TWI692352B - Self-propelled artificial intelligence surgical navigation cart with active detection - Google Patents

Abstract

The invention is a self-propelled artificial intelligence surgical navigation cart with active detection, which is mainly applied to carts in medical institutions. The cart is composed of a cart body, a control unit, a signal transmission unit, a detection unit, a mechanical arm or/and an optical navigation host. The cart can travel to the designated place according to the set schedule or input commands (it can walk according to the memory map path), or follow the corresponding travel, or the cart can be controlled by an external remote control system The counterparts who travel or need to follow can reduce the burden of medical staff when walking, and can concentrate on patient care or improve the quality of surgery.

Description

Self-propelled artificial intelligence surgical navigation cart with active detection

The invention is a self-propelled cart, which belongs to the technical field of automatic propulsion vehicles, and particularly relates to a self-propelled artificial intelligence surgical navigation cart with active detection used in the medical field.

In medical institutions, doctors or nursing staff are required to use a large number of carts to place medical consumables or medical utensils whether they are visiting doctors, patrolling rooms, performing surgery, or even transferring general cases such as administrative work in the medical system. , Through the implementation of medical personnel, so that these medical consumables or appliances can work together with medical personnel.

For example, in the current hospital, when the nursing staff regularly change medicines, the medical staff must push the cart with the medicinal materials and medical equipment to each ward for regular inspection. This cart is equivalent to the aforementioned items. A lot, it takes a lot of physical strength and attention in the implementation process. However, in the heavy medical work, a large number of handling and promotion of medical carts are also a burden on the consumption of medical manpower. If this manpower loss can be saved, the manpower is devoted to the complete medical behavior. , Will be a great help to reduce the workload of medical staff. Therefore, the inventor of the present invention devised a medical cart that can automatically follow, and actively follow the cart to reduce the medical manpower consumption caused by the aforementioned problems.

In order to overcome the problems mentioned in the prior art, the inventor of the present invention proposes a self-propelled artificial intelligence surgical navigation cart with active detection.

The cart at least includes a cart body, a control unit, a signal transmission unit and a detection unit. Wherein, the cart body has at least one storage space and traveling device to achieve the function of basic cart traveling and placing items; the control unit is located in the cart body, and its telecommunication is connected to the traveling of the cart body Device, the control unit will transmit a travel command to the travel device to activate the cart; the signal transmission unit is also provided in the cart body, which is telecom-connected with the control unit to receive and transfer external controls The signal is sent to the control unit; the detection unit is also located in the cart body and is connected to the control unit by telecommunications. The detection unit actively detects whether there is a counterpart corresponding to the outside and detects the The cart's counterpart then sends the message back to the control unit and actuates it.

Therefore, from the above information, it can be known that the navigation cart with active detection and self-propelled artificial intelligence of the present invention uses an active side detection unit to continuously detect whether there is a corresponding cart External counterparts, such as RFID, infrared detection, etc., when the corresponding counterpart of the cart is detected, its signal will be fed back to the control unit of the cart. When the control unit accepts and pairs, the cart is Actively follow the counterpart.

The cart can also control its corresponding counterparts, as well as its actuation path and start time through remote messages; it uses the signal transmission unit to output and input control signals, when the signal transmission unit receives The external control signal is transmitted to its control unit, and the cart will actively drive to the specified time and place according to the corresponding action of the control signal, follow time, start path and other data. Active follower pairing Complete, that is, follow-up active follow-up. Among them, the external signal transmission means is achieved by wireless transmission technology, such as WIFI, Bluetooth, infrared, or NFC.

Furthermore, if a large number of robotic arms are installed on the related machines, it will cause the problem of excessive construction costs. The inventor also conceived to install the robotic arms in the present invention with active detection of self-propelled artificial intelligence surgical navigation push The cart allows the medical robotic arm to be used flexibly in different clinics or operating rooms, increasing the flexibility of the robotic arm scheduling, and avoiding the doubt that the medical staff will also move and move because the robotic arm is too heavy. At the same time, in order to reduce possible damage to the robot arm during movement, the robot arm also has at least one anti-collision detector for detecting obstacles around the arm.

The anti-collision detector can be installed at the joint of the mechanical arm. When the anti-collision detector detects that an object is approaching, it will return a control signal to drive the mechanical arm to change its posture to avoid. Therefore, when the self-propelled artificial intelligence surgical navigation cart is actively followed to follow, if the collision detector of the robot arm detects a sign or other object that may hit the robot arm during the process, the The robotic arm will automatically move to avoid the impact of objects.

In addition, the aforementioned self-propelled artificial intelligence surgical navigation cart with active detection can also correspond to an external signal with a control system, and the control system outputs the external control signal to the signal transmission unit, and then transmits it to the control unit. Control the movement of the cart. However, the control system can simultaneously control several carts to operate one-to-many.

When the aforementioned self-propelled artificial intelligence surgical navigation cart with active detection is applied, it can further have the following functions:

(1) Self-propelled function, that is, the aforementioned active active follower, following time, start path and other data corresponding to the control signal are actively driven to the specified time and place to achieve automatic arrival, return-programming or ground detection Guide wire-non-programming and other actuation modes; the return programming described is to receive When obstructed, the movement stops at the original position, and after the situation is lifted, it will return to the original point to restart or start at the original position to continue traveling.

(2) Active follow function. After detecting the corresponding object of the cart, the signal will be fed back to the control unit of the cart. After the control unit accepts and pairs the cart, the cart will actively follow the corresponding object. Equipment with signal sources, such as hospital beds and wearable devices, for simultaneous movement.

(3) Tracking function. The connecting arm or suspension arm of the robotic arm has an automatic control device that can actively detect and move the navigation system and track the reflective elements to obtain the best optical signal. In order to improve the convenience of the operation.

In addition, in order to reduce the replacement cost of the existing medical cart, the self-propelled artificial intelligence surgical navigation cart with active detection further has a connecting mechanism, which is located outside the cart body to connect the external cart device. Therefore, the medical institution will not need to completely replace the existing cart, and by using the linking mechanism, the existing cart can be combined with the self-propelled artificial intelligence surgical navigation cart with active detection according to the present invention. Need to automatically follow or automatically move to the destination and other purposes. If the robotic arm is installed in the original cart of the medical institution, the system of the control unit of the present invention will be independent of the cart navigation system equipped with the robotic arm, which will each have the following functions:

(1) Self-propelled function. The same as the aforementioned actuation modes with automatic in-position, reset-program or detect ground guide wire-non-program.

(2) Active follow function. Follow equipment with signal source, such as: beds, wearable devices, etc. move synchronously, or carts can follow each other.

(3) Tracking function. The link arm or suspension arm has an automatic control device that can actively detect and move the navigation system to track the reflective elements to obtain the best optical signal.

This separation system can make each cart operate independently or in combination according to the needs of surgery or different departments, and directly assign the related cart to the corresponding place. (For example, the cart with optical navigation system goes to room A, and the cart with mechanical arm navigation system goes to room B).

1‧‧‧Proactively detected self-propelled artificial intelligence surgical navigation cart

11‧‧‧cart body

12‧‧‧Control unit

13‧‧‧Signal transmission unit

14‧‧‧detection unit

15‧‧‧ Placement space

16‧‧‧ Traveling device

17‧‧‧ Linking Organization

2‧‧‧Actual counterpart

3‧‧‧Robot

31‧‧‧Collision detector

4‧‧‧Control system

5‧‧‧External cart device

FIG. 1 is a schematic perspective view of a first embodiment of the present invention with an active detection self-propelled artificial intelligence surgical navigation cart; FIG. 2 is a second embodiment of the present invention with an active detection self-propelled artificial intelligence surgical navigation cart Example 3D schematic diagram; Fig. 3 represents a third embodiment of the present invention with active detection self-propelled artificial intelligence surgical navigation cart; Fig. 4 represents the present invention with active detection self-propelled artificial intelligence surgical navigation cart In the diagram, the embodiment corresponds to the control system.

The following describes the implementation of the present invention with active detection of self-propelled artificial intelligence surgical navigation cart in conjunction with the illustration.

Please refer to FIG. 1 for a schematic perspective view of a first embodiment of a self-propelled artificial intelligence surgical navigation cart with active detection. In this embodiment, the self-propelled artificial intelligence surgical navigation cart 1 includes: a cart body 11, a control unit 12, a signal transmission unit 13, and a detection unit 14. The cart body 11 has at least one storage space 15 and a traveling device 16, wherein the storage space 15 shown in the drawings is an implementation form, but is not limited to this. The horizontal compartments and the like are all placement spaces 15 referred to in the present invention; and the traveling device 16 is a device that can move the cart 1, such as a wheel set with an electric motor or a magnetic levitation set or using aerodynamics. Mobile device. The control unit 12 is disposed on the cart body 11, and the operation of the cart body 11 is controlled by the control unit 12. The signal transmission unit 13 is disposed on the cart body 11 and is telecommunication-connected with the control unit 12 to receive and transmit control signals to the control unit 12. The detection unit 14 is provided on the cart body 11, and is telecommunication-connected with the control unit 12, by detecting the action counterpart 2 of the cart and returning it to the control unit 12. In addition, the cart body 11 may be provided with an instrument platform that can be loaded with instruments to place required surgical tools, or may be loaded with a mobile scanner, X-ray machine, or the like.

In this embodiment, the self-propelled artificial intelligence surgical navigation cart 1 with active detection has two active following methods. The first method is through the detection unit 14 of the cart, through its active scanning After reaching its actuating counterpart 2, the corresponding signal is returned to the control unit 12 for pairing and connection. After the connection is completed, the cart 1 can actively follow the position of the actuating counterpart 2 to move. Among them, the technical means of the active scanning is achieved by RFID, infrared detection and other technologies. Wherein, the operation counterpart 2 can be an RFID card, a handheld communication device, a handheld computer or a specially-made counterpart For the detection unit 14 to complete the matching operation.

The second method is through its signal transmission unit 13, when an external control signal is transmitted from the control system 4 to the cart 1 through wireless transmission means, the external control signal is transmitted to its control unit 12 through the signal transmission unit 13, the The control unit 12 can drive the cart 1 to the specified time and place to match the corresponding objects according to the parameters in the control signal, such as time, place, and corresponding information. Among them, the external control signal transmission is achieved by technical means such as WIFI, Bluetooth, infrared, or NFC.

Please refer to FIG. 2, which is a schematic perspective view of a second embodiment of the present invention with an active detection self-propelled artificial intelligence surgical navigation cart; as mentioned above, the second embodiment is the same as the first embodiment, but the cart A medical manipulator 3 for medical use is built on it. Wherein, the robot arm 3 has at least one anti-collision detector 31. In this embodiment, the anti-collision detector 31 is installed at the joint of the robot arm 3, but it is not limited to this, and may be different models Adjust the position appropriately. When the self-propelled artificial intelligence surgical navigation cart 1 of this embodiment actively detects the traveling cart, if it is in its driving path, the anti-collision detector 31 detects foreign objects that may cause a strike, such as On the signboard on the ceiling or wall, the anti-collision detector 31 will return a signal, and the control unit 12 actively controls the movement of the medical robotic arm 3 to avoid injury caused by the impact of the object. When the self-propelled function is activated, the cart body can also have built-in map information to plan the moving path, for example: the best moving path can be planned (for example: the shortest path or the path with the fewest obstacles or according to the loaded object Choose the most suitable size for the elevator, etc.), so that it is closest to complete automation or artificial intelligence.

Referring to FIG. 3, it is a schematic perspective view of a third embodiment of the present invention with an active detection self-propelled artificial intelligence surgical navigation cart. In this embodiment, the self-propelled artificial intelligence surgical navigation cart with active detection of the present invention is used in combination with the use of traditional carts. As before, the third embodiment The operation mode is the same as that of the first embodiment, but the cart of this embodiment further includes a connecting mechanism 17 which is disposed outside the cart body 11 and is used to connect the external cart device 5. Therefore, when the cart 1 of the present invention actively follows, the external cart device 5 also follows together after the connection is completed. The connection mechanism 17 can be connected to the control unit 12 by telecommunications. The control unit 12 sends out a signal to control the connection mechanism 17 to perform the combination operation. It can further include an image capturing device for capturing the connection mechanism 17 The image when moving, and the position where the linking mechanism 17 is combined with other carts can be adjusted in time to achieve the effect of combining several carts.

Furthermore, please refer to the schematic diagram corresponding to the control system of the embodiment of the present invention shown in FIG. 4. It is clear from the description of the invention that the present invention has an active detection self-propelled artificial intelligence surgical navigation cart 1 which can also correspond to an external signal to a control system 4, and the control system 4 outputs the aforementioned external control signal to the signal transmission After the unit 13 and the control unit 12, the control unit 12 controls the movement of the cart 1. However, the control system 4 can not only correspond to one cart, but can also transmit external control signals to multiple carts (such as 1A, 1B, 1C), and simultaneously control the movement path of several carts or Assigned tasks.

Furthermore, this embodiment can be further combined with the introduction of visual module-synchronous positioning and map building (Visual SLAM) technology, which installs the Visual SLAM device in the cart (directly connected to the system in the cart) or the robotic arm (direct Connected to the system in the cart) or in a room (connected to the cart information via the network link system, for example: operating room or ward). Through the operation of the detector of the Visual SLAM device, the cart can construct or receive real-time 3D scene information when it arrives in the room. Based on this scene information, it can provide the robot arm and optical navigation system mounted on the cart with the ability to avoid obstacles on the moving path, meaning that when any obstacle enters the operating range of the robot arm and optical navigation system, the device Will stop motion and detect obstacles at the same time Whether the obstacles are eliminated, and then the device is resumed to operate, or the information can be used to calculate the robot arm or optical navigation system to change to other postures to smoothly travel, and even more, can be used for automatic calculation. Avoid obstacles and locate at the best working angle to reduce the trouble of medical staff repeatedly adjusting the position. In the meantime, the 3D scene information constructed can be synchronously transmitted to various autonomous mobile devices connected, so that it can synchronize with the mobile to increase efficiency, which can not only solve the medical manpower consumption problem mentioned in the previous technology, or The problem that the operation does not even cause damage to the equipment can further enable the doctor to reduce the damage caused by the collision of the robot arm or the optical navigation system with obstacles during the medical implementation. In addition to V-SLAM, various feedback and sensing technologies can be combined to enable the cart to avoid obstacles on the path or stop directly before and during travel to maintain safety and protect the cart body. Combined equipment.

In summary, when the self-propelled artificial intelligence surgical navigation cart with active detection has independent operation capabilities or is uniformly coordinated by a system for operation distribution, the following functions can be achieved: self-propelled function, active follow function and tracking Features. The detailed description is as follows: self-propelled function: that is, according to the control signal, it actively follows the specified object or the information of the following time, the starting path and other data.

Active following function: After detecting the corresponding object of the cart, it will feed back its signal to the control unit of the cart. When the control unit accepts and matches the pair, the cart will actively follow the corresponding object. The counterparts are mainly devices with signal sources, such as hospital beds and wearable devices, for synchronized movement.

Tracking function: the connecting arm (or suspension arm) installed on the cart has an automatic control device, which can actively detect and move the navigation system, track the reflective element and cooperate to calculate the most suitable position to obtain the best optical signal Accept the position and reduce the time for the doctor or nurse to readjust.

The system can carry out the dispatch operation of carts according to the needs of surgery or different subjects, so that each cart can operate independently or jointly, and the cart can be moved to the corresponding place according to the demand (for example: cart with optical navigation system to the A room, The cart with the robotic arm navigation system goes to room B). What's more, it can be used to transport equipment or medical records to designated locations to achieve the function of auxiliary transportation.

The present invention can indeed provide the objectives achieved in this article through implementation forms, and the above-mentioned forms are only illustrative of the embodiments of the present invention, and do not limit the present invention in any form, without departing from the technical features of the present invention. Within the scope, any equivalent solution that uses the technical content disclosed above to make a simple transformation falls within the protection scope of the present invention.

1‧‧‧Proactively detected self-propelled artificial intelligence surgical navigation cart

11‧‧‧cart body

12‧‧‧Control unit

13‧‧‧Signal transmission unit

14‧‧‧detection unit

15‧‧‧ Placement space

16‧‧‧ Traveling device

2‧‧‧Actual counterpart

3‧‧‧Robot

31‧‧‧Collision detector

4‧‧‧Control system

Claims (10)

A self-propelled artificial intelligence surgical navigation cart with active detection, wherein the cart includes: a cart body, the cart is provided with at least a storage space and a traveling device; a control unit is provided in the cart body The control unit controls the movement of the cart body; a signal transmission unit is provided in the cart body and is telecommunication-connected with the control unit, thereby receiving and transmitting control signals to the control unit; a detection unit, It is installed in the cart body, and is connected to the control unit by telecommunications, and detects the action counterpart of the cart and returns it to the control unit; and, a mechanical arm is installed in the cart and is connected by telecommunications For the control unit. A self-propelled artificial intelligence surgical navigation cart with active detection, wherein the cart includes: a cart body, the cart is provided with at least a storage space and a traveling device; a control unit is provided in the cart body The control unit controls the movement of the cart body; a signal transmission unit is provided in the cart body and is telecommunication-connected with the control unit, thereby receiving and transmitting control signals to the control unit; a detection unit, It is installed in the cart body and is telecommunication-connected with the control unit. By detecting the action counterpart of the cart and returning it to the control unit; and, an optical navigation system is installed in the cart and communicates Connected to the control unit. A self-propelled artificial intelligence surgical navigation cart with active detection, wherein the cart includes: a cart body, the cart is provided with at least a storage space and a traveling device; a control unit is provided in the cart body , The operation of the cart body is controlled by the control unit A signal transmission unit, which is installed in the cart body, and is telecommunication-connected with the control unit, thereby receiving and transmitting control signals to the control unit; a detection unit, which is provided in the cart body, and the control unit Telecommunications connection, by detecting the moving counterpart of the cart and returning it to the control unit; a mechanical arm is provided on the cart and is connected to the control unit by telecommunications; and, an optical navigation system is provided on The cart is connected to the control unit by telecommunications. The automatic navigation cart with active detection artificial intelligence operation according to claim 1 or 3, wherein the mechanical arm is provided with at least one anti-collision detector. The artificially intelligent surgical navigation cart with active detection according to claim 4, wherein the anti-collision detector is installed at the joint of the mechanical arm. As described in any one of claims 1 to 3, a self-propelled artificial intelligence surgical navigation cart with active detection, wherein the signal transmission means of the signal transmission unit is wireless transmission. The self-propelled artificial intelligence surgical navigation cart with active detection according to any one of claims 1 to 3, wherein the cart is a signal corresponding to a control system, and the control system outputs a control signal to the signal transmission unit After that, it is transferred to the control unit to control the movement of the cart. As described in claim 7, a self-propelled artificial intelligence surgical navigation cart with active detection, wherein the control system can control several carts at the same time. The navigation cart with active detection self-propelled artificial intelligence operation as described in any one of claims 1 to 3, wherein a connecting mechanism is further provided on the outside of the cart body for connecting other carts. A self-propelled artificial intelligence surgical navigation cart with active detection as described in any one of claims 1 to 3, wherein a signal is further connected to the cart body-a synchronous positioning and map structure (Visual SLAM) device.

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