CN108942952A - A kind of medical robot - Google Patents
A kind of medical robot Download PDFInfo
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- CN108942952A CN108942952A CN201810364912.5A CN201810364912A CN108942952A CN 108942952 A CN108942952 A CN 108942952A CN 201810364912 A CN201810364912 A CN 201810364912A CN 108942952 A CN108942952 A CN 108942952A
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- patient
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0005—Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means
Abstract
The invention discloses a kind of medical robots, the robot includes being incorporated into the intracorporal autonomous control system of robot, the target-seeking patient's positioning of automatic infrared scanning and internal organs body surface locating system, autonomous noninvasive test and detection system, real-time video and speech enabled Transmission system, and the interactive transmission system that these information are integrated, and are connect automatically with consultation of doctors center robot and plural consultation robot or expert's cell phone application.Implementation of the invention will make remote medical consultation with specialists simple and easy, and basic hospital is made easily to obtain the diagnosis and treatment support and medical security of large hospital expert, to solving the problems, such as that it is remote that common people's the difficulty of getting medical service high cost of getting medical treatment is seen a doctor；Implementation of the invention, especially it is placed in the autonomous noninvasive test and detection system of robot body, various Non-invasive detection testing instruments will be integrated, can make immediately the inspection of needs in arranged beside bed of patient and detect chemical examination etc., to the diagnoses and treatment of urgent patient promptly and accurately and rescue significant.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to one kind to be suitable for field of medical technology, has autonomous detection
Function and the robot for interactively communicating function.
Background technique
In recent years, robot technology has significant progress, but in field of medical technology, the application of robot still has
Robot technology is applied to operation in the prior art and supports that is mainly played is the effect of robotic arm, not in patient by limit
With play the role of in the interaction of doctor it is any.Existing tele-medicine assistance platform mostly uses PC as family greatly in the prior art
Medical server obtains the medical data of user in combination with the medical data acquisition sensor on other peripheries, this with PC
System as home server, must be requested that user's active operation, it is desirable that will use computer, the requirement to user is compared
Height, and cannot achieve mobile function, it cannot initiatively detect, report urgent patient, the state of an illness can not be reported in real time.
Therefore realize that tele-medicine miscellaneous function has very big limitation to effective.
Summary of the invention
In view of the above problems, overcome the above problem the present invention provides a kind of or at least be partially solved the above problem
Method and apparatus.One aspect of the present invention provides a kind of medical robot, comprising: robot body, autonomous noninvasive inspection
Look into/detection system, video and audio interactive transmission system, autonomous control system, patient positioning and body surface internal organs positioning system, number
According to transmitting device, wherein autonomous noninvasive test/detection system, video and audio interactive transmission system, autonomous control system, positioning
It is arranged on the robot body with body surface internal organs positioning system, data transmission device；The video and audio interactive transmission system is used
It is communicated in the communication terminal or data processing terminal established a connection, the autonomous control system is used for root
Robot body is set to be moved to patient front and/or root according to the location information that patient's positioning and body surface internal organs positioning system provide
At least one in autonomous noninvasive test/detection system is controlled according to the location information that patient's positioning and body surface internal organs positioning system provide
A detection device navigates to the patient's body surface predetermined position and is detected；The electronic auscultation system is used to acquire the inspection number of patient
According to data transmission device is used to for inspection data collected to be sent to the communication terminal that connection has been established or data processing is whole
End, the medical robot and the communication terminal, data processing terminal are flat by internet or mobile communications network, software
Platform establishes connection.
Optionally, when the medical robot and multiple communication terminals all establish connection simultaneously, remote medical consultation with specialists is realized.
Optionally, when the medical robot and the communication terminal establish connection, according to from the communication terminal
Request or according to the instruction of input, will check that data are sent to the communication terminal by data transmission device.
Optionally, the medical robot further includes data processing system, for according to the autonomous noninvasive test/inspection
The inspections data of examining system acquisition carry out the integration or analysis of data, generation treated data.
Optionally, the medical robot further includes sentence generation module, and for treated according to, data are generated
Explanation, comfort property and/or prompting property sentence, and carry out the broadcasting of the sentence.
Optionally, medical robot is communicated by mobile phone app with communication terminal or PC terminal or data are transmitted.
Optionally, the robot includes obstacle detection unit, described to automatically move control system for detecting barrier
Patient is moved to by the side of according to the location information, obstacle detection information control robot body.It is provided in the embodiment of the present application
Technical solution, have at least the following technical effects or advantages:
It can be realized remote doctor and patient link up and obtains patient's inspection/detection data, to realize remote doctor pair
Patient diagnoses；
It can be realized multi-party remote medical consultation with specialists through the invention, there is very huge help to the diagnosis and treatment of disease；
By means of the invention it is possible to the immediately long-range inspection detection data for obtaining patient, easily and timely to urgent patient into
Row monitoring closely, also facilitates emergency treatment or outpatient clinician to dock and hold a consultation with specialist.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are common for this field
Technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 shows the schematic diagram of medical robot according to the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing the disclosure in attached drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
It is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
It is fully disclosed to those skilled in the art.
One aspect of the present invention provides a kind of medical robot, as shown in Figure 1, comprising: robot body 1, disease
People's positioning and body surface internal organs positioning system 2, autonomous noninvasive test/detection system 3, video and audio interactive transmission system 4, autonomous shifting
Autocontrol system 5, data transmission device 6, wherein the patient positioning and body surface internal organs positioning system 2, autonomous noninvasive test/
Detection system 3, video and audio interactive transmission system 4, autonomous control system 5, data transmission device 6 are arranged in the robot
In main body；The video and audio interactive transmission system 4, the communication terminal or data processing terminal for being used for and establishing a connection into
Row communication, the autonomous control system are used to be made according to the location information that patient's positioning and body surface internal organs positioning system provide
Robot body is moved in front of patient, and/or the location information control provided according to patient's positioning and body surface internal organs positioning system
It makes at least one of autonomous noninvasive test/detection system and navigates to the patient's body surface predetermined position and detected；The autonomous nothing
Wound inspection/detection system is used to acquire the inspection data of patient, and data transmission device is used to send inspection data collected
To the communication terminal for establishing connection, the medical robot and the communication terminal, data terminal pass through internet or movement
Communication network, software platform establish connection.
Autonomous noninvasive test/the detection system may include patient temperature detection device, pulse detecting device, breathing detection
Device, blood pressure detector, Electrocardiography and lasting cardiac monitoring detection device, microcirculatory perfusion monitoring device, noninvasive blood
Oxygen detection device, noninvasive vim and vigour detection device, noninvasive dynamics monitoring device, noninvasive cardio-pulmonary function detection device, noninvasive endocrine
Detection device, noninvasive digestive function detection device, noninvasive neuro-functional detection device, pupil size detection device, patient's cardiopulmonary
In abdomen and peripheral blood vessel electronic auscultation apparatus etc. one or several or all.
As an implementation, autonomous noninvasive test/detection system can be manually operated by doctor, obtain auscultation data；
As another embodiment, autonomous noninvasive test/detection system passes through mobile phone app or PC terminal or position by remote doctor
It controls in the instruction that the robot of diagnostic center issues or is executed by built-in computer program control is automatic.Implement in this kind
In mode, which includes patient positioning system, specifically can be by making a reservation for patient for positioning patient location
An identifiable marker is worn in position, emits signal by the positioning system to seek the marker, to position patient position
It sets, unique sign information that signal directly seeks patient can also be sent by the positioning system, to position to patient.It is described
Robot includes obstacle detection unit, and for detecting barrier, the control system that automatically moves is according to the location information, barrier
Detection information control robot body is hindered to be moved to patient by the side of.
The medical robot further includes internal organs body surface locating system, dirty for be detected by infrared scan Automatic-searching
The corresponding body surface detection position of device controls electricity by the autonomous control system after searching out the body surface detection position
Sub- auscultation system is fixed and detects, and carries out some cooperations if necessary to patient, medical robot, which can issue patient, to be needed
Cooperation instruction, so as to which the auscultation to patient can be completed in the case where field without doctor, and get auscultation number
According to.
Implementation of the invention, the autonomous noninvasive test being especially set on robot body and detection system are (namely
Previously described autonomous noninvasive test/detection system), various Non-invasive detection testing instruments can be integrated, it can be in patient bed
The inspection and detection chemical examination of various needs are made in side immediately, can be to the diagnosis of urgent patient promptly and accurately, treatment and rescue, this
That invents is significant.
The video and audio interactive transmission system facilitates the doctor couple for participating in diagnosis and treatment for making patient and doctor's instant messaging
State of an illness inquiry, exchange are carried out between patient and consultant.As a kind of alternatively specific embodiment, audio can be
Communication system, it is lower to the data transportation requirements of network in this way.Voice communication, video-audio communication system can be by being mounted on medical treatment
Computer program in robot is realized.
Autonomous noninvasive test detection system is arranged on medical machine human body for innovative proposition of the invention, and by curing
Treat robot execute auscultation operation, realize doctor do not need it is on the scene can be completed auscultate and get auscultation detection data.Place
Doctor in distal end according to the detection data of acquisition and carries out video and audio communication with patient and exchanges, and can get and be used for
The foundation of diagnosis, and diagnosis and treatment are carried out to patient accordingly.The medical robot and the communication terminal pass through internet or shifting
Dynamic communication network and software platform establish connection, and the specific medical robot can access net by the app installed on mobile phone
Network, thus realize instant messaging and data transmission, can also by the incoming communication module built in medical robot, realize and other
The network terminal (including mobile phone, pc machine, with the robot of communication capacity) transmission.The robot, mobile phone, the end PC all have
Unique identifier, both sides establish connection by way of authentication.Mobile phone is the handheld terminal of doctor, real by installing app
Now with the connection of medical robot, thus obtain medical robot offer state of an illness detection data and pass through medical robot
To patient's interrogation.Through the invention, remote medical consultation with specialists will be made simple and easy, makes basic hospital (containing country hospital), community clinic
And the area of private clinic, especially shortage of medical services and medicines is easier to obtain the diagnosis and treatment support and medical security of large hospital expert, to solution
People's Expensive and hard to visit doctors sees a doctor and is far of great significance.
When robot and the communication terminal establish connection, according to the request from the communication terminal or according to input
Instruction, by data transmission device by check data be sent to the communication terminal.The different triggering modes of data transmission, solution
Never with technical problem, a kind of situation is attending physician by remote control medical robot, makes robot and scheduled logical
The terminals such as letter terminal, the end PC or Consultation Center robot establish connection, and control medical robot to the terminal for establishing connection
It sends and checks detection data；One is should the side of consultation of doctors request, be sent to it inspection detection data.
In order to enable checking that detection data is convenient for utilizing for doctor, medical robot further includes data processing system, is used for
The integration or analysis of data are carried out according to the autonomous noninvasive test/detection system acquisition inspection data, after generation processing
Data.
Through the foregoing embodiment, it can be achieved that expert remotely makes the rounds of the wards to complete the independence consultation of doctors to patient.Realization process is as follows:
Single human expert establishes connection by long-range medical robot or cell phone application and medical robot, to therapeutic machine
Device human hair goes out wireless remote control instruction, and before manipulation medical robot comes patient bed, inquiry patient's state of an illness and harvesting collection patient are real-time
And monitoring data assesses and diagnoses the state of an illness of patient, and pass through video and audio based on the acquired state of an illness and monitoring data
Interactive transmission system is explained the state of an illness to patient or is comforted, to can realize that doctor remotely independently makes the rounds of the wards, without other doctors
Life or others' help are conducive to the effect for playing high-quality doctor's resource, and obtain good cure for patient to have weight
Big meaning.
Inspection data collected, video/audio are sent to and establish connection by data transmission device proposed by the present invention
Communication terminal, the medical robot and the communication terminal, data terminal by internet or mobile communications network with
And software platform establishes connection.May be got in time as needed by technological means doctor it should be understood that patient information
And state, help doctor to carry out diagnosis and treatment to patient in time.
The patient of rest or rehabilitation of being in needs to connect consulting staff or family immediately if the state of an illness deteriorates
Doctor, medical robot proposed by the present invention can be applied to this family care treatment.Specific method can include: patient passes through language
Sound perhaps video and audio directly tell robot of robot immediately automatically connection consulting staff perhaps family physician or according to
The triggering command at family, trigger action, robot are attached with predetermined communication terminal, and robot controls autonomous noninvasive test detection
System automatically detects patient, can be by data such as the patient informations, including vital sign, electrocardiogram, oxygen saturation surveyed certainly
Automatically being uploaded to consulting staff, perhaps family physician consulting staff or family physician can be recognized by audio or/video
Patient profiles make diagnosing and treating suggestion to the state of an illness in conjunction with the patient data sent.
In many cases, it is responsible for doctor or consulting staff needs to continue critical patient or timing state of an illness prison
It surveys, it is unexpected to prevent occurring.The present invention easily can be such that doctor is monitored relatively, the notification without depending on nurse, and energy
Prevent from neglecting: medical robot can be continued to monitor and be uploaded by video image vital sign patient and detection data and cure to supervisor
Teacher, nurse monitoring station or consulting staff.This monitoring is critically important to critical patient, and nurse, supervisor doctor or consulting staff can lead to
It crosses vital sign patient and detects the variation of data, understand the state of an illness in time and make most fast diagnosis and processing.
Medical robot, which is additionally aided, carries out remote medical consultation with specialists and rescue to patient on ambulance.By the medical robot
Be arranged on ambulance, when giving first aid to patient, medical robot by the data information of patient be uploaded to quickly first-aid centre,
Gone hospital emergency department, Cardiological, the departments such as cerebral department, department of general surgery, orthopaedics and operating room, conduit room robot (according to
Patient profiles select different hospital departments), make the doctor or expert of emergency department and required first aid training, patient can be understood in time
The state of an illness, and start to carry out first-aid guide on emergency tender, and arrange the timely operative treatment after patient reaches properly etc., really realize
The green channel of various first aids is given treatment to.
The medical robot is connect with multiple communication terminals, passes through the synchronous hair of the voice of a communication terminal acquisition
It send to medical robot and other communication terminals, the voice and/or image acquired by medical robot can synchronize and be sent to institute
There is communication terminal, the medical record data of certain patient can be sent to by the control to medical robot by all communication terminals, and same
The picture for walking all communication terminals shows medical record data.Sometimes complicated case history needs special not in the difference in same place by multidigit
Family carry out simultaneously remote medical consultation with specialists, at this moment, robot can connect the cell phone application of multidigit expert, at the same carry out video and audio and
Data transmission and Synchronization Analysis medical record data, hold a consultation, listen to the discussion of multidigit expert and and ultimately form decision opinion.It is logical
The embodiment of the present invention is crossed, it can be achieved that the above process, realizes that multiple experts pass through the robot while long-range APP video to facilitate
The consultation of doctors.
By in above-mentioned specific embodiment, consultation of doctors each side is discussed the consultation of doctors by conferencing form, and video, audio are real-time
Transmission, medical robot can be between the handheld terminals (communication terminal) of consultant inside and outside consultation of doctors meeting-place communication terminal and meeting-place
Video and audio real time communication can be all carried out, while the various data of patient that upload can be integrated, the data including robot real-time monitoring,
Make meeting-place appropriate experts that can carry out direct video and audible communication dialogue, the inquiry state of an illness between patient and over-the-counter consulting staff,
Relative to realizing, multi-party video, audio is held a consultation and data alternating transmission.
In the emergency ward or clinic of hospital, it is sometimes desirable to which specialist or expert are promptly held a consultation, this is in mesh
Preceding realization is extremely difficult.Medical robot proposed by the present invention can easily solve this problem.Emergency treatment or outpatient service doctor
Specialist can be connected by robot immediately or expert holds a consultation, if consulting staff, not in hospital, robot can lead to
Cell phone application connection is crossed, while robot can be handed over by patient information material upload consulting staff or expert, and with request doctor
It mutually discusses and holds a consultation.
The medical robot further include for according to the inspection data of the autonomous noninvasive test/detection system acquisition into
Row condition assessment, and control the broadcasting of assessment result.The control system generates explanation, comfort property according to the assessment result
And/or prompting property sentence, and the broadcasting of the sentence is controlled, some sentences are to be played in system according to stored data-triggered
's.
Further include infrared location system, for positioning patient according to infrared signal, and the location information is sent to institute
Control system is stated, the control system controls robot body according to location information and is moved to patient by the side of.The robot packet
Obstacle detection unit is included, for detecting barrier, the control system controls machine according to the location information, obstacle detection information
Device human body is moved to patient by the side of.
The technical solution provided in the embodiment of the present application, has at least the following technical effects or advantages:
Realize remote medical consultation with specialists: consultation of doctors both sides are discussed the consultation of doctors by conferencing form, video, audio real-time Transmission, simultaneously
It can integrate and upload the various data of patient, the data including robot real-time monitoring；Also it can make meeting inside and outside meeting-place by robot
Examine between expert and patient and carry out between expert direct video and audible communication dialogue, the inquiry state of an illness etc..
Multiple experts pass through robot while long-range APP video consultation: complicated case is needed through multidigit not samely
The different experts of point carry out remote medical consultation with specialists simultaneously, and at this moment robot can connect the cell phone application of multidigit expert, while carry out video
It holds a consultation with audio and data transmission, listens to the discussion and decision opinion of multidigit expert.
Expert remotely makes the rounds of the wards to the consultation of doctors of the independence of patient: single human expert can by long-range robot or cell phone application, into
Row wireless remote control inquires patient's state of an illness and collects patient care data, to patient individually before manipulation consultation of doctors robot to patient bed
Condition assessment, explanation or comfort patient are carried out, similar doctor remotely independently makes the rounds of the wards, without other doctors or others' help.
The consultation of doctors of emergency treatment or outpatient clinician request: emergency ward or out-patient need specialist or expert suddenly to hold a consultation,
Emergency treatment or outpatient service doctor can be held a consultation by robot connection specialist or expert immediately, if consulting staff is not in hospital
Interior, robot can be connected by cell phone application, at the same robot can by patient information material upload consulting staff or expert, and with
Request doctor interacts discussion and the consultation of doctors.
Family care patient passes through the consultation of doctors of robot direct request: the patient of be in rest or rehabilitation, and change of illness state needs
Consulting staff or family physician are connected immediately.Patient can directly tell robot, robot to connect automatically immediately by voice
Family physician or consulting staff, the patient information, including vital sign, electrocardiogram, oxygen saturation etc. that robot will can also survey certainly
Data uploads family physician or consulting staff automatically, and family physician or consulting staff can be by patient's feelings that audio frequency and video is seen
Condition makes diagnosing and treating suggestion to the state of an illness in conjunction with patient data.
Or timing state of illness monitoring lasting to critical patient simultaneously uploads supervisor doctor or consulting staff: robot can pass through video
Image continues to monitor and uploads vital sign patient and detection data to supervisor doctor, nurse monitoring station or consulting staff.It is this
Monitoring is critically important to critical patient, and nurse, supervisor doctor or consulting staff can pass through vital sign patient and detect the change of data
Change, understand the state of an illness in time and makes most fast diagnosis and processing.
Remote medical consultation with specialists and rescue are carried out to patient on ambulance: by the robot on ambulance, the data of patient being believed
Breath is uploaded to first-aid centre, gone hospital emergency department, Cardiological, the departments such as cerebral department, department of general surgery, orthopaedics, and operation quickly
The robot (different hospital departments is selected according to patient profiles) of room, conduit room, makes the doctor of emergency department and required first aid training
Shi Huo expert can understand conditions of patients in time, and start on emergency tender to carry out first-aid guide, and arrange properly after patient reaches
Timely operative treatment etc. really realizes the green channel treatment of various first aids.
Various general-purpose systems can also be used together with teachings based herein.As described above, this kind of system is constructed
The required structure of system is obvious.In addition, the present invention is also not directed to any particular programming language.It should be understood that can be with
Using various programming languages realize summary of the invention described herein, and the description that language-specific is done above be in order to
Disclose preferred forms of the invention.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of the various inventive aspects,
Above in the description of exemplary embodiment of the present invention, each feature of the invention is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
Shield the present invention claims features more more than feature expressly recited in each claim.More precisely, as following
Claims reflect as, inventive aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as a separate embodiment of the present invention.
Claims (7)
1. a kind of medical robot characterized by comprising robot body, autonomous noninvasive test/detection system, video and audio
Interactive transmission system, autonomous control system, patient's positioning and body surface internal organs positioning system, data transmission device, wherein certainly
Main noninvasive test/detection system, video and audio interactive transmission system, autonomous control system, positioning and body surface internal organs positioning system
System, data transmission device are arranged on the robot body；The video and audio interactive transmission system, is used for and establishes a connection
Communication terminal or data processing terminal communicated, the autonomous control system be used for according to patient positioning and body surface
The location information that internal organs positioning system provides is moved to robot body in front of patient, and/or according to patient's positioning and body surface
The location information that internal organs positioning system provides controls at least one of autonomous noninvasive test/detection system and navigates to the patient's body surface
It is detected in predetermined position；The electronic auscultation system is used to acquire the inspection data of patient, and data transmission device is used for institute
The inspection data of acquisition are sent to the communication terminal or data processing terminal that connection has been established, the medical robot with it is described
Communication terminal, data processing terminal establish connection by internet or mobile communications network, software platform.
2. medical robot according to claim 1, the medical robot and multiple communication terminals are all built simultaneously
When vertical connection, remote medical consultation with specialists is realized.
3. medical robot according to claim 1 or 2, the medical robot and the communication terminal establish connection
When, according to the request from the communication terminal or according to the instruction of input, data hair will be checked by data transmission device
It send to the communication terminal.
4. medical robot according to claim 1-3 further includes data processing system, described certainly for basis
The inspections data of main noninvasive test/detection system acquisition carry out the integration or analysis of data, generation treated data.
5. medical robot according to claim 4 further includes sentence generation module, for according to treated the number
According to generation explanation, comfort property and/or prompting property sentence, and carry out the broadcasting of the sentence.
6. medical robot according to claim 1-5 passes through mobile phone app and communication terminal or PC terminal
Carry out communication or data transmission.
7. medical robot according to claim 6, the robot includes obstacle detection unit, for detecting obstacle
Object, it is described automatically move control system according to the location information, obstacle detection information control robot body be moved to patient
By the side of.
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| CN201810364912.5A CN108942952A (en) | 2018-04-23 | 2018-04-23 | A kind of medical robot |
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| CN201810364912.5A CN108942952A (en) | 2018-04-23 | 2018-04-23 | A kind of medical robot |
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