CN105550519A - Mobile robot based delivery system and delivery method for medical consumables in operating room - Google Patents
Mobile robot based delivery system and delivery method for medical consumables in operating room Download PDFInfo
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- CN105550519A CN105550519A CN201510951711.1A CN201510951711A CN105550519A CN 105550519 A CN105550519 A CN 105550519A CN 201510951711 A CN201510951711 A CN 201510951711A CN 105550519 A CN105550519 A CN 105550519A
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- 239000012567 medical material Substances 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
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Abstract
The invention discloses a mobile robot based delivery system and delivery method for medical consumables in an operating room. The delivery system comprises a consumable management server, a consumable management client, a mobile robot and a navigation landmark. The consumable management server is located in a medical consumable storeroom and used for sending consumable demand information and consumable delivery information to working personnel in the storeroom. The consumable management client is located in the operating room, is in communication connection with the consumable management server, and is used for working personnel in the operating room to input the consumable demand information and send the consumable delivery information to the consumable management server. The mobile robot is connected with the consumable management server and the consumable management client in a wireless communication manner and is used for transporting the medical consumables to the operating room from the medical consumable storeroom. The navigation landmark is arranged on the ground, leading to the operating room, of the medical consumable storeroom and is used for guiding the walking and stopping of the mobile robot. The delivery system and the delivery method provided by the invention are suitable for delivering the consumables in the operating room, and are high in safety.
Description
Technical field
The present invention relates to medical equipment field, be specifically related to a kind of operating room medical disposable material delivery system based on mobile robot and allocator.
Background technology
Medical disposable material refers to the disposable medical article with medicine equipment registration certificate or " disappearing " font size, medical consumables and reagent, and these medical disposable materials are directly used in the treatment of patient, has very large impact to quality of medical care and medical safety.The relatively common medical disposable material of medical consuming material of high cost, medical precious consumable mainly contains medical specific treatment material, and such as Cardiac interventional, peripheral vascular intervention, joint prosthesis, other organs get involved medical materials such as substituting.
Medical consuming material of high cost is relative to common medical disposable material, even more important to the life and health of people, is to produce and need in design process to carry out the more strict a kind of special medical consumptive material controlled.The singularity that medical consuming material of high cost possesses makes it when purchasing, supplying and using, and becomes very important part in hospital management.Along with the employing of high level hospital consumable management information system, the fine-grained management of medical consuming material of high cost progressively becomes possibility, and each medical consuming material of high cost used can navigate to the patient of use by the means of information management.
Under existing information system management means, first operating room medical consuming material of high cost is delivered to according to clinical demand the sub-store being positioned at operating room and is stored, and in surgical procedure, shifts to an earlier date or the real-time medical consuming material of high cost taking out needs according to user demand with platform nurse.In this process, a large amount of manpowers is wasted, and even needs special nurse to take care of or drawn material.
In dispensing field, pharmacy, there is commercial robotization delivery system, automatically point medicine equipment is connected with hospital information system, after patient hands over money, prescription information is transferred to " sending out medicine machine ", and self-service medicine machine selects medicine automatically, sticks " medication instruction ", simultaneously for patient distributes window of getting it filled, whole process only needed for 10 seconds.
Such as Europe Wa (ROWA) pharmacy system automatically, idiographic flow is: doctor's typing that outpatient service applying electronic prescription, prescription, doctor's advice are stood by doctor, is managed by HIS system.After patient pays to cash desk, first arrive the pharmacy side of examination & verification window to swipe the card confirmation, pharmacy staff retrieve from HIS system paid after prescription, send out to automatic pharmacy instruction of getting it filled by network, automatic pharmacy starts automatically to get it filled, and medicine is outputted to the position of medicine discharging mouth.The pharmacist that adjusts extracts the medicine (such as: parenteral solution, infusion solutions similar drug, special-shaped packaging medicine etc.) do not had in automatic pharmacy to Drug shelf place with reference to doctor's advice.After medicine is integrated by the pharmacist that adjusts, deliver to foreground by transmission slideway and send out medicine pharmacist on hand, after the pharmacist's confirmation of foreground, medicine is issued patient, complete and send out pharmaceutical worker's work.
Existing robotization drug delivery technology, has advantage in a medicine field, can be connected automatic acquisition medicine, be automatically distributed to different windows with HIS system.Get it filled and to be taken out from storage cabinet by mechanical arm, but the medical consuming material of high cost of operating room, it is more complicated that specification compares typical medicine, according to the difference of operation, store and also have corresponding change, cannot fix a point to store, medical consuming material of high cost simultaneously, if conduit etc. is fragile goods, if captured by mechanical arm, easily damage.
In robotization delivery system, medicine is carried through transmission tie and completes, and because medicine stores Relatively centralized, point medicine window is also relatively more neat, and concentrate, be beneficial to layout travelling belt, and be a transmission lines substantially, order delivers to different windows.But operating room environment is more complicated often, floor area is also larger, and spatial dimension is wider, if adopt travelling belt, cannot contact whole operating room, and driver circuit can be very complicated by single travelling belt.
Drug delivery is installed and mostly is in pharmacy, and outside corresponding institute, personnel are medicine distribution window, adopt open transmission, have safety guarantee, but in operating room, Non-medical-staff, and as workman, more with platform manufacturer etc., adopt open transport, safety assurance is poor.
The medical disposable material kind that different operating room needs is varied, and external packing is also not quite similar, need to carry out packing and transporting to each medical disposable material, and the environmental field of operating room is wide, land demand is nervous, adopt robotization delivery system of the prior art not satisfy the demands well, therefore, need to design a kind of system and the method that are applicable to the dispensing of operating room medical disposable material.
Summary of the invention
The invention provides a kind of operating room medical disposable material delivery system based on mobile robot and allocator, be applicable to the consumptive material dispensing of operating room, security is good.
Based on a mobile robot's operating room medical disposable material delivery system, comprising:
Consumptive material management server, is positioned at medical disposable material storehouse, for sending consumptive material demand information and consumptive material delivery information to storehouse staff;
Consumptive material administrative client, is positioned at operating room and is connected with consumptive material management server communication, inputting consumptive material demand information for operating room technician, and sends consumptive material delivery information to consumptive material management server;
Mobile robot, is connected with consumptive material management server and consumptive material administrative client radio communication, for medical disposable material is transported to operating room by medical disposable material storehouse;
Navigation terrestrial reference, is arranged on medical disposable material storehouse and leads on the ground of operating room, for guiding walking and the stop of mobile robot.
In the present invention, mobile robot is one and integrates multi-functional system ensemble such as environment sensing, dynamic decision and planning, Behavior-Based control and execution etc., it has concentrated the multi-disciplinary achievements in research such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence, the present invention is based on mobile robot, and devise the navigation terrestrial reference being exclusively used in surgical environments, in conjunction with the information system of consumptive material management, robotization delivery management is carried out to medical disposable material.
Communication connection can be carried out by wireless or cable technology between described consumptive material management server and consumptive material administrative client, adopt the mode of wireless telecommunications to carry out signal between described mobile robot and consumptive material management server and consumptive material administrative client mutual.
As preferably, described navigation terrestrial reference comprises the index line of setting on the ground for guiding mobile robot to walk, and for limiting the indication point of mobile robot's stop position.Described mobile robot is provided with the tracking transducer for detecting index line, and for detect indication point to level sensor.
As preferably, described tracking transducer comprises at least three infrared sensors, the infrared sensor being positioned at two ends be in respectively index line two outside.
Described infrared sensor can be arranged in a linear, also can arrange in other forms, when mobile robot normally runs, the infrared sensor be positioned at outside index line can not detect signal, when there is skew in mobile robot shift position, the infrared sensor be positioned at outside index line can detect shifted signal, corrects the position of mobile robot, make it to return to correct mobile alignment according to this shifted signal.
As preferably, described indication point comprises and is arranged on index line both sides and some loose point in regular array, and the described arrangement mode to level sensor is identical with the loose arrangement mode put.
In the present invention, each loose point is not finger point, but is the region that an area is less, and the shape in region is not limit, and the size in region is can detect and be advisable by tracked sensor.
Except the identification adopting described infrared sensor to carry out navigation terrestrial reference, Vision Builder for Automated Inspection of the prior art can also be adopted, namely by shooting image, and image is identified ensure that mobile robot is in correct operating path, and stop in place.
As preferably, operating room wall is provided with Digital ID, and described mobile robot is provided with the camera for gathering Digital ID image, and for the data processing unit of resolution digital identification image.
Described mobile robot is provided with the storage box for placing medical disposable material, and for identity verification to authorize the identity authorization system opening storage box authority.Identity authorization system can adopt various authentication means of the prior art, such as IC-card, fingerprint etc.Only have authentication to pass through, can open the storage box of mobile robot.
In order to ensure the correctness that medical disposable material is carried, preferably, each operating room correspondence arranges a storage box.
In order to realize the mutual of staff and mobile robot, preferably, described mobile robot is also provided with the instruction input system for inputting operating room Digital ID, and speech prompting system.
Present invention also offers a kind of operating room medical disposable material allocator based on mobile robot, comprising:
Step 1, operating room technician is by the medical disposable material information needed for the input of consumptive material administrative client, and after described consumptive material management server receives medical disposable material information, notice storehouse staff prepares corresponding medical disposable material;
Step 2, after storehouse staff is effective by the identity authorization system identification identity of mobile robot, by instruction input system input operating room Digital ID, opens corresponding storage box, ready medical disposable material is put into storage box;
Step 3, after storehouse staff starts mobile robot, mobile robot moves along index line, and when indication point being detected, mobile robot is out of service, and utilizes camera collection operating room Digital ID image;
If data processing unit resolves the operating room Digital ID coupling in operating room Digital ID image, then carry out voice message to staff in operating room, and arrive operating room information to consumptive material management server transmission consumptive material simultaneously;
After operating room technician receives voice message, carry out identification, if identification is effective by the identity authorization system of mobile robot, by instruction input system input operating room Digital ID, open corresponding storage box, medical disposable material is taken out, and closes storage box;
Mobile robot, after consumptive material administrative client sends consumptive material Delivered information to consumptive material management server, continues to move along index line;
If the operating room Digital ID that data processing unit is resolved in operating room Digital ID image does not mate, then mobile robot continues to move along index line;
Step 4, after mobile robot covers index line whole process, gets back to medical disposable material storehouse and stops.
The present invention is based on the operating room medical disposable material delivery system of mobile robot, do not take additional space and lay transport routes, and adopt identity authorization system to ensure the correctness that storage box is opened, reduce the risk of the stolen use of medical disposable material or misuse, simultaneously, adopt network technology, the location status of consumptive material in operating room can be understood.
Accompanying drawing explanation
Fig. 1 is the structural representation of the operating room medical disposable material delivery system that the present invention is based on mobile robot;
Fig. 2 is the structural representation of mobile robot in the present invention;
Fig. 3 is the tracking transducer of mobile robot in the present invention and the layout schematic diagram to level sensor.
Embodiment
Below in conjunction with accompanying drawing, the operating room medical disposable material delivery system and allocator that the present invention is based on mobile robot is described in detail.
As shown in Figure 1, a kind of operating room medical disposable material delivery system based on mobile robot, comprising:
Consumptive material management server, is positioned at medical disposable material storehouse, for sending consumptive material demand information and consumptive material delivery information to storehouse staff;
Consumptive material administrative client, is positioned at operating room and is connected with consumptive material management server communication, inputting consumptive material demand information for operating room technician, and sends consumptive material delivery information to consumptive material management server;
Mobile robot, is connected with consumptive material management server and consumptive material administrative client radio communication, for medical disposable material is transported to operating room by medical disposable material storehouse;
Navigation terrestrial reference, is arranged on medical disposable material storehouse and leads on the ground of operating room, for guiding walking and the stop of mobile robot.
As shown in Figure 3, navigation terrestrial reference comprises the index line of setting on the ground for guiding mobile robot to walk, and for limiting the indication point of mobile robot's stop position, wherein, the width of index line is d, the installation warrants operating room of indication point and the difference of reservoir area and different, in reservoir area, indication point comprises the rectangle region shown in six dotted lines, and wherein three rectangle regions are positioned at the left-external side of index line, and other three rectangle regions are positioned at the right outside side of index line.
In situations in the surgery room, indication point comprises the rectangle region shown in four dotted lines, and wherein two rectangle regions are positioned at the left-external side of index line, and two other rectangle region is positioned at the right outside side of index line.
As shown in Figure 3, the bottom of mobile robot is provided with the tracking transducer for detecting index line, and tracking transducer comprises infrared sensor F1, infrared sensor F2, infrared sensor F3, infrared sensor F4, infrared sensor F5, infrared sensor F6, infrared sensor F7 along arranging successively perpendicular to index line direction.
When mobile robot normally runs along index line, infrared sensor F3, infrared sensor F4, infrared sensor F5 can detect index line all the time, infrared sensor F1 and infrared sensor F2 is positioned at the left-external side of index line, infrared sensor F6 and infrared sensor F7 is positioned at the right outside side of index line, if mobile robot's moving direction occurs, then infrared sensor corresponding sending direction adjustment signal, corrects the direction of mobile robot.Such as position of mobile robot offsets left, then infrared sensor F2 can detect index line, and infrared sensor F5 can't detect index line, now adjust mobile robot to run to the right, infrared sensor F3, infrared sensor F4, infrared sensor F5 correct the position of mobile robot, until all can index line be detected.
As shown in Figure 3, the bottom of mobile robot is also provided with level sensor, comprise infrared sensor C1, infrared sensor C2, infrared sensor C3, infrared sensor C4, infrared sensor M1, infrared sensor M2, the indication point wherein in the arrangement mode of infrared sensor C1, infrared sensor C2, infrared sensor C3, infrared sensor C4 and operating room matches; Indication point in the arrangement mode of infrared sensor C1, infrared sensor C2, infrared sensor C3, infrared sensor C4, infrared sensor M1, infrared sensor M2 and reservoir area matches.
When infrared sensor C1 on mobile robot, infrared sensor C2, infrared sensor C3, infrared sensor C4, infrared sensor M1, infrared sensor M2 all detect indication point information, mobile robot stops in reservoir area, infrared sensor C1 on mobile robot, infrared sensor C2, infrared sensor C3, infrared sensor C4 detect indication point information, and infrared sensor M1, infrared sensor M2 be not when indication point information being detected, mobile robot stops at operating room.
The present invention is provided with Digital ID on operating room wall, and as shown in Figure 2, mobile robot is provided with the camera for gathering Digital ID image, and for the data processing unit of resolution digital identification image.
The camera of mobile robot adopts the camera of raspberry group, and the open machine learning bag of the TensorFlow that data processing unit utilizes google to provide is analyzed, the training data that training data adopts mnist to provide.
Mobile robot is also provided with the storage box for placing medical disposable material, and each operating room correspondence arranges a storage box.Storage box cabinet adopts 1mm steel plate, and band lock control equipment, brand uses the control of DK/ east, and model is DK-310T.
Mobile robot be also provided with for identity verification with authorize open storage box authority identity authorization system, for inputting the instruction input system of operating room Digital ID, and speech prompting system.
The key control unit of mobile robot adopts raspberry to send Pi2 development board, the IC-card read write line that identity authorization system adopts network to purchase, and supports linux system, is the universal product, and uses supporting IC-card.The drive system of mobile robot comprises 4 DC brushless motors, and the low pressure brushless direct-current reducing motor of Dongguan City Hao Ran mechanical & electronic equipment corporation, Ltd selected by motor, and driver adopts supporting driver, and tire adopts the 108MM model cross-country vehicle wheel of spadger's brand; Speech prompting system adopts zigbee module, and use the gateway development board in the zigbee gateway developer component of wound think of communication, each operating room doorway carry zigbee terminal, is imported in operating room by serial ports.
Operating room medical disposable material allocator based on mobile robot provided by the invention, comprising:
Step 1, operating room technician is according to operation high-value consumables demand, in medical disposable material title or the relevant information of consumptive material administrative client input needs, the consumptive material management server being positioned at operating room consumptive material unified supply storehouse can receive information, and send prompting, inform that storehouse staff prepares corresponding high-value consumables.
Step 2, after storehouse staff gets out high-value consumables, use the identification system of identification card contact mobile robot, after identification effectively, input corresponding operating room number, mobile robot opens corresponding storage box, and high-value consumables is put into respective stored case by storehouse staff, and this operating room number is added database by mobile robot simultaneously.
Step 3, the square marks region having separately solid box to go out in storehouse perform region, for parking mobile robot, storehouse staff presses the start key of mobile robot, after mobile robot starts, by the straight line action that navigation terrestrial reference is drawn according to floor of operating room, draw the square region having dotted line frame to go out in each operating room fixed position, stop for mobile robot.
Step 4, after mobile robot stops corresponding operating room, check the Digital ID on the corresponding metope of operating room with camera, and carry out data analysis, resolve operating room number, if this operating room has the high-value consumables needing to transport, then send wireless signal, the consumptive material administrative client in notice operating room, and give staff voice message, wait for that staff takes out high-value consumables, point out storehouse consumptive material management server to arrive this operating room simultaneously and wait for; If this operating room needs transport without corresponding high-value consumables, then direct sign along ground straight line continues to run.
Step 5, operating room consumptive material administrative client provides after consumptive material transported the prompting of arrival, operating room technician is in mobile robot's stop place, identification is carried out with identification card, after being identified by, input corresponding operating room number, corresponding storage box is opened, and staff takes out corresponding high-value consumables and storage box is closed in prompting; Storage box sends this operating room after closing and has taken out the information of consumptive material in consumptive material administrative client, and consumptive material administrative client notice consumptive material management server, mark this operating room consumptive material and take out, this operating room is deleted in operating room queuing data storehouse simultaneously.
Step 6, mobile robot is after circuit moves according to the rules, and get back to storehouse docks, voice message is standby.
Claims (10)
1., based on a mobile robot's operating room medical disposable material delivery system, it is characterized in that, comprising:
Consumptive material management server, is positioned at medical disposable material storehouse, for sending consumptive material demand information and consumptive material delivery information to storehouse staff;
Consumptive material administrative client, is positioned at operating room and is connected with consumptive material management server communication, inputting consumptive material demand information for operating room technician, and sends consumptive material delivery information to consumptive material management server;
Mobile robot, is connected with consumptive material management server and consumptive material administrative client radio communication, for medical disposable material is transported to operating room by medical disposable material storehouse;
Navigation terrestrial reference, is arranged on medical disposable material storehouse and leads on the ground of operating room, for guiding walking and the stop of mobile robot.
2. as claimed in claim 1 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described navigation terrestrial reference comprises the index line of setting on the ground for guiding mobile robot to walk, and for limiting the indication point of mobile robot's stop position.
3., as claimed in claim 2 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described mobile robot is provided with the tracking transducer for detecting index line, and for detect indication point to level sensor.
4., as claimed in claim 3 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described tracking transducer comprises at least three infrared sensors, the infrared sensor being positioned at two ends be in respectively index line two outside.
5. as claimed in claim 4 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described indication point comprises and is arranged on index line both sides and in the some loose point of regular array, the described arrangement mode to level sensor is identical with the loose arrangement mode put.
6. as claimed in claim 5 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, operating room wall is provided with Digital ID, described mobile robot is provided with the camera for gathering Digital ID image, and for the data processing unit of resolution digital identification image.
7. as claimed in claim 6 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described mobile robot is provided with the storage box for placing medical disposable material, and for identity verification to authorize the identity authorization system opening storage box authority.
8., as claimed in claim 7 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, each operating room correspondence arranges a storage box.
9., as claimed in claim 8 based on the operating room medical disposable material delivery system of mobile robot, it is characterized in that, described mobile robot is also provided with the instruction input system for inputting operating room Digital ID, and speech prompting system.
10., based on a mobile robot's operating room medical disposable material allocator, it is characterized in that, comprising:
Step 1, operating room technician is by the medical disposable material information needed for the input of consumptive material administrative client, and after described consumptive material management server receives medical disposable material information, notice storehouse staff prepares corresponding medical disposable material;
Step 2, after storehouse staff is effective by the identity authorization system identification identity of mobile robot, by instruction input system input operating room Digital ID, opens corresponding storage box, ready medical disposable material is put into storage box;
Step 3, after storehouse staff starts mobile robot, mobile robot moves along index line, and when indication point being detected, mobile robot is out of service, and utilizes camera collection operating room Digital ID image;
If data processing unit resolves the operating room Digital ID coupling in operating room Digital ID image, then carry out voice message to staff in operating room, and arrive operating room information to consumptive material management server transmission consumptive material simultaneously;
After operating room technician receives voice message, carry out identification, if identification is effective by the identity authorization system of mobile robot, by instruction input system input operating room Digital ID, open corresponding storage box, medical disposable material is taken out, and closes storage box;
Mobile robot, after consumptive material administrative client sends consumptive material Delivered information to consumptive material management server, continues to move along index line;
If the operating room Digital ID that data processing unit is resolved in operating room Digital ID image does not mate, then mobile robot continues to move along index line;
Step 4, after mobile robot covers index line whole process, gets back to medical disposable material storehouse and stops.
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