a grade assessment module for criticality grading of a patient condition;
the traffic efficiency acquisition module is used for acquiring pedestrian flow conditions of various areas and channels in a yard, the running busyness of an elevator, fixed obstacles and movable obstacles and acquiring the traffic efficiency of the minimum unit path;
the path planning module is used for planning the transfer path of the critical patient by combining different algorithms;
and the real-time adjusting module is used for adjusting the transfer route in real time according to the state of the patient.
(III) advantageous effects
The invention has the beneficial effects that:
(1) The invention quantitatively plans the transfer path of the critical patient, plans the transfer path by combining the conditions of actual passing efficiency and the like, realizes the improvement of the transfer efficiency of the patient and reduces the transfer time.
(2) The method adopts a multi-stage path planning strategy, performs different functional area division on the whole area, performs primary path planning on the whole situation, further selects different path planning algorithms to perform internal path planning on different attributes of the areas passing through the inside of each area, and determines path planning in each area; the efficiency and the precision of path planning are improved.
(3) The invention adopts different algorithms to plan the internal path for the area with less obstacles and the area with more obstacles, thereby improving the comprehensive calculation speed and precision of the algorithms and avoiding the waste of calculation resources.
(4) The ant colony algorithm is improved, the planning scheme of the transfer requirements of the critical patients is realized according to the mutual competition relationship of the transfer requirements of different departments, the transfer requirements of the critical patients belonging to the same department are fed back in a forward direction through pheromones, and the transfer requirements of the critical patients belonging to different departments are mutually inhibited through pheromones.
(5) The RRT algorithm is improved, and the searching efficiency of the algorithm is improved by adopting the modes of changing the step length and increasing the sampling points.
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The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart illustrating a method for planning a transfer path of a critically ill patient in a hospital according to an embodiment of the present application.
Detailed Description
The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure of the present disclosure. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without inventive step, are intended to be within the scope of the present disclosure.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present disclosure, and the drawings only show the components related to the present disclosure rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.
Referring to fig. 1, a method for planning a transfer path of a critically ill patient in a hospital includes the following steps:
s1: assessing and grading the patient condition;
the uncertainty of the transport quantity and the critical degree of the state of an emergency critical patient determines the difficulty of emergency resource allocation and the importance of resource optimization, and the classified transport allocates the emergency resources in a dynamic environment quickly and effectively.
The invention carries out comprehensive grading according to the vital signs of patients, respiratory cycle support and other contents, and the products are divided into 1-3 grades according to the degree of emergency, and are equipped with corresponding transport personnel and equipment according to the grading standard.
Level 1 patients have a chronic course of disease, have stable vital signs, and do not have artificial airway support and vasoactive drug treatment;
patients of level 2 have clinical problems that may be life threatening, and vital signs are relatively steady after taking corresponding medical support;
grade 3 patients have clinical problems that are life threatening at any time, and vital signs are still unstable after taking corresponding medical support.
Further, patients with grade 1 had a GCS score > 12; the GCS score of the 2-grade patients is 9-12; grade 3 patients had a GCS score < 9.
S2: acquiring coordinates of a starting point and an end point, wherein the starting point is the position of a patient, the end point is the position of a patient transfer destination, and the position is determined by medical personnel;
s3: and acquiring the pedestrian flow conditions of various areas and channels in the yard, the running busyness of the elevator, fixed obstacles and movable obstacles, and acquiring the traffic efficiency of the minimum unit path.
The traffic efficiency is calculated as follows:
wherein ,Te For passing efficiency, z 0 Is an obstacle influence coefficient, which is related to a fixed obstacle and a moving obstacle; d l The busy degree of the elevator.
S4: and planning the transfer path of the critical patient by combining different algorithms.
Different functions of each area of the hospital are different, and the passing efficiency, the number of obstacles and the working time of the area are different, so that different path planning modes are selected based on each area of the hospital. The specific planning method comprises the following steps:
s41: dividing areas; dividing different functional areas of the hospital based on a map of the whole hospital area, and determining a plurality of different functional areas;
s42: performing preliminary path planning according to the starting point and the end point, and confirming the area through which the optimal path passes;
and further, acquiring the positions of the inlet and the outlet of each area, and performing preliminary path planning based on an A-star algorithm.
The algorithm can quickly obtain global path information and can better deal with a simple environment with only static obstacles, so the algorithm is suitable for preliminary path planning of the invention, and based on the fact that the requirement on obstacle avoidance of the obstacles in the preliminary path planning is lower and the requirement on the real-time performance of the algorithm is higher, the traditional algorithm A is improved, the searching speed is improved, and the specific planning mode is as follows:
considering the actual path dissipation from the starting point to the current node, the expression is:
f(n)＝g(n)+μh(n)
wherein g (n) is the path dissipation actually paid from the starting point to the intermediate node, h (n) is the path dissipation paid from the intermediate node to the end point estimation, namely, the heuristic function, and mu is a dynamic parameter used for adjusting the search speed. Wherein the path dissipation is determined in combination with the traffic efficiency of the respective area.
The searching speed is adjusted through the dynamic parameters, so that the algorithm can be dynamically adjusted, the searching speed is accelerated in a simpler environment, and the speed and the accuracy of algorithm calculation are improved.
S43: selecting different path planning algorithms to plan an internal path according to different attributes of different areas, and determining path planning in each area;
specifically, for an area with few obstacles, an improved ant colony algorithm is adopted for internal path planning, and for an area with many obstacles, an improved RRT algorithm is adopted for internal path planning.
The patient transportation in the hospital belongs to the optimization problem, the patient transportation speed is improved under the limited transportation resources, and the patient transportation method plays an important role in saving the lives of the patients.
The transportation of critically ill patients needs to consider the demand of transportation equipment in each area of a hospital, so that equipment resources are reasonably and effectively distributed to the areas; for example, different areas of a hospital, such as the institutional and outpatient departments, different volumes of transportation equipment for critically ill patients, and different equipment in demand.
Meanwhile, the inherent same-row characteristics of different areas of each hospital are different, and the passing road resistance in each area is different due to different flow rates of people in different areas;
furthermore, at different times, there is also a significant difference in the need to transport critically ill patients, for example at night, where transport needs in emergency departments are significantly higher than in other departments. Thus the probability of transition from position a to position B at different times, the visibility of the probability can be determined from the change in time t.
And improving the ant colony algorithm according to the influence factors to obtain an improved ant colony algorithm:
s431: improved ant colony algorithm
The idea of the invention for improving the ant colony algorithm is as follows: and realizing a planning scheme for the transportation requirements of the critically ill patients according to the mutual competition relationship of the transportation requirements of different departments. The transportation requirements of the critically ill patients belonging to the same department are positively fed back through pheromones, and the transportation requirements of the critically ill patients belonging to different departments are mutually inhibited through the pheromones.
The target hospital has n related departments, and k are respectively set 1 、k 2 …k n The concentration of pheromones corresponding to the time t is r (t, 1), r (t, 2), r (t, 3) \8230, r (t, m), wherein m is more than or equal to 1 and less than or equal to n, and the concentration belongs to the ant colony k i The transition probability of an ant a moving from location a to location B is expressed as:
wherein ,rij (t, m) is the pheromone of ant colony m on path i, j at time t, q ij (t, m) is the extent of the colony m's excavation on path i, j at time t, which is determined by the transport demand; alpha and beta are eachIn order to change the factor of the change,
the sum of the inhibition factors for the other ant colonies to select a path for the ant colony is calculated as follows:
therefore, the multiple transfer demands can be mutually restrained on the same path, and the situation that the multiple transfer demands are on the same path to cause congestion of the path is effectively prevented.
S432: improved RRT algorithm
The conventional RRT algorithm includes the following steps:
a. in the space map, initializing a random tree T, starting point X s Target point X e Initial deviation probability p, initial step length lambda 0 ；
b. Generating random sampling point X by adopting uniform sampling mode rand ；
c. Traversing the random tree to find a random sampling point X rand Closest point X near ；
d. Calculating a random sampling point X rana To the nearest point X near The distance between them; determining a random sampling point X rand To the nearest point X near A direction vector therebetween;
e. along the nearest point X near To random sampling point X rand Expanding direction to obtain new point X new The step length of the expansion is lambda;
f. detecting X new And X near If so, abandoning the point and returning to the step b, otherwise, dividing X into new Adding into random tree, adding X near Is set as X new A parent node of (a);
g. if the target point is at X new If the distance meets the requirement and no collision occurs between the target point and the target point, the planning is finished, otherwise, the step b is returned to continue searching. If the iteration number is exceeded, the node is endedAnd (5) beam searching.
The traditional RRT algorithm causes the node tree to be difficult to grow if meeting the condition that the number of obstacles near the starting point is large, and the finally generated path is often only a feasible path rather than an optimal path due to the randomness of sampling of the RRT algorithm. Therefore, the invention improves the traditional RRT algorithm. The improvement mode is as follows:
1) In order to accelerate the exploration tree to jump out of a local minimum area and improve the path planning efficiency, the invention adopts a self-adaptive step length adjusting mode, and the expanded step length adjusting mode is as follows:
when the search fails at the next point, the step length is adjusted to:
otherwise, the step size is not changed.
2) In the step b, when the traditional RRT algorithm expands the nodes, only one sampling point is randomly generated each time, and the relation between the distance from a new sampling point to a target point and the step length is judged each time so as to judge whether the new sampling point reaches the target point.
On the basis of the traditional RRT algorithm, the invention improves the method into the method of generating k sampling points by growing a plurality of nodes, wherein the number k of the generated sampling points is selected as follows:
k＝int(k 0 d(X rand1 ,X s ))
wherein ,Xrand1 For the position, k, of the first randomly generated sample point 0 To adjust the coefficients.
By adopting the sampling mode, the number of sampling points is determined according to the reference of the first sampling point, and the larger the distance between the first sampling point and the starting point is, the more the number of the sampling points is.
S5: adjusting transfer routes in real time according to patient states
Judging whether other transfer plans exist on the transfer path selected in the step S4, if so, comparing the evaluation grade of the critical patient of the transfer demand with the evaluation grades of the patients of the other transfer plans, and if the evaluation grade of the critical patient of the transfer demand is higher than that of the patients of the other transfer plans, occupying the transfer path and informing other transfer terminals; if the evaluation grade of the critical patient of the transfer demand is lower than that of other transfer planning patients, the path is marked as an unoccupied path, and re-planning is carried out; if the critical patient assessment level of the transfer demand is the same as the patient level of the other transfer plans, the transfer path is occupied at the same time.
In the embodiment, the transfer path of the critical patient is quantitatively planned, and the transfer path is planned by combining the conditions of actual passing efficiency and the like, so that the transfer efficiency of the patient is improved, and the transfer time is reduced. Performing different functional area division on the whole area, performing primary path planning on the whole situation, further selecting different path planning algorithms to perform internal path planning on different attributes of the areas passing through the inside of each area, and determining path planning in each area; the efficiency and the precision of path planning are improved. For the areas with few obstacles and the areas with more obstacles, different algorithms are adopted for planning the internal path, so that the comprehensive calculation speed and precision of the algorithms are improved, and the waste of calculation resources is avoided. The ant colony algorithm is improved, a planning scheme of the transfer demands of the critical patients is realized according to the mutual competition relationship of the transfer demands of different departments, the transfer demands of the critical patients belonging to the same department are fed back in a forward direction through pheromones, and the transfer demands of the critical patients belonging to different departments are mutually inhibited through pheromones. The RRT algorithm is improved, and the searching efficiency of the algorithm is improved by adopting a mode of changing the step length and increasing the sampling points.
The embodiment of the invention also provides a system for planning the transfer path of the critical patient in the hospital, which comprises:
the terminal equipment is used for acquiring the positions of a starting point and an ending point of a patient;
a grade assessment module for criticality grading of a patient condition;
the traffic efficiency acquisition module is used for acquiring pedestrian flow conditions of various areas and channels in a yard, the running busyness of an elevator, fixed obstacles and movable obstacles and acquiring the traffic efficiency of the minimum unit path;
the path planning module is used for planning the transfer path of the critical patient by combining different algorithms;
and the real-time adjusting module is used for adjusting the transfer route in real time according to the state of the patient.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (10)
1. A transfer path planning method for critical patients in a hospital is characterized by comprising the following steps:
s1: assessing and grading the patient condition;
s2: acquiring coordinates of a starting point and an end point, wherein the starting point is the position of a patient, the end point is the position of a patient transfer destination, and the position is determined by medical personnel;
s3: acquiring pedestrian flow conditions of various areas and channels in a yard, the running busyness of an elevator, fixed obstacles and movable obstacles, and acquiring the traffic efficiency of the minimum unit path;
s4: planning the transfer path of the critical patient by combining a plurality of algorithms;
s5: and adjusting the transfer route according to the evaluation grade of the critical patient.
2. The method for planning a transfer path of a critically ill patient in a hospital according to claim 1, wherein the critical degree in step S1 is classified into 1-3 grades, and corresponding transfer personnel and equipment are equipped according to a grading standard.
3. The method for planning a transfer path of a critically ill patient in a hospital according to claim 2, wherein the transfer path is a path of a critically ill patient in a hospital, and wherein the transfer path is a path of a critically ill patient in a hospital
Level 1 patients have a chronic course of disease, have stable vital signs, and do not have artificial airway support and vasoactive drug treatment;
patients of level 2 have clinical problems that may be life threatening, and vital signs are relatively steady after taking corresponding medical support;
patients of grade 3 have clinical problems of life-threatening at any time, and the vital signs are still unstable after taking corresponding medical support.
4. The method for planning a transfer path of a critically ill patient in a hospital according to claim 1, wherein the step S4 further comprises:
s41: dividing areas; dividing different functional areas of a hospital based on a map of the whole hospital area, and determining a plurality of different functional areas;
s42: performing preliminary path planning according to the starting point and the end point, and confirming the area through which the optimal path passes;
s43: and selecting different path planning algorithms to plan the internal path according to different attributes of different areas, and determining the path planning in each area.
5. The method for planning a transfer path of a critically ill patient in a hospital according to claim 4, wherein the step S42 further comprises: and performing the primary path planning based on an A-algorithm.
6. The method for planning a transfer path of a critically ill patient in a hospital according to claim 4, wherein the step S43 further comprises: and for the area with few obstacles, the improved ant colony algorithm is adopted for planning the internal path, and for the area with more obstacles, the improved RRT algorithm is adopted for planning the internal path.
7. The method for planning the transfer path of the critical patient in the hospital according to claim 6, wherein the improved ant colony algorithm is used for realizing a plan scheme of the transfer requirements of the critical patient according to the mutual competition relationship of the transfer requirements of different departments; the transportation requirements of the critically ill patients belonging to the same department are positively fed back through pheromones, and the transportation requirements of the critically ill patients belonging to different departments are mutually inhibited through the pheromones.
8. The method for planning a transfer path for critically ill patients in hospital according to claim 7, wherein the improved ant colony algorithm comprises:
the target hospital has n related departments, and k are respectively set 1 、k 2 …k n The pheromone concentrations corresponding to the time t are r (t, 1), r (t, 2), r (t, 3) \ 8230and r (t, m), wherein m is more than or equal to 1 and less than or equal to n, and the concentration belongs to the ant colony k i The transition probability of an ant a moving from location a to location B is expressed as:
wherein ,rij (t, m) is the pheromone of ant colony m on path i, j at time t, q ij (t, m) is the extent of the colony m's excavation on path i, j at time t, which is determined by the transport demand; alpha and beta are respectively a variation factor,
the sum of the inhibition factors for the other ant colonies to select a path for the ant colony is calculated as follows:
9. the method for planning the transfer path of the nosocomial critically ill patient according to claim 6, wherein the step-size adjustment manner of the improved RRT algorithm extension is as follows:
when the search fails at the next point, the step length is adjusted to:
otherwise, the step size is not changed.
10. A system for employing the method for planning a transfer route of a critically ill patient in a hospital according to any of claims 1 to 9, comprising:
the terminal equipment is used for acquiring the positions of a starting point and an ending point of a patient;
a grade assessment module for criticality grading of a patient condition;
the passing efficiency acquisition module is used for acquiring pedestrian flow conditions of each area and channel in a yard, the running busyness of an elevator, a fixed barrier and a movable barrier and acquiring the passing efficiency of the minimum unit path;
the path planning module is used for planning the transfer path of the critical patient by combining different algorithms;
and the real-time adjusting module is used for adjusting the transfer route in real time according to the state of the patient.
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