AU2022333762A1 - Medical robot apparatus, system and method - Google Patents
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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Abstract
A medical robot apparatus, comprising a main robot system (101), wherein the main robot system is connected to and controls a robot apparatus module, and comprises: a speech apparatus (212), a speech module (105), a visual acquisition apparatus and visual identification module (103), a mobile autonomous radar mapping, localization and navigation apparatus and module (108), a robotic scanning arm (209), an information verification robotic arm (208), an ultrasound diagnosis and treatment apparatus (203), a medical image and video acquisition and sharing module (104), an ultrasound scanning apparatus (205), a pressure apparatus (106), an information acquisition and reading apparatus (109), and a lying-position, pose and angle adjustment apparatus (107). Further disclosed is an optimal task configuration management system. By means of a medical image acquisition apparatus carried by a robot, the robot remotely and autonomously controls an ultrasound image acquisition apparatus of a robotic arm, thereby solving the problems of the high operating pressure on medical staff, numerous acquisition tasks, etc. The flexibility and real-time performance of doctors performing remote real-time inquiries and making the rounds of wards, and multiple departments performing joint consultation are improved. The present invention is applied to outpatients, wards and overseas medical institutions. Clinical cases are efficiently solved with multiple treatment plans and common opinions from multiple specialists.
Description
TECHNICAL FIELD The present invention belongs to the technical field of artificial intelligence robot health medical equipment, and relates to the technical field of robots, method of intelligent image recognition, intelligent device and system.
BACKGROUND At present, in the field of medical treatment, in the inspection process, due to various human factor analysis, medical images, poor quality of video collection and low standardization degree, the accuracy of the illness state is recognized. In the field of specialist doctors and medical professional limited and multi-department multi expert joint consultation, it is difficult to discuss the illness state together with the patient in the outpatient service and ward. Administrator remote control, remote joint consultation, ward expert combined check room, and joint therapy robot device, robot platform relates to robot theory and practice technology. Due to the problems of high infective, low efficiency, inaccurate manual collection work, epidemic propagation caused by epidemic situations, medical images and videos are collected by remote controlled and autonomous robot arm. A robotic arm, vision device, depth vision device, various neural network methods and various neural network methods carried by robot are used to assist in collecting medical images and videos, to realize remote controlled collection, autonomous collection, infectious detection, and intelligent data analysis, so as to effectively prevent major diseases such as infectious diseases and plague from spreading.
TECHNICAL PROBLEM The object of the present invention is to overcome the above-mentioned shortcomings and deficiencies, and provide medical robot device, which uses remote controlled and autonomous medical image collection device, thereby solve the problems of human scanning, examination and collection of diagnosis and treatment errors, and the limitation of single diagnosis and treatment department and the singleness of diagnosis scheme. The radar and the movement base realize autonomous movement, mapping, locating and navigation, and solve the problems of movement and collection.The depth information such as planar vision device, depth vision device, intelligent recognition plane information, and bones. By means of the medical image collection device carried by robot, remote controlled and autonomous collection of the robot are realized, and the problems of large working pressure, various collection tasks and medical staff are solved. The clinical cases are solved by improving the flexibility real-time performance of expert, doctor remote controlled real-time inquiry, room checking, multi-department joint consultation and high efficiency multi-treatment-scheme multiple experts.
TECHNICAL SOLUTIONS OF THE PRESENT INVENTION Medical robotic device, system and method, wherein, the medical robotic device includes: robot main system module, the robot main system module is configured to connect and to control the robot device module, and which comprises, speech device and speech module, visual collection device and visual recognition module, radar movement autonomous mapping and locating navigation device and module, robot arm for scanning and robot arm for information verification and module, ultrasonic diagnosis and treatment devicemedical image video collection and sharing module, ultrasonic scanning device, pressure device, information collection and reading deviceying position, pose and angle adjustment device. Medical robotic device, system and method, wherein, the visual collection device and the visual recognition module are configured to collect images, videos, to recognize images and videos. The visual collection device includes planar vision device and depth vision device. Medical robotic device, system and method, wherein, the medical robotic device includes: Speech device and the speech module are configured to collect and to recognize speech, speech interaction between users and robots and which are used to speech inquiry.
Medical robotic device, system and method, wherein, radar autonomous movement, mapping and locating navigation apparatus and module, the apparatus comprising: movement base and radar, which is configured to autonomously mappinglocate and navigate. Medical robotic device, system and method, wherein, Robot arms include robot arms for scanning and robot arms for information verification, the robot arm for scanning is configured to collect medical images and videos; and the robot arm for information verification is configured to collect, to scan, to recognize, and to read two-dimensional codes, digital codes, characters, identifiers, biological information, RFID information, and user information. Medical robotic device, system and method, wherein, Ultrasonic diagnosis and treatment device and the collection and sharing module of medical image video are configured to collect medical images, videos, shared medical images, videos, remote consultation, multi-department joint consultation, and image sharing. Ultrasonic scanning device is configured to scan, to collect images and videos. Pressure device is configured to apply pressure and to scan. Medical robotic device, system and method, wherein, Information collection and reading device is configured to scan, to identify, and to read two-dimensional code, digital code, text, identifier, biological information, RFID information, patient information and user information. The positions and locations, poses, angles and directions of each scanning task are adjusted according to standard scanning requirement Medical robotic device, system and method, wherein, the communication module includes one of wireless communication module, blue tooth communication module, wired Internet communication module, radio frequency communication, radio communication, or various of communication units above. Medical robotic device, system and method, wherein, dual control mode, remote controlled and autonomous control, the robot controls all of devices, modules, nodes which are configured to the medical robot by dual control mode. The remote client communicates with the robot main system by communication module to control each device. Medical robotic device, system and method, wherein, The robot arm for scanning is connected to the ultrasonic scanning device, the robot arm for information verification is connected to the device of information collection and reading device, The parameters are adjusted by administrator, The robot arm is trained by improved method of neural network, motion planning is the parameters of motion planning are set by self-adaptive mode. Medical robotic device, system and method, wherein,The motion planning is used for motion planning, and the two-dimensional code, the digital code, characters, identifier, biological information, RFID information, patient information and user information are collected and identified. The speech device and the speech module are connected to the speech device which are configured to collect and to recognize speech, speech interaction between administrators and users, and speech inquiry. The speech apparatus include speech collection apparatus, speech input apparatus, and speech output apparatus;The speech module includes: speech recognition module, speech text mutual conversion module, speech synthesis module, speech print recognition module, speech comment module, and speech guidance function. The visual collection device and the visual recognition module, wherein the robot main system is connected to the visual collection device which is used for collecting images, videos, and for recognition of images and videos; The visual collection device comprises planar vision device and depth vision device; The visual recognition module includes:planar image recognition module, which includes: recognition of face images and its positions, recognition of facial feature images and positions, recognition of human body feature points and positionsand medical scene recognition; Depth image recognition module includes:recognition of skeleton images and positions, recognition of joint images and positions, recognition of key joint images and positions, recognition of human body feature points and positions, recognition of special features and positions; The medical images are collected by ultrasonic device and the video recognition module which include: Blood vessel, organ, shape, structure, contour, color, feature points recognition, features recognition of disease; Ultrasonic images and videos collection and recognition which are scanned by ultrasonic device. The radar autonomous movement and medical scene recognition mapping module is configured to connect radar and vision device,to connect to robot main system,radar autonomous locate, navigate, real-time mapping. The visual device and the intelligent recognition method recognize face and medical scene, and the medical scene includes:
Address, department, letter of ward doorplate, numbers, characters, bed number, and radar real-time mapping fusion, autonomous locate, navigate, and move to corresponding to the department, ward, bed, and user position. The robotic arm includes robot arm for scanning and robot arm for information verification, The robot arm for scanning is connected to the scanning device and the pressure device which is used for collecting medical images and videos; The robot arm for information verification is connected to the information collection device, the information scanning device and the reading device is connected to the robot main system and to the visual device, which is used for collecting, scanning, reading digital code, two-dimensional code, RFID and biological features, and intelligently identifying and reading two-dimensional code, digital code, characters, identifiers, biological information, RFID information and patient user information. The position, angle and direction of each scanning task are adjusted by connecting the lying position, the pose, the angle adjusting device, the actuating lying position, the pose and the angle adjusting device according to standard scanning requirement. The ultrasonic diagnosis and treatment device and the collection and sharing module of medical images and videos are connected to the robot main system which are used for collecting medical images, videos, shared medical images, videos, remote consultation and multi-department joint consultation by remote controlled mode and autonomous control mode. The ultrasonic probe scanning device is connected to the robot arm for scanning, to the pressure device, to the robot main system and to the remote client which control the ultrasonic probe scanning device to move, to scan, to collect images and videos by robot arm. The pressure device is connected to the ultrasonic probe scanning device and the robot arm for scanning, and the robot main system and the remote client control the pressure device to apply pressure to scan. The robot arm for information verification is connected to the information collection device, the information scanning device and the reading device which is connected to the robot main system and the visual device which is used for collecting, for scanning, for reading the digital codes, two dimensional codes, RFID and biological features, and intelligently recognizing and reading two dimensional codes, digital codes, characters, identifiers, biological information, RFID information, patient information and user information. The robot arm for information verification is connected to the robot main system, the lying position, the pose, the angle adjusting device, the actuating lying position, the pose and the angle adjusting device, so that the medical object can adjust positions, angles and directions of each scanning tasks according to the standard scanning requirement. Optimization management systems of task allocation, comprising: medical robot apparatus, tasks allocation subsystems of departments, subsystem for call center. The medical robot apparatus, the tasks allocation subsystems of departments and subsystem for call center are connected to the robot main control system which are built on the optimal task management system and platform. Further, method for locating, navigating, moving by remote controlled mode and autonomous control mode and the optimization tasks allocation method includes the following steps: S1, Administrator and doctor publishes collection tasks which include time information, location information, medical advice messages, and services collected, S2, Dynamically allocate tasks to the robot devices by optimization task allocation method. Further, dynamic tasks allocation method include: method for optimizing task allocation and path planning dynamically, to plan tasks, the targets to complete all tasks to get the shortest time and the best allocation solution. The optimization method includes: genetic algorithm method and its improved method, tabu search algorithm method and its improved method, simulation annealing algorithm method and its improved method, ant colony algorithm method and its improved method, particle beam optimization algorithm method and its improved method, neural network algorithm method and its improved method, evolution method and its improved method. S3: The robot use the communication module to publish the position information includes: patient ward, outpatient, department, bed position information, and radar locating navigation module subscribe to the patient position information and autonomously move to the collection area. S4: The robot recognizes the communication module to publish information of service by the visual module, radar and location navigation module which subscribes to the location information services and autonomously moves to the collection area. S5: The robot publishes the location of collection, task information, time information, robot arm subscription fixing device, the location of collection information, and the motion planning module to subscribe to the location information by the communication module. S6: The robot collects ultrasonic data and ultrasonic images according to the location information of step S6 according to the motion planning module. S7, Return information of tasks of completion to the manager. If not completed, the task is moved into the next time period.
BRIEF DESCRIPTION OF THE DRAWINGS FIG.1 is schematic diagram of medical robot device module in the description of the present application; FIG.1 Labels: 101 robot main system; 102-collection motion planning module; 103-vision module; 104 medical image video collection module; 105-speech module; 106-pressure device and sensor module;107 horizontal pose angle adjusting device; 108-radar mapping locating navigation movement module; 109 information reading motion planning module; 110 communication module; FIG.2 is schematic structural diagram of medical robot device in the description of the present application; FIG.2 Labels: 201-visual collection device; 202robot main system; 203-ultrasonic diagnostic device; 204-pressure device; 205-ultrasonic scanning probe; 206-radar; 207-movement device; 208-robot arm for information verification;209-robot arm for scanning; 210-information scanning device; 211-lying position, pose, and angle adjusting device;212-speech device; 213-remote control client;
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The objective of the present invention is to design remote control robot for replacing human work, to realize the collection of remote control robot arm, and to effectively solve the problem of autonomous collection of images and videos. By artificial intelligence robot technology, autonomous collection in the field of automation, robotic arm motion planning, and depth camera collection of human face, five sense organs, arms, human body external features, bones, and joint images. The remote control robot and the autonomous collection of the medical image, the video, the remote control medical image, the video collection device and the shared image are realized, solving problems of human diagnosis and treatment errors, improving the accuracy of intelligent collection and the accuracy of medical data anomaly recognition. In order to better understand the above technical solutions, the present invention will be further described in detail below with reference to the embodiments and drawings, but the embodiments of the present invention are not limited. The technical solution in the implementation of the present application is to solve the technical problems as follows: Medical robotic device is provided, remote controlled, robots are used to autonomously collect medical images. Provide radar and movement base to realize autonomous movement and mapping locating and navigation to solve the problem of movement collection. Provide planar vision device, depth vision device, intelligent recognition plane information, bone and depth information. Through the medical device, medical images and the video collection device, remote control and autonomous collection are realized, and the problems of large working pressure, various of collection tasks are solved.
Example 1
The present disclosure will be further described in detail below with reference to the embodiments and FIG.1 and FIG.2, but the embodiments of present disclosure are not Ited.
Robot main system 101, wherein, the robot main system 101 module is configured to connect and control robot device module, including: speech device 212 and speech module 105, visual collection device 201 and visual recognition module 103, radar movement autonomous mapping and locating navigation device and module 108, robot arm for scanning 209 and robot arm for information verification208, ultrasonic diagnosis and treatment device 203 and medical image video collection and sharing module 104, ultrasonic scanning device 205, pressure device 106, information collection and reading device 109, lying position, pose and an angle adjusting device 107.
The visual collection device 201 and the visual recognition module 103 are configured to collect images, videos, recognition of images, and videos. The visual collection device 201 includes planar vision device and depth vision device.
The speech device 212 and the speech module 105 are configured to collect and recognize sounds, speech inter motion between users and speech inquiry.
Radar autonomous movement, mapping locating and navigation apparatus, and module 108, the apparatus comprising: movement base 207 and radar 206, configured to autonomously location and navigation according to autonomous mapping.
The robotic arm includes robot arm for scanning 209 and robot arm for information verification 208, and the robot arm for scanning 209 is configured to collect medical images and videos; and robot arm for information verification 208 is configured to collect, to scan, to recognize, to read two-dimensional codes, digital codes,text, identifiers, biological information, RFID information, patient information and user information.
The ultrasonic diagnosis and treatment device 203 and the medical image video collection and sharing module 104 are configured to collect medical images, videos, shared medical images, videos, remote consultation, multi-department joint consultation, and image sharing.
The ultrasonic scanning device 205 is configured to scan, to collect images and videos.
The pressure device 106 is configured to press and scan.
The information collection and reading device 109 is configured to scan, to identify, to read two-dimensional code, digital code, text, identifier, biological information, RFID information, patient information and user information.
The horizontal position, the pose and the angle adjusting device 107 adjust the position, angle and direction of each scanning task according to standard scanning requirement.
The communication module is respectively connected to the robot main system 101 and remote client 213, it is configured to communicate between the remote client and robot main system 101. The communication module includes one of wireless communication module, blue tooth communication module, wired Internet communication module, radio frequency communication, and radio communication, and various communication manners.
Example 2
The optimization task management system of the present invention and the method for implementing the medical robot device of the present invention are as follows:
With the optimization task management system, medical administrator adds all of the tasks into optimal task management system for scheduling the plurality of departments,the ward and the tasks corresponding to the time periods, medical robot device receives the tasks allocated by the optimal task management system administrator according to the date, the time, corresponding to the department and the ward.
Administrator user, expert user log in to optimal task management system, remote control robot, managing robots in respective departments and ward jurisdictions, adding, modifying, deleting, querying, dynamic real-time scheduling of various tasks of the robot, connection with medical area call center system, remote inquiry, joint consultation treatment of jurisdiction patients, sending medical advice information to patients.
According to the time period and the robot task corresponding to the time period, radar module 108 and vision module 103 of each time period perform path planning. The collection motion planning module 102, speech module 105 and medical image video collection module 104 are applied to respectively process different tasks.
When the collection task is processed, the collection motion planning module 102 of the robot using the motion plan collects the following steps: The administrator issues the order, and the task is scheduled. The robot recognizes the order by the speech module 105, the speech synthesis technology, the speech record, and the speech-to-text recognition order of the speech device 215.
The robot utilizes patient location information, patient ward, department, bed location information. The radar 207 navigates autonomously to the hospital bed. The robot uses the camera 201 and the vision module 103 to recognize face, five sense, features, and the location thereof. The positions of the fingers, the ends of the toe, the joints of the arms, and
The positions of the joints are recognized. The robot collects images and videos shooting motions according to the motion planning modules 102, 109. The task completion information is returned to the manager. If not completed, the task is moved into the next time period.
Claims (1)
- MEDICAL ROBOT APPARATUS, SYSTEM AND METHODClaims Claim 1 Medical robotic apparatus, system and method, wherein, the medical robotic device includes: robot main system module, The robot main system module is configured to connect and to control the robot device module, which comprises, speech device and speech module, visual collection device and visual recognition module, radar movement autonomous mapping and locating navigation device and module, robot arm for scanning and robot arm for information verification and module, ultrasonic diagnosis and treatment device, medical image video collection and sharing module, ultrasonic scanning device, pressure device, information collection and reading device, lying position, pose and angle adjustment device. The visual collection device and the visual recognition module are configured to collect images, videos, to recognize images and videos. The visual collection device includes planar vision device and depth vision device. The speech device and the speech module are configured to collect and to recognize speech, speech interaction between users and robots and which are used to speech inquiry. Radar autonomous movement, mapping and locating navigation apparatus and module, the apparatus comprising: movement base and radar, which is configured to autonomously mappinglocate and navigate. Robot arms include robot arms for scanning and robot arms for information verification, the robot arm for scanning is configured to collect medical images and videos; and the robot arm for information verification is configured to collect, to scan, to recognize, and to read two-dimensional codes, digital codes, characters, identifiers, biological information, RFID information, and user information. Ultrasonic diagnosis and treatment device and the collection and sharing module of medical image video are configured to collect medical images, videos, shared medical images, videos, remote consultation, multi-department joint consultation, and image sharing. Ultrasonic scanning device is configured to scan, to collect images and videos. Pressure device is configured to apply pressure and to scan. Information collection and reading device is configured to scan, to identify, and to read two dimensional code, digital code, text, identifier, biological information, RFID information, patient information and user information. The positions and locations, poses, angles and directions of each scanning task are adjusted according to standard scanning requirement The communication module includes one of wireless communication module, blue tooth communication module, wired Internet communication module, radio frequency communication, radio communication, or various of communication units above. Dual control mode, remote controlled and autonomous control, the robot controls all of devices, modules, nodes which are configured to the medical robot by dual control mode. The remote client communicates to the robot main system by communication module to control each device.Claim 2 Medical robotic apparatus, system and method, wherein, the robot arm for scanning is connected to the ultrasonic scanning device, the robot arm for information verification is connected to the device of information collection and reading device, the parameters are adjusted by administrator. The robot arm is trained by improved method of neural network, motion planning is the parameters of motion planning are set by self-adaptive mode. Medical robotic apparatus, system and method, wherein,The motion planning is used for motion planning, and the two-dimensional code, the digital code, characters, identifier, biological information, RFID information, patient information and user information are collected and identified.Claim 3 According to claim 1, wherein, the medical robotic apparatus is characterized in ,the speech device and the speech module, which are connected to the speech device which are configured to collect and to recognize speech, speech interaction between administrators and users, and speech inquiry. The speech apparatus include speech collection apparatus, speech input apparatus, and speech output apparatus;The speech module includes: speech recognition module, speech text mutual conversion module, speech synthesis module, speech print recognition module, Speech comment module, and speech guidance function.Claim 4 According to claim 1, wherein, the medical robotic apparatus is characterized in, the visual collection device and the visual recognition module, the robot main system is connected to the visual collection device which is used for collecting images, videos, and for recognition of images and videos; The visual collection device comprises planar vision device and depth vision device; The visual recognition module includes: planar image recognition module, which includes: recognition of face images and its positions, recognition of facial feature images and positions, recognition of human body feature points and positions, and medical scene recognition;Depth image recognition module includes: recognition of skeleton images and positions, recognition of joint images and positions, recognition of key joint images and positions, recognition of human body feature points and positions, recognition of special features and positions; The medical images are collected by ultrasonic device and the video recognition module which include: recognition of blood vessels, organs, shapes, structures, contours, colors, feature points, features of disease; ultrasonic images and videos which are scanned and collected by ultrasonic device.Claim 5 According to claim 1, wherein, the medical robotic apparatus is characterized in, the radar autonomous movement and medical scene recognition mapping module, which is configured to connect radar and vision device,to connect to robot main system,radar autonomous locate, navigate, real-time mapping. The visual device and the intelligent recognition method recognize face and medical scene, and the medical scene includes: Address, department, letter of ward doorplate, numbers, characters, bed number, and radar real time mapping fusion, autonomous locate, navigate, and move to corresponding to the department, ward, bed, and user position.Claim 6 According to claim 1, wherein, the medical robotic apparatus is characterized in, the robotic arm which includes robot arm for scanning and robot arm for information verification, The robot arm for scanning is connected to the scanning device and the pressure device which is used for collecting medical images and videos; The robot arm for information verification is connected to the information collection device, the information scanning device and the reading device is connected to the robot main system and to the visual device, which is used for collecting, scanning, reading digital code, two-dimensional code, RFID and biological features, and intelligently identifying and reading two-dimensional code, digital code, characters, identifiers, biological information, RFID information and patient user information. The position, angle and direction of each scanning task are adjusted by connecting the lying position, the pose, the angle adjusting device, the actuating lying position, the pose and the angle adjusting device according to standard scanning requirement.Claim 7 According to claim 1, wherein, the medical robotic apparatus is characterized in, the ultrasonic diagnosis and treatment device and the collection and sharing module of medical images and videos which are connected to the robot main system which are used for collecting medical images, videos, shared medical images, videos, remote consultation and multi-department joint consultation by remote controlled mode and autonomous control mode.The ultrasonic probe scanning device is connected to the robot arm for scanning, to the pressure device, to the robot main system and to the remote client which control the ultrasonic probe scanning device to move, to scan, to collect images and videos by robot arm.Claim 8 According to claim 1, wherein, the medical robotic apparatus is characterized in, the pressure device which is connected to the ultrasonic probe scanning device and the robot arm for scanning, and the robot main system and the remote client control the pressure device to apply pressure to scan.Claim 9 According to claim 1, wherein, the medical robotic apparatus is characterized in, the robot arm for information verification is connected to the information collection device, the information scanning device and the reading device which is connected to the robot main system and the visual device which is used for collecting, for scanning, for reading the digital codes, two-dimensional codes, RFID and biological features, and intelligently recognizing and reading two-dimensional codes, digital codes, characters, identifiers, biological information, RFID information, patient information and user information. The robot arm for information verification is connected to the robot main system, the lying position, the pose, the angle adjusting device, the actuating lying position, the pose and the angle adjusting device, so that the medical object can adjust positions, angles and directions of each scanning tasks according to the standard scanning requirement.Claim 10 Medical robotic apparatus, system and method, wherein, characterized in optimization management systems of task allocation, comprising: medical robot apparatus, tasks allocation subsystems of departments, subsystem for call center, The medical robot apparatus, the tasks allocation subsystems of departments and subsystem for call center are connected to the robot main control system which are built on the optimal task management system and platform. Further, remote controlled and autonomous control locate, navigate, move and optimization tasks configuration method includes the following steps: S1, Administrator and doctor communication module, publish collection task which include time information, location information, medical advice messages, and services collected. S2, Dynamically allocate tasks to the robot devices by optimization task configuration method. Further, dynamic task allocation method include: Method for optimizing task allocation and path planning dynamically, to plan tasks, the targets to complete all tasks to get the shortest time and the best allocation solution. The optimization method includes: genetic algorithm method and its improved method, tabu search algorithm method and its improved method, simulation annealing algorithm method and its improved method, ant colony algorithm method and its improved method, particle beam optimization algorithm method and its improved method, neural network algorithm method and its improved method, evolution method and its improved method. S3: The robot use the communication module to publish the position information includes: patient ward, outpatient, department, bed position information, and radar locating navigation module subscribe to the patient position information and autonomously move to the collection area. S4: The robot recognizes the communication module to publish information of service by the visual module, radar and location navigation module which subscribes to the location information services and autonomously moves to the collection area. S5: The robot publishes the location of collection, task information, time information, robot arm subscription fixing device, the location of collection information, and the motion planning module to subscribe to the location information by the communication module. S6: The robot collects ultrasonic data and ultrasonic images according to the location information of step S6 according to the motion planning module. S7, Return information of tasks of completion to the manager. If not completed, the task is moved into the next time period.211-lying position, pose, and angle adjusting device;212-speech device; 213-remote control client; 208-robot arm for information verification;209-robot arm for scanning; 210-information scanning device; 204-pressure device; 205-ultrasonic scanning probe; 206-radar; 207-movement device; 201-visual collection device; 202-robot main system; 203-ultrasonic diagnostic device;FIGURE 20 207206 This212 209 ti EP FIGURE 2 211 201-visual collection device; 202-robot main system; 203-ultrasonic diagnostic device; 204-pressure device; 205-ultrasonic scanning probe; 206-radar; 207-movement device; 208-robot205 arm for information verification;209-robot arm for scanning; 210-information scanning device; 210211-lying position, pose, and angle adjusting device;212-speech device; 213-remote control client; 20420320820200 201 ****
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110978141.0 | 2021-08-23 | ||
| CN202110978141.0A CN113858219A (en) | 2021-08-23 | 2021-08-23 | Medical robot device, system and method |
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| CN115881288B (en) * | 2023-03-03 | 2023-05-12 | 四川省肿瘤医院 | Vein catheterization management system |
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| CN110405789B (en) * | 2019-08-01 | 2023-06-23 | 昆山市工研院智能制造技术有限公司 | Chart-checking accompanying robot, robot ward-checking accompanying system and method |
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| CN111973228A (en) * | 2020-06-17 | 2020-11-24 | 谈斯聪 | B-ultrasonic data acquisition, analysis and diagnosis integrated robot and platform |
| CN111906785A (en) * | 2020-07-23 | 2020-11-10 | 谈斯聪 | Multi-mode comprehensive information identification mobile double-arm robot device system and method |
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