CN112086209A - Remote medical monitoring system and method - Google Patents
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Abstract
The invention provides a remote medical monitoring system and a method, which belong to the field of remote medical treatment, complete the functions of remote video interaction, physiological parameter acquisition, information data management and the like by applying the combined programming technology of Direct Show, SQL Server and visual C +, realize the remote medical treatment, and provide comprehensive medical services such as remote monitoring, medical care, pathological information management, physiological parameter acquisition and analysis and the like for old people or disabled people who cannot live and take care of themselves by using the remote medical technology and taking families as a unit; the remote medical treatment technology and the Chinese family-type old-age care tradition are combined, so that the huge pressure of medical resource shortage is relieved.
Description
Technical Field
The invention belongs to the technical field of telemedicine, and particularly relates to a telemedicine monitoring system and a telemedicine monitoring method.
Background
China is in a high-speed information development period, the combination of a network information technology and a remote medical technology becomes a hot spot of current development, informatization and networking of medical services are the necessary ways, and the technology is more and more emphasized. On one hand, China faces the problems of aging population, large number of the aged population, increasingly severe endowment medical care and the like; on the other hand, medical resources in China are unevenly distributed, so that the problems of difficulty and high cost in medical treatment are caused. At present, the medical system of China is still in the traditional hospitalizing mode, local diagnosis, local nursing, basically, the mobility of information between a hospital and a hospital is poor, a patient can tremble in the hospitalizing process, a large amount of time is consumed, and the phenomena of repeated examination and repeated diagnosis can occur.
Telemedicine technologies generally include: a remote medical diagnosis system, a remote consultation system, a remote education consultation system, a remote treatment system, a remote sickbed monitoring system, a remote information exchange system and the like. The key and research focus of the remote medical technology is on the remote monitoring system, which has important significance in that: the problem that people are difficult to see a doctor is solved.
Disclosure of Invention
The invention provides a remote medical monitoring system and a method, which use Direct Show, SQL Server and visual C + + combined programming technology to complete remote video interaction, physiological parameter acquisition, information data management and other functions, realize remote medical treatment, and provide comprehensive medical services such as remote monitoring, medical care, pathological information management, physiological parameter acquisition and analysis and the like for old people or disabled people who cannot live and take care of themselves by using the remote medical technology and taking families as a unit.
In order to achieve the purpose, the invention adopts the following technical scheme:
a telemedicine monitoring system comprising: the system hardware mainly comprises three parts, namely physiological parameter acquisition, multifunctional nursing bed posture control and a camera. The system software design is divided into the following steps according to the realization of functional modules: remote video interaction, physiological parameter monitoring and displaying, data information management and nursing robot posture control;
the system comprises a physiological parameter acquisition module, a data transmission module and a data transmission module, wherein 5 sensor modules in the physiological parameter acquisition module acquire a plurality of physiological parameter data and send parameter data packets to a PC (personal computer) end through a DDS (direct digital data synthesis) protocol;
the bed body controller in the nursing bed attitude control module is responsible for the motor control of the bed body, and the attitude control is divided into two forms, PC end control and local edge calculation mode control, not only can be through DDS agreement and PC both-way communication, can carry out autonomous control according to preset rule again. The multifunctional nursing bed posture control device is specifically implemented in a way that a main control chip of a bed body posture controller controls a relay to realize the posture control of the multifunctional nursing bed;
the remote video interaction module is used for enabling a high-definition camera to interact with remote videos through a DDS protocol;
the physiological parameter monitoring and displaying module and the data information management module are software modules of a PC (personal computer) terminal;
a hardware structure of the physiological parameter acquisition system is provided with 5 sensor modules for acquiring a plurality of physiological parameter data, the parameter data packets are sent to a PC through a DDS protocol, a bed body controller in the multifunctional nursing bed posture control hardware structure is responsible for motor control of a bed body, posture control is divided into two forms, PC control and remote control, and the two-way communication with the PC can be realized through the DDS protocol. The main control chip of the bed body posture controller is selected as a TI2802DSP drive relay by comprehensively considering technical implementation and cost problems, so that the posture control of the multifunctional nursing bed is realized;
the software system is divided into three layers for better realizing functions, namely a hardware layer, a transmission layer and an application layer, wherein the hardware layer mainly relates to video acquisition, DDS protocol communication, network communication and database operation, the transmission layer works through data encoding and decoding and mainly covers the compression and decoding of video data, the packing and decomposition of network data, the packing and analysis of a posture control command of the multifunctional nursing bed, the analysis of a physiological parameter data packet and the encoding of database data, and the application layer is the realization of each functional module.
A method of telemedicine monitoring, comprising the steps of:
a plurality of cameras are adopted to monitor the person under guardianship; a plurality of cameras synchronously acquire image frames by lenses in real time, and splicing corresponding images into a panoramic image; adjusting the requirements of the nursing bed according to the panoramic image or the monitored person according to the requirements; the physiological parameters of the person under guardianship can be detected while monitoring, and the physical condition of the person under guardianship can be judged according to the detected physiological parameters.
In the above steps, the image mosaic adopts a panoramic video fusion model, which can fuse video information of a plurality of cameras;
the image splicing adopts an algorithm characteristic point detection algorithm, and is carried out by 4 steps:
(1) detection of scale space extreme points: finding an extreme point as a characteristic point based on a Hessian matrix, and simultaneously adopting a method for accelerating computation amount in the process of finding the extreme point, thereby improving the computation speed to a certain extent, and defining the Hessian matrix of a certain point in an image as follows:
H(x，y，z)＝Lxx(x，y，σ)Lxy(x，y，σ)Lxy(x，y，σ)Lyy(x， y，σ)(1)
where Lxx (x, y, σ) is the convolution of the Gaussian second order partial derivative with the image at that pixel point.
The Herbert method approximately represents the gaussian second-order gradient template by using a box model, namely, the image is discretized and further cut into 9-by-9 squares, and the Hessian matrix is obtained by calculating the determinant of the Hessian matrix of all pixels in the image when detecting the characteristic points of the image. Therefore, the extreme point obtained by the Hessian matrix is the feature point;
(2) accurate positioning of the characteristic points: on each candidate feature point, a Taylor series interpolation fitting method is used for determining the position and the scale of the feature point, and the final selection of the feature point depends on the stability degree of the feature point;
(3) selecting the main direction of the characteristic points: selecting the main direction of the characteristic points through haar wavelet characteristics in the statistical characteristic point region;
(4) description operator of feature points: firstly, a square neighborhood with 20s (s is the scale of the characteristic point) as the side length is established by taking the characteristic point as the center, but the direction of the established square neighborhood is required to be the same as the main direction of the characteristic point. Then dividing the neighborhood into 4 x 4 sub-regions, and sampling 25 sampling pixels at equal intervals in each sub-region;
(5) solving the haar wavelet characteristic values of the horizontal direction, the vertical direction and the main direction of each pixel point in each sub-region, wherein the haar wavelet characteristic values in each region are the sum of the horizontal direction, the sum of the horizontal direction module values, the sum of the vertical direction and the sum of the vertical direction module values, weighting is carried out on the haar response value of each pixel point, the variance is taken to be 3.3s, and each sub-region can be represented by a four-dimensional vector.
After two times of traversal, high-dimensionality haar wavelet response calculation is carried out, and feature point detection and feature point description of a splicing algorithm can be used in a user-defined mode, so that a feature point description operator can be mapped into a binaryzation mode, and original information is reserved.
As can be seen from the algorithm flowchart, the cycle times are the same through one traversal. However, the high-dimensional haar wavelet calculation relates to the power evolution operation and trigonometric function calculation of floating point data, and the calculation cost is far greater than that of binary comparison calculation, so that the splicing speed can be increased by splicing.
Has the advantages that: the invention provides a remote medical monitoring system and a method, which mainly use the combined programming technology of Direct Show, SQL Server and visual C + +, complete the functions of remote video interaction, physiological parameter acquisition, information data management and the like, comprehensively describe the development and application current situation of the remote medical technology at home and abroad, analyze the related problems of the remote medical application in China and provide own technical design proposal; performing relevant investigation and analysis on the requirements of the user to perform function requirement analysis and performance analysis of the nursing service robot supervision # system; constructing a hardware structure among a multifunctional nursing bed, six physiological parameter acquisition hardware CSN808 and a PC, and designing and manufacturing a bed body posture controller PCB; the system is designed with a server side and a client side, and both ends cover the following modules: the robot comprises a service robot posture control module, a physiological parameter module, an information data management module and a remote interaction module. The monitoring system is realized by using the network programming technology, the database programming technology, the multithreading programming technology and the like, so that the system is favorable for stably and efficiently running and is also favorable for later maintenance and upgrading;
the service robot attitude control module is realized by combining a bed body controller with DDS protocol programming; the physiological parameter module is realized as follows: the method comprises the steps of collecting electrocardio data, oxyhemoglobin saturation data, noninvasive blood pressure data, body temperature, heart rate, respiration and other physiological parameter data by using CSN808 hardware, processing and analyzing the collected data, collecting, analyzing and displaying a plurality of physiological parameters on an MFC platform, sending the physiological parameter data to a remote place by using a UDP protocol for analyzing and displaying, designing and developing a user and a doctor data management system by using an SQL Server2019 platform and a VisualC + +6.0, designing a video collection Filter, a video playing Filter, a network sending Filter and a network receiving Filter by using a Direct Show technology, a network programming technology and a multi-thread technology, and forming a pipeline type link to realize a remote interaction function. The system integrates all modules, and designs a friendly and simple interface.
Drawings
FIG. 1 is a flow chart of a stitching algorithm in the present invention;
FIG. 2 is a schematic structural diagram of a DirectShow system in accordance with the present invention;
FIG. 3 is a schematic structural diagram of a COM component according to the present invention;
FIG. 4 is a schematic diagram of the ADO technique of the present invention;
FIG. 5 is a schematic diagram of the VC + + ADO development process of the present invention;
FIG. 6 is a schematic diagram of the overall framework of the system of the present invention;
FIG. 7 is a hardware block diagram of the physiological parameter module according to the present invention;
FIG. 8 is a schematic diagram of a hardware structure of a nursing bed posture control system according to the present invention;
FIG. 9 is a circuit diagram of the bed controller of the present invention;
FIG. 10 is a physical diagram of a multi-functional nursing bed posture controller of the present invention;
FIG. 11 is a diagram illustrating the software architecture of the system of the present invention;
FIG. 12 is a diagram illustrating DDS protocol data conversion in accordance with the present invention;
FIG. 13 illustrates a UDP protocol transport mode according to the present invention;
FIG. 14 is a flow chart of a physiological parameter module of the present invention;
FIG. 15 is a diagram illustrating a network message transmission method according to the present invention;
FIG. 16 is a flow chart of the client operation of the present invention;
FIG. 17 is a flow chart of the server side operation of the present invention;
FIG. 18 is a flow chart of the posture control of the multifunctional nursing bed of the present invention;
FIG. 19 is a flowchart of the bed controller routine of the present invention;
FIG. 20 is a flow chart of ECG data processing and rendering according to the present invention;
FIG. 21 is a flow chart of SQL data design according to the invention;
FIG. 22 is a flowchart of the overall data information management module of the present invention;
FIG. 23 is a schematic diagram of a video interaction of the present invention;
fig. 24 is a flowchart of UDP protocol programming of the present invention.
FIG. 25 is a diagram of a multi-threaded common API function in accordance with the present invention;
FIG. 26 is a multi-threaded signal setting function in accordance with the present invention;
FIG. 27 is a filter graph manager interface of the present invention;
fig. 28 is a bed controller command of the present invention.
Detailed Description
The invention is described in detail below with reference to the following figures and specific examples:
as shown in fig. 6, a telemedicine monitoring system includes: the system hardware mainly comprises three parts, namely physiological parameter acquisition, multifunctional nursing bed posture control and a camera. The system software design is divided into the following steps according to the realization of functional modules: remote video interaction, physiological parameter monitoring and displaying, data information management and nursing robot posture control;
the system comprises a physiological parameter acquisition module, a data transmission module and a data transmission module, wherein 5 sensor modules in the physiological parameter acquisition module acquire a plurality of physiological parameter data and send parameter data packets to a PC (personal computer) end through a DDS (direct digital data synthesis) protocol;
the bed body controller in the nursing bed attitude control module is responsible for the motor control of the bed body, and the attitude control is divided into two forms, PC end control and local edge calculation mode control, not only can be through DDS agreement and PC both-way communication, can carry out autonomous control according to preset rule again. The multifunctional nursing bed posture control device is specifically implemented in a way that a main control chip of a bed body posture controller controls a relay to realize the posture control of the multifunctional nursing bed;
the remote video interaction module is used for enabling a high-definition camera to interact with remote videos through a DDS protocol;
the physiological parameter monitoring and displaying module and the data information management module are software modules of a PC (personal computer) terminal;
a hardware structure of the physiological parameter acquisition system is provided with 5 sensor modules for acquiring a plurality of physiological parameter data, the parameter data packets are sent to a PC through a DDS protocol, a bed body controller in the multifunctional nursing bed posture control hardware structure is responsible for motor control of a bed body, posture control is divided into two forms, PC control and remote control, and the two-way communication with the PC can be realized through the DDS protocol. The main control chip of the bed body posture controller is selected as a TI2802DSP drive relay by comprehensively considering technical implementation and cost problems, so that the posture control of the multifunctional nursing bed is realized;
the software system is divided into three layers for better realizing functions, namely a hardware layer, a transmission layer and an application layer, wherein the hardware layer mainly relates to video acquisition, DDS protocol communication, network communication and database operation, the transmission layer works through data encoding and decoding and mainly covers the compression and decoding of video data, the packing and decomposition of network data, the packing and analysis of a posture control command of the multifunctional nursing bed, the analysis of a physiological parameter data packet and the encoding of database data, and the application layer is the realization of each functional module.
Remote medical monitoring method，The method comprises the following steps:
a plurality of cameras are adopted to monitor the person under guardianship; a plurality of cameras synchronously acquire image frames by lenses in real time, and splicing corresponding images into a panoramic image; adjusting the requirements of the nursing bed according to the panoramic image or the monitored person according to the requirements; the physiological parameters of the person under guardianship can be detected while monitoring, and the physical condition of the person under guardianship can be judged according to the detected physiological parameters.
In the above steps, the image mosaic adopts a panoramic video fusion model, which can fuse video information of a plurality of cameras;
as shown in fig. 1, the image mosaic adopts an algorithm feature point detection algorithm, which is performed in 4 steps:
(1) detection of scale space extreme points: finding an extreme point as a characteristic point based on a Hessian matrix, and simultaneously adopting a method for accelerating computation amount in the process of finding the extreme point, thereby improving the computation speed to a certain extent, and defining the Hessian matrix of a certain point in an image as follows:
H(x，y，z)＝Lxx(x，y，σ)Lxy(x，y，σ)Lxy(x，y，σ)Lyy(x， y，σ)(1)
where Lxx (x, y, σ) is the convolution of the Gaussian second order partial derivative with the image at that pixel point.
The Herbert method approximately represents the gaussian second-order gradient template by using a box model, namely, the image is discretized and further cut into 9-by-9 squares, and the Hessian matrix is obtained by calculating the determinant of the Hessian matrix of all pixels in the image when detecting the characteristic points of the image. Therefore, the extreme point obtained by the Hessian matrix is the feature point;
(2) accurate positioning of the characteristic points: on each candidate feature point, a Taylor series interpolation fitting method is used for determining the position and the scale of the feature point, and the final selection of the feature point depends on the stability degree of the feature point;
(3) selecting the main direction of the characteristic points: selecting the main direction of the characteristic points through haar wavelet characteristics in the statistical characteristic point region;
(4) description operator of feature points: firstly, a square neighborhood with 20s (s is the scale of the characteristic point) as the side length is established by taking the characteristic point as the center, but the direction of the established square neighborhood is required to be the same as the main direction of the characteristic point. Then dividing the neighborhood into 4 x 4 sub-regions, and sampling 25 sampling pixels at equal intervals in each sub-region;
(5) solving the haar wavelet characteristic values of the horizontal direction, the vertical direction and the main direction of each pixel point in each sub-region, wherein the haar wavelet characteristic values in each region are the sum of the horizontal direction, the sum of the horizontal direction module values, the sum of the vertical direction and the sum of the vertical direction module values, weighting is carried out on the haar response value of each pixel point, the variance is taken to be 3.3s, and each sub-region can be represented by a four-dimensional vector.
After two times of traversal, high-dimensionality haar wavelet response calculation is carried out, and feature point detection and feature point description of a splicing algorithm can be used in a user-defined mode, so that a feature point description operator can be mapped into a binaryzation mode, and original information is reserved.
As can be seen from the algorithm flowchart, the cycle times are the same through one traversal. However, the high-dimensional haar wavelet calculation relates to the power evolution operation and trigonometric function calculation of floating point data, and the calculation cost is far greater than that of binary comparison calculation, so that the splicing speed can be increased by splicing.
The development and use process of the system is as follows:
the method comprises the following steps: demand analysis
The medical needs of the elderly or the disabled who cannot take care of themselves are analyzed, and all functional modules of the nursing service robot monitoring system are obtained: video interaction, data information management, nursing bed control, multiple physiological parameter acquisition and analysis functions and analysis of the performances of the functions;
(1) the video interaction function should have an automatic detection system hardware device, for example, detect whether there is video acquisition hardware, so as to be able to more effectively utilize computer resources;
(2) the nursing bed control function: the posture of the multifunctional nursing bed can be directly adjusted through buttons on the touch screen; the remote control is that the medical care worker carries out remote control on the multifunctional nursing bed through a network at a server end;
(3) there are patient role, medical care worker role and system administrator role among the remote video monitor system, everyone all possess a lot of data and need manage, need establish user login module, medical care worker login module, system administrator login module, medical care worker information management module, user information management module, the administrator sets up operation module. Due to the characteristics of multiple user objects and high data storage frequency of the system, an independent database server needs to be established at a network end;
(4) the physiological parameter monitor continuously detects and monitors the change of physiological parameters for a long time, the physiological parameter data are transmitted to the server end through the network, the server end analyzes and processes the data in real time, and medical workers know the physical condition of patients, so that the medical workers can find and treat the patients in early stage under certain conditions;
step two: architecture design of system and system implementation related knowledge
(1) And (3) multi-thread programming: the Win API provides a number of API functions for multi-threaded programming as shown in table 1, and the operations involved in creating multiple threads are: create, suspend, resume, and terminate; and (3) creating a user interface thread: calling an Initlnstance () function in the rewriting CWinThread class, newly building a window in the function, and assigning a pointer of the window to m _ pMainWnd; as shown in FIG. 1, where threads work in concert with one another, MFCs provide many classes for thread synchronization, which are commonly used: CEvent, CSemaphore, CCriticalSection, etc., and related auxiliary classes: CSingleLock and CMutiLock;
(2) network transmission protocol: in Linux network programming, as shown in fig. 3, the UDP has only 4 layers, which are an application layer, a transport layer, a network layer, and a network interface layer.
UDP (user data program) is a connectionless-oriented transport layer protocol, UDP is a connectionless-oriented transport layer protocol, and provides reliable data byte transmission, after data is sent, if no reply is received within a certain time, UDP will resend data, three times of handshake connection needs to be established for UDP connection use, a client starts UDP connection to send a SYN packet marker to a server, then the server recovers SYN + ACK packet after receiving, and the client immediately replies ACK packet as a marker after receiving SYN + ACK packet.
The UDPMP transmission protocol transmission process is simplified by using a socket, and the specific steps of protocol understanding are not needed to be excessive in programming, wherein the socket comprises the following steps: three kinds of SOCK _ RAW, SOCK _ STREAM, and SOCK _ DGRA M.
(3) Video acquisition and transmission: as the Direct Show platform architecture shown in FIG. 2, the application program runs on the Direct Show system through the event and command form; the definition of MEDIA TYPE in Direct Show is through AM _ MEDIA _ TYPE structure, provide function in 2 in Direct Show, Free MEDIA TYPE function will clear the MEDIA data in the memory, the above-mentioned function can't clear the memory, if the MEDIA TYPE structure that divides into the memory is deleted, also need to use the Delete MediaType () function; the important characteristic of object-oriented programming is reusability, and the COM component technology shown in fig. 3 is just proposed by microsoft for reusability, and designs a complex program with certain functions into a small module with a single function, and COM components are utilized in an application program, and the modules are interacted with each other in an interface mode; pins in the Direct Show are all derived from IPin classes, the pins are divided into input pins and output pins, the pin connection mode can only be that the output pins are connected with the input pins, and the connection process is actually negotiation of media data types between two niters; the Filter diagram manager controls Source Filter, Transform Filter and render Filter in the Filter diagram, which is also based on COM component form and mainly responsible for: coordinating state changes among the various filters;
(4) data information management: connecting a database in the MFC to provide an ADO control technology as shown in FIG. 4, and adding a msado button to a project folder, wherein the introduction of an AMO object in the MFC first requires the initialization of a COM component in an initialization function;
(5) the overall structure of the remote monitoring system is as follows: the main body design of the system selects a visual C6.0 platform, the system is divided into a client and a server, the client is mainly responsible for on-site real-time video acquisition, real-time physiological parameter acquisition and processing and control of the multifunctional nursing robot, in addition, related information data can be inquired, and the server is mainly responsible for video transmission and reception, information data modification and storage, inquiry of physiological parameters and remote control of the multifunctional nursing bed.
The system hardware mainly comprises two parts for physiological parameter acquisition and multifunctional nursing bed posture control, and the system software design is divided into the following parts according to the functional modules: remote video interaction, physiological parameter monitoring and displaying, data information management and nursing robot posture control;
as shown in fig. 7, 5 sensor modules in the hardware structure of the physiological parameter collecting system collect a plurality of physiological parameter data, and send the parameter data packets to the PC through the DDS protocol, and a bed body controller in the posture control hardware structure of the multifunctional nursing bed is responsible for controlling the motor of the bed body; as shown in fig. 8, the posture control of the nursing bed is divided into two forms, PC control and remote control, the TI2802DSP is selected as the main control chip of the bed posture controller considering the technical implementation and cost problems comprehensively, and the posture control of the multifunctional nursing bed is realized by combining a relay and performing two-way communication with the PC through a DDS protocol;
as shown in fig. 11, the software system is divided into three layers for better implementing functions, a hardware layer, a transmission layer and an application layer, the hardware layer works to interface with hardware, and mainly relates to video acquisition, DDS protocol communication, network communication and database operation, the transmission layer works to encode and decode data, and mainly covers video data compression and decoding, network data packing and decomposition, multifunctional nursing bed posture control command packing and analysis, physiological parameter data packet analysis, database data encoding, and the application layer is implemented by each function module;
step three: detailed system design
(1) Designing a client: after analyzing the functions of the client side through the requirements, the server side can realize the control of the service robot, the analysis and display of physiological parameters, video interaction and information data management;
a data communication module: in the system, DDS protocol communication is a communication mode of an upper computer and peripheral hardware, the posture control and physiological parameter acquisition of the nursing robot are realized by adopting a DDS protocol line and the upper computer, the DDS protocol is oriented to data distribution service of a real-time system, the DDS well supports data distribution and equipment control among equipment, and data transmission of the equipment and a cloud end, meanwhile, the real-time efficiency of data distribution of the DDS is very high, and millions of messages can be simultaneously distributed to a plurality of equipment within a second level;
data encapsulation and analysis: the data encapsulation and analysis are divided into two blocks: packaging/analyzing a control command, packaging/analyzing a physiological parameter, converting the control command from a visual character string command into a command sent by a network, converting the physiological parameter from network data into a visual numerical value or graphic display, and needing conversion of a transmission layer;
designing a client class: firstly, a CRole class is designed as a parent class of a client role class and a server role class, and a CPreviewAdmin class, a CMsgReceiver class and a CMsgStation are inherited in public. SetDeviceConfig () and SetTarget IPO are designed in the CRole class for obtaining equipment information and IP of a target; the following protection type function is designed, which is a function used by both role classes, and for the common function of video interaction, i put a specific operation in the following section, wherein the SendSimpleCommand () function is reloaded, when the parameter is long data type for sending control command and the parameter is Cstring type for sending physiological parameter, the function inherently calls the send () method in the CUDPmanager class.
(2) Designing a server side: the function of the server side is to manage the data of the user side and the design of the server side；
(3) Attitude control of the service robot: attitude control is divided into two forms, namely local edge calculation control and remote control, and the priority client of the attitude control is higher than that of the server for safety; the bed body posture controller consists of a TI2802DSP system, a relay and a related interface, the realization of local edge calculation control is to realize the remote control of posture change of a nursing robot, such as leg bending, lying, back lifting, turning over, urine and feces processor switch and the like by controlling the bed body controller through DDS protocol communication and controlling the bed body controller in real time, wherein the principle of realizing the remote control of the posture change of the nursing robot, such as leg bending, lying, back lifting, turning over, urine and feces processor switch and the like, is to send a UDP control command shown in figure 13 to a client by establishing network communication and then operate the bed body;
(4) and (3) monitoring and displaying physiological parameters: in order to enable a user to intuitively know the physical condition of the user, a physiological parameter monitoring module shown in fig. 14 is designed, and the management of information and physical health degree of the user by medical workers can be facilitated, a window class SHENGLICSHU is defined and designed, and the window class SHENGLICHU is commonly inherited from a CDialog class and a CMsgrecherver class and used for receiving analysis data and displaying;
(5) designing an information data management module: the information data management module uses SQL Server2019 as a development platform and uses ADO control technology provided by MFC as means to connect and operate the database; the main design workload of the data information management module is the logical structure design of the design and operation of a database table, and the module is divided into login registration design, user information design, doctor information design, user physiological parameter information design and logical structure design among information;
MFC database development: through the requirement analysis, the whole structure of the database can be mainly divided into a registration module, a user information management module and a doctor information management module. The development of the database is mainly as follows: designing a database list, designing content information and constraining a table relation by data;
production of Word report forms: adding an MSWORD.OLB class library in VisualC + + and using a COM programming technology to realize automatic generation of a Word report;
(1) designing a remote interaction module: the server side and the client side are divided into: video acquisition preview, video compression coding, video UDP transmission, video decoding and video playing;
video acquisition and preview: when the client and the server carry out video interaction, real-time acquisition is required through a camera;
image acquisition, wherein equipment information is set through video preview between interaction;
video compression: performing compression coding processing on the video acquired in real time by adopting an mpg-4 encoder;
network transmission: the method has the advantages that streaming media data are packaged, sent and received through a DDS protocol, and one innovative point of the scheme is that the priority of video transmission is lower than that of a control signal, interfaces for enqueuing according to the priority are provided in data queues of a publishing party and a subscribing party, and a user can insert delay-sensitive data into the front of the queues through the interfaces so as to acquire the rights of preferential sending and processing;
video decoding: decoding the received network video data;
video playing: and playing the real-time video stream at the server side and the client side.
Video network transmission: the transmission of the streaming media selects a UDP protocol, and bidirectional data exchange can be realized after connection is established;
filter Graph data flow: the Filter is connected with the Filter through a Pin, and the transmission of data from the output Pin to the input Pin in the DirectShow is in the form of Media Sample;
design of filter chart: two rltergraphs need to be created in the video interaction module: mRemoteGraph and mLocalGraph, wherein mRemoteGraph is used for receiving media data sent by the other party, processing and playing the media data;
design of the network receiving filter: the network receiving multi-filter is used for receiving network data at the other end and is composed of 3 classes of CNetHlterSender, COutPin and CStreamSecket. The Filter used as data receiving transmits data to the next Filter after receiving the data from the network, so that the Filter only has one output Pin, similar to a source Filter;
design of a network sending filter: the network sends the role of the multi-filter to send the video data processed to the other end of the network through UDP protocol, it is formed by 3 kinds of CNetHlterSender, CXInputPin and CStreamShocket;
the data source filter design is realized as follows: by designing a network receiving filter and a network sending filter, remote video interaction can not be realized, a source filter and a video compression decompression filter are required to be added in the Biter Graph, and a real-time camera is adopted in the system to collect videos to serve as the source filter;
step four: system implementation
(1) Realizing a server side;
as shown in fig. 17, all functions of the monitoring control interface displayed on the server side in the system are triggered in the form of buttons;
(2) the implementation of a client;
the program operation effect of the client is similar to that of the server, and the interface of the client is mainly divided into four functions: a monitoring control interface, a physiological parameter interface, a user information interface and a setting interface;
(3) data information management module implementation;
as shown in fig. 22, the data information module implementation is divided into implementation of login registration function, implementation of user information, implementation of user physiological parameter information and implementation of doctor information, the data information management database uses SQL Server2019, is installed at the Server, and the PC runs Linux system, establishes a database named test11 in the SQL Server shown in fig. 21, and uses user login authentication mode based on local database access, and remote access of the client accesses the database through lan Server IP mode;
(4) the nursing bed posture control module is realized;
the multifunctional nursing bed is designed with a plurality of postures, and has the functions of turning over, lifting legs, bending legs, lifting back, lowering back and lifting the urination and defecation processor, the control is divided into local edge calculation control and remote control, a controller needs to be arranged at the local end when the multifunctional nursing bed is used for the first time to be connected with a DDS protocol, and the control is realized by combining a button with a bed body controller shown in fig. 18 and table 4;
(5) the realization of remote video interaction;
when a system is initialized, an IP address is set, when video interaction needs to be started, a Fliter Graph needs to be created integrally, then the created video acquisition Filter, the video playing Filter and the network receiving \ sending Filter are added into the Filter Graph, and the filters in each Graph are connected in sequence to realize video transmission interaction.
The specific steps are as follows:
in the first step, a CDXFilter class is used to newly build a local video Filter graph and a remote video Filter graph.
Step two, instantiating a network receiving Filter, calling an IBase Filter: the Querynterface () method sets the output Pin for the network receive Filter, then adds the network receive Filter to the remote video Filter Graph using the AddFiher () method, creates the video capture Filter and adds to the local niter Graph.
Step three, instantiating a network sending filter, calling IBaseFilter in the same way: the method of Querynterface () sets an output Wn for a network receive Filter, then adds the network receive Filter to a local video Filter Graph using the AddFilter () method, creates a video Rederer Filter, and adds to a remote video Filter Graph.
And fourthly, connecting the output Pin and the input Pin. Connecting the output Pin of the video acquisition Filter with the network to send the input Pin of the Filter by using Connect Direct (IPin output Pin, IPin input Pin, const AM-MEDIA-TYPE MEDIA); the network receives the input Pin of the output Pin connection video Renderer filter.
And fifthly, operating the local video Filter Graph and the remote video Filter Graph to realize remote video interaction.
(6) And a physiological parameter module.
As shown in fig. 14, both the client and the server can directly enter the physiological parameter module, and before the client enters, a DDS protocol for physiological parameter acquisition needs to be set to perform acquisition parameter setting for blood pressure acquisition, electrocardiograph acquisition, respiration acquisition, and blood oxygen acquisition.
The foregoing is only a preferred embodiment of this invention and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the invention and these modifications should also be considered as the protection scope of the invention.
Claims (8)
1. A telemedicine monitoring system, comprising: system hardware and system software;
the system hardware includes: the nursing bed comprises a physiological parameter acquisition module, a nursing bed posture control module and a camera; the system software design is divided into the following steps according to the realization of functional modules: the nursing robot comprises a remote video interaction module, a physiological parameter monitoring and displaying module, a data information management module and a nursing robot posture control module;
the physiological parameter acquisition module comprises 5 sensor modules for acquiring a plurality of physiological parameter data and sending parameter data packets to a PC (personal computer) end through a DDS (direct digital data synthesizer) protocol;
the bed body controller in the nursing bed posture control module is responsible for controlling the motor of the bed body, the posture control is divided into two forms, namely PC end control and local edge calculation control, and the posture control can be in two-way communication with the PC through a DDS protocol and can also be independently controlled according to a preset rule;
the remote video interaction module is used for enabling a high-definition camera to interact with remote videos through a DDS protocol;
the physiological parameter monitoring and displaying module and the data information management module are software modules of a PC (personal computer) terminal.
2. The telemedicine monitoring system of claim 1, wherein the software system is divided into three layers for better functioning: a hardware layer, a transport layer and an application layer;
the hardware layer comprises video acquisition, DDS protocol communication, network communication and database operation, and the transmission layer comprises data encoding and decoding, including video data compression and decoding, network data packing and decomposition, multifunctional nursing bed posture control command packing and analysis, physiological parameter data packet analysis and database data encoding; the application layer is the implementation of each functional module.
3. A remote medical monitoring method is characterized by comprising the following steps:
a plurality of cameras are adopted to monitor the person under guardianship; a plurality of cameras synchronously acquire image frames by lenses in real time, and splicing corresponding images into a panoramic image; adjusting the requirements of the nursing bed according to the panoramic image or the monitored person according to the requirements; the physiological parameters of the person under guardianship can be detected while monitoring, and the physical condition of the person under guardianship is judged according to the detected physiological parameters.
4. The method of claim 3, wherein the image stitching uses a panoramic video fusion model to fuse video information of a plurality of cameras.
5. The remote medical monitoring method according to claim 3 or 4, wherein the image stitching adopts a feature point detection algorithm, specifically comprising the steps of:
(1) detection of scale space extreme points: finding an extreme point as a characteristic point based on the Hessian matrix, and simultaneously adopting a method for accelerating the operation amount in the process of finding the extreme point, wherein the Hessian matrix of a certain point in the image is defined as follows: h (x, y, z) ═ Lxx (x, y, σ) Lxy (x, y, σ)
Where Lxx (x, y, σ) is the convolution of the second-order partial derivative of Gaussian at the pixel point with the image;
(2) accurate positioning of the characteristic points: on each candidate feature point, a Taylor series interpolation fitting method is used for determining the position and the scale of the feature point, and the final selection of the feature point depends on the stability degree of the feature point;
(3) selecting the main direction of the characteristic points: selecting the main direction of the feature points by counting the haar wavelet features in the feature point region;
(4) description operator of feature points: firstly, taking a feature point as a center, establishing a square neighborhood with the side length of 20s, then dividing the neighborhood into 4 x 4 subregions, and sampling 25 sampling pixels at equal intervals in each subregion;
(5) solving the haar wavelet characteristic values of the horizontal direction, the vertical direction and the main direction of each pixel point in each sub-region, and representing each sub-region by a four-dimensional vector.
6. The telemedicine monitoring method according to claim 5, wherein the step (1) specifically comprises: the image is discretized and further cropped into 9 × 9 squares, and the Hessian matrix is obtained by calculating the determinant of the Hessian matrix of all pixels in the image when detecting the feature points of the image.
7. The method of claim 5, wherein the direction of the square neighborhood established in step (4) is the same as the principal direction of the feature point.
8. The remote medical monitoring method according to claim 5, wherein the haar wavelet feature values in each region in step (5) are the sum of the horizontal direction, the sum of the horizontal direction module values, the sum of the vertical direction and the sum of the vertical direction module values, and the haar response value of each pixel point is weighted, and the variance is taken to be 3.3 s.
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