CN106777960A - A kind of application of Ros distributed system architectures in medical care - Google Patents
A kind of application of Ros distributed system architectures in medical care Download PDFInfo
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- CN106777960A CN106777960A CN201611141596.2A CN201611141596A CN106777960A CN 106777960 A CN106777960 A CN 106777960A CN 201611141596 A CN201611141596 A CN 201611141596A CN 106777960 A CN106777960 A CN 106777960A
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- 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
- G16H40/60—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 operation of medical equipment or devices
- G16H40/63—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 operation of medical equipment or devices for local operation
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Abstract
The invention discloses a kind of Ros distributed system architectures medical care application, including personal terminal and hospital terminal, the personal terminal is connected with hospital terminal by server, the hospital terminal includes a number of hospitals, several wards are provided with the hospital, some terminal machine people are provided with the ward, the terminal machine people is connected with PC in hospital.The invention provides a kind of Ros distributed system architectures medical care application, mainly information resources share, can cut, the aspect such as inexpensive, simple to operate has and is superior to other traditional system architectures.
Description
Technical field
The invention belongs to field of computer technology, and in particular to a kind of Ros distributed system architectures are in medical care
Application.
Background technology
As China's economy is continued to develop, living standards of the people are improved constantly, and the economic growth that the past pursues simply is to society
A large amount of environmental problems and food-safety problem can be brought, concern of the whole society to personal health is caused, China is aged in addition
Change and slow disease level constantly aggravated, the existing service item of medical institutions and quality be difficult to meet resident it is growing " diseases prevention,
Recuperate, cure the disease " demand.In addition, current China's totality medical resource is not enough, medical resource distribution is unbalanced, and " serious disease is small for resident
Disease " is all medical toward Grade A hospital, and the medical resource of Grade A hospital is tired in various outpatient service diseases are tackled, and causes the crucial doctor of large hospital
Treating resource can not be effectively utilized, the configuration of hospital resources structure and application it is unreasonable, cause Chinese more than 60% colony to obtain
Less than timely, effective treatment.
From the point of view of case above, at present, there is problems with domestic medical model：
One, technology great disparity are too big, and some patients are completely treatable, but due to local doctor's ability or cannot look for
To suitable shared resource, cause to delay patient and give treatment in time；
Secondly, due to the waste of keystone resources, cause hospital benefit occur and increase the problem that bottleneck and Hospital Competitiveness decline；Doctor
There is no good resource sharing platform between institute and hospital, the patient that causing a hospital cannot give treatment to may change several families
Hospital can just find the hospital of sure treatment, but toss to and fro, and cause that sb.'s illness took a turn for the worse, or even influence treatment；Thirdly, districts and cities
Level be particularly below that rural medical environment equipment is rare, Grade A hospital is mostly in provincial capital's above city, it is impossible to medical treatment extend and
Vast rural area is covered, the medical treatment that the maximum peasant colony of Chinese population ratio cannot get well is accounted for, Hospital medical has been had a strong impact on
The performance of resource and benefit；City some Grade A hospitals doctor may be caused idler for a long time, and many people from rural hospital
Full is trouble；
Four, not in time, the patients of many bursts appear in countryside, or midnight for treatment, or some bursts urgency
Disease, or some remote backwardnesss position, nearby without what medical institutions, then or accident after cannot shift at once
Patient, it is also many that these situations cause to rescue not in time；
Five, also there are many Telemedicine System recently, but they there is also some problems：
（1）Villager and rural area medical personnel consciousness is not strong, do not know that how to operate yet, how to diagnose, how and higher level
Hospital is linked up, and many flows case-data lack of standardization or even basic of hospital does not all have；
（2）The service fee of tele-medicine beyond the horizontal family of average income ability to pay, in the market remote system exploitation
All respectively there are respective agreement and communication mode, and be from each other completely enclosed, slower development, maintenance cost is very high, then add
Upper R＆D costs are also very high, so, also just when the river rises the boat goes up using price in the market.
Present invention aim to solve the above problems, Ros distributed system architectures are applied in medical care,
And Ros distributed system architectures are improved.
ROS increases income, and is a kind of back operation system for robot, in other words secondary operation system, and it provides class
Like the function that operating system is provided, comprising hardware abstraction description, bsp driver management, the execution of common functions, program
Between message transmission, program distribution package management, it also provides some implementing procedures and storehouse is used to obtain, set up, write and run
The program that multimachine is integrated.
The primary design object of ROS is to improve rate of code reuse in robot research and development field, and ROS is at a kind of distribution
Reason framework（Also known as Nodes）, this enables executable file to be designed separately, and operationally loose couplings, and these processes can
To be encapsulated into packet（Packages）And storehouse（Stacks）In, in order to shared and distribution, the connection in ROS also support code storehouses
Syzygy is united so that cooperation can also be distributed, and this design for being clipped to community's one-level from file system level allows and independently determines development
It is possibly realized with implementation, it is above-mentioned functional to be realized by the master tool of ROS.The operation framework of ROS is that one kind makes
The processing framework of the network connection of the loose coupling of intermodule P2P is realized with ROS communication modules, it performs the logical of several type
News, including the synchronous RPC based on service（Remote procedure call）Communication, also the asynchronous flow communication based on Topic, parameter
Data storage on server, but ROS does not have real-time in itself.
Because the system module that medical care is related to is a lot, frequently, combination is at Ros points for the information exchange of intermodule
Following point is had in cloth system architecture：
（1）Although Ros is known as operating system, but is not in fact an operating system, and he is framework, the generation of communication
The framework of code management, the real-time communication between module also needs to be completed based on real time operating system；
（2）Although the compatible many operating systems of Ros, there is presently no the operating system for being adapted to be run on Windows, city
The operating system that many clients are used on field is all based on Windows, so also need to one redaction of exploitation deacclimatizing
Windows operating system；
（3）The communication between ROS nodes on current same machine uses the loop-back mechanism of network stack, that is to say, that every
One packet is required for being processed by multilevel software stack, and this will cause unnecessary time delay（20 microseconds every time）With resource
Consumption；
（4）When present Ros is data broadcast, bottom layer realization is in fact to use multiple unicast, that is,
Multiple point-to-point transmissions, if to transmit data to 5 nodes, then same data can be copied 5 parts, which results in very
The waste of the big wasting of resources, particularly memory source, in addition, so can also cause very big pressure to the handling capacity of communication system
Power；
（5）The serializing of data can cause very big loss with the process of unserializing to communication delay；
（6）One system using ROS includes a series of processes, and these processes are present in multiple different main frames and in operation
During contacted by end-to-end topological structure, although those software frames based on central server can also be realized
Multi-process and the advantage of many main frames, but in these frameworks, when each computer is attached by different networks, middle calculation
Problem will occur according to server；
（7）Medical software system development is not avoided that data interaction on different devices, and the agreement between equipment is different
, the technology that developer uses is also different, how to go to meet the interface of adaptation all devices terminal, must just use multilingual
Compatible system develops realization；
（8）There is many can be with reusable driving and algorithm, due to many reasons, most of code in current robot
Intermediate layer it is all excessively chaotic so that the highly difficult function of extracting it, it is also difficult to which they are extracted from prototype should
Use other aspects；
（9）All software system developments out after, always have either large or small problem and exist, traditional software systems are tieed up in debugging
It is a very big engineering in the problem of shield；
（10）Present tradition RPC frameworks, most of is all charge, is difficult with safeguarding again or some are not passed through
Cross long-term test and actually used.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of Ros distributed system architectures medical care should
With, mainly information resources share, can cut, the aspect such as inexpensive, simple to operate has and is superior to other traditional system architectures.
To realize goal of the invention, the present invention uses following technical scheme：
A kind of Ros distributed system architectures medical care application, including personal terminal and hospital terminal, the individual
Terminal is connected with hospital terminal by server, and the hospital terminal includes a number of hospitals, and several are provided with the hospital
Ward, is provided with some terminal machine people in the ward, the terminal machine people is connected with PC in hospital, the distribution based on ROS
Formula system architecture, can conveniently grasp the real-time status of each patient of whole hospital, doctor can be allowed not let off each thin
Section, the communication also allowed between patient and doctors and nurses becomes very easily simple.
Preferably, main control module is provided with the terminal machine people, the main control module is used to control, coordinate terminal machine
People's work, the main control module and communication module, voice module, visual identity module, monitoring modular, independent navigation module, fire
Calamity alarm module is connected, and the communication module is used to realize communicating between different terminals robot, allows doctor same
When understand the health status of each patient of each ward；The voice module connects microphone and sound pick-up, boring in patient
When, the terminal machine people can chat with patient, patient can by Voice command terminal machine people realize play music,
The simple functions such as video, calling doctor, doctor can be by voice come the health status of control terminal patient robot inspection；Institute
Visual identity module connection camera is stated, the Quick Response Code mark of patient bed head can be recognized；The monitoring modular connects camera
With local infrared equipment, can be with monitor in real time patient temperature, it is also possible to for monitoring whether patient infusion is totally lost；It is described certainly leading
Model plane block can guide patient or family members to reach target location；The fire alarm module connects alarm, can be to generation
Fire sends alarm in time.
Preferably, the voice module has used the code in CMU Sphinx and Festival open source projects, issue
Independent speech recognition bag, and can will identify that the voice for coming is converted into word, then allow terminal machine people's Intelligent treatment
After speak, install very simple, directly use ubuntu orders, first installation dependence storehouse：
$ sudo apt-get install gstreamer0.10-pocketsphinx
$ sudo apt-get install ros-fuerte-audio-common
$ sudo apt-get install libasound2
$sudo apt-get install ros-indigo-pocketsphinx
$ sudo apt-get install gstreamer0.10-gconf
Core document therein is exactly the recognizer.py files under nodes files, and this file is collected by microphone
Voice messaging, then calls speech recognition library to be identified generating text message, passes through/recognizer/output message hair
Cloth, other nodes can just subscribe to the message and then be processed accordingly.
Preferably, be put into some conventional vocabulary in a file using the method for identified off-line by the voice module,
Used as the text library of identification, then identification by stages voice signal, finally searches for corresponding text message in storehouse, if it is desired to seeing language
Which text message sound identification has in storehouse, can be inquired about by following instruction：
$ roscd pocketsphinx/demo
$ more robocup.corpus 。
Preferably, the personal terminal include iPad, mobile phone and computer, the personal terminal by GPRS or Wi-Fi with
Server is connected.
Preferably, some terminal machine people are connected with Central Control Room, the information transmission that the terminal machine people will gather
To Central Control Room, middle control client can be with Remote per station terminal robot, the running status of every robot of monitor in real time, when
A wherein station terminal robot breaks down, in can notifying that attendant, the terminal machine people can call with the very first time
The guardian of room is controlled, when emergency case occurs in patient, can at once notify that doctor takes action.
Preferably, the terminal machine people is connected with remote system, and the remote system can be with Remote terminal machine
People, is checked patient, and patient is observed by camera；The remote system can be directed to some acute patients, Yi Shengyou
In the state of there is no the time to be on the scene, nurse at one's side or Non-medical-staff can be instructed to carry out one by long-distance video
A little rescue works；Some more thorny operations, it may be necessary to which the top doctor of Ge Jia hospitals studies together, can be by long-range
Cooperative system, the picture of operating table is shared in face of all online doctors, can be used to carry out Discussion on Technology, realizes several doctors
It is raw jointly to give treatment to.
Preferably, the acquisition step of patient information is as follows：
The first step, the terminal machine people recognizes that the Quick Response Code of patient bed head is identified by camera, by visual identity module
It is converted into the patient information of literal expression；
Second step, the patient information of the literal expression is delivered in the client rs PC of doctor；
3rd step, doctor checks or changes the medical treatment information of patient；
4th step, the background server of the medical treatment information automated back-up of the patient to ROS；
5th step, the medical treatment information of the shared patient of other doctors.
Preferably, the system deployment step of Ros distributed system architectures is as follows：
Step one, the client of the terminal machine people needs to configure following information：
Linux is general in/etc/profile configurations ROS_MASTER_URI=http://localhost:11311
Windows is configured in environmental variance
ROS_HOSTNAME ROS_HOSTNAME=" local IP "
ROS_MASTER_URI http://localhost:11311, localhost is the IP of ROSCore
After the completion of above-mentioned configuration, it is possible to the operation program on server and each terminal machine people, generally, as long as
After the completion of configuring for the first time, just without changing configuration again, directly initiating power supply next time can be to use；
Step 2, after having configured information above, it is possible to log in master control system client, after opening client, will open automatically
Dynamic ROS_MASTER, after opening client, before the terminal machine people for being not turned on each ward, being on the client will not
Real-time data collection on any terminal machine people is shown, now the not online state of display terminal machine people；
Step 3, remote opening ward terminal machine people or the power on button being manually pressed by terminal machine people, can be real
Existing terminal machine people starts, terminal machine people start every time all can self-inspection once, it is ensured that modules normal work, then by institute
Some states are sent to master control room client；
Step 4, whether respective module normally transports during client judges system according to the state that each terminal machine people returns
OK, and by feedback of the information include on monitoring interface, if any one terminal goes wrong, attendant physician is notified in time, and
Database of record；
Step 5, communication is to maintain between the terminal machine people of different specialized hospitals and main control server all the time, is ensureing to visit
In the case of asking authority permission, main control server can be with any station terminal robot of remote operation, the patient in ward or shield
Scholar, it is also possible to call main control server at any time, information is passed in time.
Preferably, Ros distributed system architectures mainly include three below aspect：
（1）OS layers：OS layers is most crucial place, and it is responsible for the collection and motion control and data interaction control of bottom data
System, equivalent to the brain of every station terminal robot, it can show as one and run operating system（Operating
System）MCU, be loaded with various motion control arithmetics and data process method and maintain terminal machine people shape in itself
State machine；
（2）Driver layers：According to the configuration in Different hospital or ward, the access of equipment can be freely cut, most owned at last
Tidal data recovering be analyzed and calculate to OS layers, and the state of feedback terminal robot and perform the orders that provide of MCU,
Some terminals only carry motion-control module, just only need to navigation and drive, and what is had only nurses and company patient beside sick bed, just
Can be driven without navigation, as long as adding language module and visual processes；
（3）Control centre's layer：One hospital only needs to a control centre, and all of terminal machine people transmits information to this
In carry out comprehensive analysis, staff can observe the situation of patient by controlling all terminal machine people here.
The beneficial effects of the invention are as follows：
The invention provides a kind of Ros distributed system architectures medical care application, mainly information resources share,
Can cut, the aspect such as inexpensive, simple to operate has and is superior to other traditional system architectures.
ROS has application field very wide, so compatible very many sensor devices are also convenient for, the conventional biography of major part
Sensor device drives also can all find in the community of ROS；ROS is applied in medical domain, it is only necessary to when spending little
Between and energy, it is possible to the module of needs, such as voice module, visual identity module, independent navigation are added in medical system
Module, fire alarm module etc..
1st, according to the requirement of real-time communication, the present invention have selected the real time operating systems such as AMR, Linux, WinCE；
2nd, the present invention adapts to Windows operating system；
3rd, the present invention using the method for shared drive in data memory-map to internal memory, then only the address of transmission data with
Size information, in 20 microseconds, cpu resource is saved so as to data transfer delays time to control；
4th, the present invention uses multicast multicast mechanism：Point-to-multipoint is realized between sending node and each receiving node
Network connection a, if sending node only need to replicate a identical simultaneously to multiple receiving node transmission identical data
Packet, multicast mechanism improves data-transmission efficiency, reduces backbone network and the possibility of congestion occurs；
5th, the time delay of serializing is reduced 50% by the present invention using the serialization process of lightweight；
6th, communication mode of the invention is simple, and the mechanism such as point-to-point design and service and node manager of ROS can disperse
The real-time calculating pressure come by functional bands such as computer vision and speech recognitions, can adapt to the challenge that multirobot runs into, and cure
Treating device end will not typically use highly advanced computing device, and the work of some data-searchings or requirement of real-time be not high
Work, can share in other equipment is carried out, when need extract data when, can be collected from different terminals,
Final data sink is to central server；
7th, the convenient exploitation of the present invention, in order to support cross language, ROS make use of simply, the unrelated IDL of language
The messaging gone between describing module, IDL goes to describe every structure of message using brief text,
Allow the synthesis of message, the code generator of every kind of language will produce similar this kind of language target file, in message transmission and
By the realization that ROS is automatically continuously parallel during reception, which saves important programming time, mistake is it also avoid,
Because message is automatically generated from various simple texts, it is easy to include new type of message, is compiling
When writing, it is known that the code library based on ROS comprise more than 400 kinds of type of messages, these message transmit number from sensor
According to so that object detection arrived around environment, last result is exactly a kind of unrelated Message Processing of language, allows multilingual
Be free to be mixed and matched and use；
8th, the present invention facilitates system to extend, and the system that ROS sets up has modular feature, and the code in each module can be independent
Compiling, and the CMake instruments that compiling is used make it easily just realize the theory simplified, and ROS is substantially by complicated code
It is encapsulated in storehouse, simply creates the function that some small application programs show storehouse for ROS, allows for super to simple code
More prototype is transplanted and reused, and for different hospital facility bases, can arbitrarily increase or delete EM equipment module,
Only need to somewhat change backstage configuration file, or do not change completely, it is possible to used in different places and occasion；
9th, the present invention facilitates investigation problem, and for the ROS distributed system architectures of complex management, we make use of substantial amounts of unskilled labourer
Tool goes to compile and run diversified ROS establishments, so as to be designed to kernel, rather than structure one huge exploitation and fortune
Row environment, these instruments have served as various tasks, for example, the structure of tissue source code, obtains and sets configuration parameter,
The end-to-end Topology connection of visualization, measurement frequency band uses width, and lively delineation information data automatically generate document etc.；
10th, free and increase income, all of source codes of ROS are all published, and this will promote the tune of each level of ROS softwares
Examination, constantly rights a wrong, and ROS relations in a distributed manner follow BSD licenses, it is allowed to the engineering of various business and non-commercial
Develop, ROS carries out the transmission of data by the communication system of inter-process, do not require each module in same executable work(
Can on link together, in this way, using ROS build system can be very good the component enriched using them, individual other module
Can include by the software of various protocol protections, these agreements are from GPL to BSD, but some " pollutants " of license will be in mould
Just destroyed completely in the decomposition of block.
Brief description of the drawings
Fig. 1 is operating diagram of the invention.
Fig. 2 is workflow diagram of the invention.
Fig. 3 is block schematic illustration of the invention.
Specific embodiment
By specific embodiment, the present invention is further illustrated below in conjunction with the accompanying drawings.
As shown in Figure 1, Figure 2, Figure 3 shows, a kind of Ros distributed system architectures medical care application, including individual
Terminal and hospital terminal, the personal terminal are connected with hospital terminal by server, and the hospital terminal includes a number of doctors
Institute, is provided with several wards in the hospital, some terminal machine people, the terminal machine people and hospital are provided with the ward
Interior PC connections, the distributed system architecture based on ROS can conveniently grasp the real-time status of each patient of whole hospital, can
To allow doctor not let off each details, the communication also allowed between patient and doctors and nurses becomes very easily simple.
Additionally, being provided with main control module in the terminal machine people, the main control module is used to control, coordinate terminal machine people
Work, the main control module and communication module, voice module, visual identity module, monitoring modular, independent navigation module, fire
Alarm module is connected, and the communication module is used to realize communicating between different terminals robot, allows doctor simultaneously
Understand the health status of each patient of each ward；The voice module connects microphone and sound pick-up, when patient is boring
Wait, the terminal machine people can chat with patient, patient can realize playing music, regard by Voice command terminal machine people
Frequently, the simple functions such as calling doctor, doctor can be by voice come the health status of control terminal patient robot inspection；It is described
Visual identity module connects camera, can recognize the Quick Response Code mark of patient bed head；Monitoring modular connection camera and
Local infrared equipment, can be with monitor in real time patient temperature, it is also possible to for monitoring whether patient infusion is totally lost；The independent navigation
Module can guide patient or family members to reach target location；The fire alarm module connects alarm, can be to the fire of generation
Calamity sends alarm in time.
Additionally, the voice module has used the code in CMU Sphinx and Festival open source projects, issue solely
Vertical speech recognition bag, and can will identify that the voice for coming is converted into word, then allow after terminal machine people's Intelligent treatment
Speak, install very simple, directly use ubuntu orders, install rely on storehouse first：
$ sudo apt-get install gstreamer0.10-pocketsphinx
$ sudo apt-get install ros-fuerte-audio-common
$ sudo apt-get install libasound2
$sudo apt-get install ros-indigo-pocketsphinx
$ sudo apt-get install gstreamer0.10-gconf
Core document therein is exactly the recognizer.py files under nodes files, and this file is received by microphone
Collection voice messaging, then calls speech recognition library to be identified generating text message, passes through/recognizer/output message
Issue, other nodes can just subscribe to the message and then carry out corresponding treatment.
Additionally, be put into some conventional vocabulary in a file using the method for identified off-line by the voice module, make
It is the text library of identification, then identification by stages voice signal, finally searches for corresponding text message in storehouse, if it is desired to seeing voice
Which text message identification has in storehouse, can be inquired about by following instruction：
$ roscd pocketsphinx/demo
$ more robocup.corpus 。
Additionally, when the voice module needs addition sound bank, may be referred to the text message to be added in example：
$ roscd rbx1_speech/config
$ more nav_commands.txt
Editor's document is as follows：
Hello
go forward
go backward
go left
go right
turn right
turn left
speed up
slow down
stop
reboot
Then this file is generated voice messaging and library file by we online, and this step needs to log in website http://
Www.speech.cs.cmu.edu/tools/lmtool-new.html, according to transmitting file in the prompting of website, then online
Compiling generation library file.
Here is a function of the Voice command robot motion write with python：
def speech_callback(self, msg):
# Get the motion command from the recognized phrase
command = self.get_command(msg.data)
# Log the command to the screen
rospy.loginfo("Command: " + str(command))
# If the user has asked to pause/continue voice control,
# set the flag accordingly
if command == 'pause':
self.paused = True
elif command == 'continue':
self.paused = False
# If voice control is paused, simply return without
# performing any action
if self.paused:
return
# The list of if-then statements should be fairly
# self-explanatory
if command == 'go forward':
self.cmd_vel.linear.x = self.speed
self.cmd_vel.angular.z = 0
elif command == 'turn left':
if self.cmd_vel.linear.x != 0:
self.cmd_vel.angular.z += self.angular_increment
else:
self.cmd_vel.angular.z = self.angular_speed
elif command == 'turn right':
if self.cmd_vel.linear.x != 0:
self.cmd_vel.angular.z -= self.angular_increment
else:
self.cmd_vel.angular.z = -self.angular_speed
elif command == 'go backward':
self.cmd_vel.linear.x = -self.speed
self.cmd_vel.angular.z = 0
elif command == 'stop':
# Stop the robot! Publish a Twist message consisting of all zeros.
self.cmd_vel = Twist()
elif command == 'speed up':
self.speed += self.linear_increment
self.angular_speed += self.angular_increment
if self.cmd_vel.linear.x != 0:
self.cmd_vel.linear.x +=
copysign(self.linear_increment, self.cmd_vel.linear.x)
if self.cmd_vel.angular.z != 0:
self.cmd_vel.angular.z += copysign（
self.angular_increment, self.cmd_vel.angular.z)
elif command == 'slow down':
self.speed -= self.linear_increment
self.angular_speed -= self.angular_increment
if self.cmd_vel.linear.x != 0:
self.cmd_vel.linear.x -= opysign(
self.linear_increment, self.cmd_vel.linear.x)
if self.cmd_vel.angular.z != 0:
self.cmd_vel.angular.z -= copysign(
self.angular_increment, self.cmd_vel.angular.z)
else:
return
self.cmd_vel.linear.x = min(self.max_speed,
max(-self.max_speed, self.cmd_vel.linear.x))
self.cmd_vel.angular.z = min(self.max_angular_speed,
max(-self.max_angular_speed, self.cmd_vel.angular.z))
The script of Voice command is more than simply show, other Based Intelligent Controls can be added on script by mode above
Part, can with control terminal robot inspection's patient temperature, can open with the real-time intercommunication function of patient, inquiry patient it is real-time
Impression, can move with control terminal robot head, and whether detecting is infused completes etc. a series of functions.
Additionally, the personal terminal includes iPad, mobile phone and computer, the personal terminal passes through GPRS or Wi-Fi and clothes
Business device connection.
Additionally, some terminal machine people are connected with Central Control Room, the terminal machine people arrives the information transmission of collection
Central Control Room, middle control client can be with Remote per station terminal robot, the running status of every robot of monitor in real time, when it
In a station terminal robot break down, can with the very first time notify attendant, the terminal machine people can call in control
The guardian of room, when emergency case occurs in patient, can at once notify that doctor takes action.
Additionally, the terminal machine people is connected with remote system, the remote system can with Remote terminal machine people,
Patient is checked, patient is observed by camera；The remote system can be directed to some acute patients, and doctor does not have again
In the state of time is on the scene, nurse at one's side or Non-medical-staff can be instructed to carry out some and rob by long-distance video
Rescue work；Some more thorny operations, it may be necessary to which the top doctor of Ge Jia hospitals studies together, can be by remote system
Cooperation, the picture of operating table is shared in face of all online doctors, can be used to carry out Discussion on Technology, realizes many doctor connection
Hand is given treatment to.
Additionally, the acquisition step of patient information is as follows：
The first step, the terminal machine people recognizes that the Quick Response Code of patient bed head is identified by camera, by visual identity module
It is converted into the patient information of literal expression；
Second step, the patient information of the literal expression is delivered in the client rs PC of doctor；
3rd step, doctor checks or changes the medical treatment information of patient；
4th step, the background server of the medical treatment information automated back-up of the patient to ROS；
5th step, the medical treatment information of the shared patient of other doctors.
Additionally, the system deployment step of Ros distributed system architectures is as follows：
Step one, the client of the terminal machine people needs to configure following information：
Linux is general in/etc/profile configurations ROS_MASTER_URI=http://localhost:11311
Windows is configured in environmental variance
ROS_HOSTNAME ROS_HOSTNAME=" local IP "
ROS_MASTER_URI http://localhost:11311, localhost is the IP of ROSCore
After the completion of above-mentioned configuration, it is possible to the operation program on server and each terminal machine people, generally, as long as
After the completion of configuring for the first time, just without changing configuration again, directly initiating power supply next time can be to use；
Step 2, after having configured information above, it is possible to log in master control system client, after opening client, will open automatically
Dynamic ROS_MASTER, after opening client, before the terminal machine people for being not turned on each ward, being on the client will not
Real-time data collection on any terminal machine people is shown, now the not online state of display terminal machine people；
Step 3, remote opening ward terminal machine people or the power on button being manually pressed by terminal machine people, can be real
Existing terminal machine people starts, terminal machine people start every time all can self-inspection once, it is ensured that modules normal work, then by institute
Some states are sent to master control room client；
Step 4, whether respective module normally transports during client judges system according to the state that each terminal machine people returns
OK, and by feedback of the information include on monitoring interface, if any one terminal goes wrong, attendant physician is notified in time, and
Database of record；
Step 5, communication is to maintain between the terminal machine people of different specialized hospitals and main control server all the time, is ensureing to visit
In the case of asking authority permission, main control server can be with any station terminal robot of remote operation, the patient in ward or shield
Scholar, it is also possible to call main control server at any time, information is passed in time.
Additionally, Ros distributed system architectures mainly include three below aspect：
（1）OS layers：OS layers is most crucial place, and it is responsible for the collection and motion control and data interaction control of bottom data
System, equivalent to the brain of every station terminal robot, it can show as one and run operating system（Operating
System）MCU, be loaded with various motion control arithmetics and data process method and maintain terminal machine people shape in itself
State machine；
（2）Driver layers：According to the configuration in Different hospital or ward, the access of equipment can be freely cut, most owned at last
Tidal data recovering be analyzed and calculate to OS layers, and the state of feedback terminal robot and perform the orders that provide of MCU,
Some terminals only carry motion-control module, just only need to navigation and drive, and what is had only nurses and company patient beside sick bed, just
Can be driven without navigation, as long as adding language module and visual processes；
（3）Control centre's layer：One hospital only needs to a control centre, and all of terminal machine people transmits information to this
In carry out comprehensive analysis, staff can observe the situation of patient by controlling all terminal machine people here.
Operation principle：
ROS is broadly divided into three ranks：Calculate figure level, file system level, community-level
First, figure level is calculated
Calculating figure is a kind of point-to-point latticed form of ROS processing datas, at all processes and the data that they are carried out
Reason, it will showed by a kind of point-to-point latticed form, mainly including several key concepts：Node（node）, message
（message）, theme（topic）, service（service）.
(1) node
Node is exactly the process that some perform processor active task, and ROS makes code module using the mode that scale can increase, and one is
System is typically made up of many nodes, and herein, node can also be referred to as " software module ", and we use " section
Point " is such that the system based on ROS is more visualized when operation, when many nodes run simultaneously, can be very easily
End-to-end communication is depicted as a chart, in this chart, process is exactly the node in figure, and end-to-end connection is closed
System is exactly the connection of its mean camber line.
（2）Message
Communicated by transmitting message between node, each message is a strict data structure, originally marked
Accurate data type（Integer, floating type, Boolean type etc.）All it is to support, while also supporting original array type, message can
With comprising arbitrary nested structure and array（It is very similar to the structure structs of C language）.
（3）Theme
Message is transmitted in the way of a kind of publish/subscribe, and a node can give out information in a given theme, one
Node is paid close attention to for certain theme and subscribes to certain types of data, may simultaneously have multiple nodes to issue or subscribe to same
The message of theme, generally, publisher and subscriber do not know about mutual presence.
（4) service
Although the publish/subscribe model based on topic is very flexible communication mode, the path planning of its broadcast type for
The synchronous transfer module that design of node can be simplified is not appropriate for, in ROS, we term it a service, with a character
The message definition that string and a pair are strictly regulated, one is used to ask, and one is used to respond, and is similarly to web server, web clothes
Business device is defined by URIs, simultaneous with the complete request for defining type and reply document, it should be noted that unreasonable
Topic, only one of which node can broadcast a service with any exclusive name, only one of which service can be referred to as " classification as
Levy ", such as, the URI addresses that any one is given can only have a web server.
On the basis of concept above, it is desirable to have a controller can make the execution without any confusion of all nodes, and this is just
It is a controller of ROS（ROS Master）, ROS Master are by RPC（Remote Procedure Call
Protocol, remote procedure call）There is provided registration list and the lookup to other calculation charts, there is no controller, node will
Cannot find other nodes, exchange message or call service.
Such as control node subscription and the model for giving out information are as follows：
The controller of ROS stores the log-on message of theme and service to the node of ROS, and node is communicated with controller so as to report
Their log-on message, when these nodes communicate with controller, they can be received on other registered and nodes
Information and set up and other registered nodes between contacting, when these log-on messages change controller also can feedback this
A little nodes, while allowing the connection between node dynamic creation and new node.
Connection between node and node is direct, and controller merely provides Query Information, just as a DNS service
Device, node subscribe to theme ask that set up one with the connection of the node for publishing the theme, and company will agreed to
Connect and set up the connection on the basis of agreement.
2nd, file system level
ROS file system levels refer to the organizational form of the ROS source codes checked on hard disk, have in ROS countless nodes,
Message, service, instrument and library file, in the file system level of ROS, there is following, it is necessary to effective structure goes to manage these codes
Several key concepts：Bag（package）, heap（stack）
(1) wrap
The software of ROS is organized in the way of wrapping, and bag is soft comprising node, ROS dependences storehouse, nest, configuration file, third party
Part or any other logical constitution, the target of bag are to provide a kind of reuse of wieldy structure in order to software,
In general, the bag of ROS is short and small keen-witted and capable.
(2) heap
Heap is the set of bag, and it provides a complete function, as " navigation stack ", Stack and version number correlation,
The key of distribution ROS software modes is also how simultaneously.
ROS is a kind of distributed treatment framework, and this enables executable file to be designed separately, and operationally loose coupling
Close, these processes can be encapsulated into bag（Packages）And heap（Stacks）In, in order to shared and distribution.
3rd, community-level
The community-level concept of ROS is a kind of form of expression of the enterprising line code issue of ROS networks, and the association system of code library makes
Must be cooperated can also be distributed, and this design for being clipped to community's one-level from file system level allows independently develop to be turned into implementation
May, exactly because this distributed structure so that ROS is developed rapidly, and the quantitative indicator level wrapped in software storage increases.
Specific embodiment of the invention is the foregoing is only, but architectural feature of the invention is not limited thereto, the present invention
Can be used on similar product, in the field of the invention, the change or modification made are all for any those skilled in the art
Cover among the scope of the claims of the invention.
Claims (9)
1. application of a kind of Ros distributed system architectures in medical care, it is characterised in that：Including personal terminal and hospital
Terminal, the personal terminal is connected with hospital terminal by server, and the hospital terminal includes a number of hospitals, the hospital
Several wards are inside provided with, some terminal machine people are provided with the ward, the terminal machine people is connected with PC in hospital.
2. application of the Ros distributed system architectures as claimed in claim 1 in medical care, it is characterised in that：It is described
Main control module is provided with terminal machine people, the main control module is used to control, coordinates terminal machine people work, the main control module
It is connected with communication module, voice module, visual identity module, monitoring modular, independent navigation module, fire alarm module, it is described
Communication module is used to realize communicating between different terminals robot, allows doctor while understanding each disease of each ward
The health status of people；The voice module connects microphone and sound pick-up, and when patient is boring, the terminal machine people can
Chatted with patient, patient can realize playing the simple work(such as music, video, calling doctor by Voice command terminal machine people
Can, doctor can be by voice come the health status of control terminal patient robot inspection；The visual identity module connection is taken the photograph
As head, the Quick Response Code mark of patient bed head can be recognized；The monitoring modular connection camera and local infrared equipment, Ke Yishi
When monitor patient temperature, it is also possible to for monitoring whether patient infusion is totally lost；The independent navigation module can guide patient or
Family members reach target location；The fire alarm module connects alarm, can in time send alarm to the fire for occurring.
3. application of the Ros distributed system architectures as claimed in claim 2 in medical care, it is characterised in that：It is described
Voice module has used the code in CMU Sphinx and Festival open source projects, has issued independent speech recognition bag, and
And can will identify that the voice for coming is converted into word, and then allow after terminal machine people's Intelligent treatment and speak, the voice module
Using the method for identified off-line, some conventional vocabulary are put into a file, used as the text library of identification, then segmentation is known
Other voice signal, finally searches for corresponding text message in storehouse.
4. in the application of medical care, its feature exists the Ros distributed system architectures as described in claims 1 to 3 is any
In：The personal terminal includes iPad, mobile phone and computer, and the personal terminal is connected by GPRS or Wi-Fi with server.
5. in the application of medical care, its feature exists the Ros distributed system architectures as described in claims 1 to 3 is any
In：Some terminal machine people are connected with Central Control Room, the terminal machine people will gather information transmission to Central Control Room, middle control
Client can be with Remote per station terminal robot, the running status of every robot of monitor in real time, when a wherein station terminal
Robot breaks down, and can notify that attendant, the terminal machine people can call the guardian of Central Control Room with the very first time,
When emergency case occurs in patient, can at once notify that doctor takes action.
6. in the application of medical care, its feature exists the Ros distributed system architectures as described in claims 1 to 3 is any
In：The terminal machine people is connected with remote system, and the remote system can be carried out with Remote terminal machine people to patient
Check, patient is observed by camera；The remote system can be directed to some acute patients, and doctor again arrive in now by no time
In the state of, nurse at one's side or Non-medical-staff can be instructed to carry out some rescue works by long-distance video；Some
Compare thorny operation, it may be necessary to which the top doctor of Ge Jia hospitals studies together, can be cooperated by remote system, will perform the operation
The picture of platform is shared in face of all online doctors, can be used to carry out Discussion on Technology, realizes that many doctors unite treatment.
7. in the application of medical care, its feature exists the Ros distributed system architectures as described in Claims 2 or 3 is any
In：The acquisition step of patient information is as follows：
The first step, the terminal machine people recognizes that the Quick Response Code of patient bed head is identified by camera, by visual identity module
It is converted into the patient information of literal expression；
Second step, the patient information of the literal expression is delivered in the client rs PC of doctor；
3rd step, doctor checks or changes the medical treatment information of patient；
4th step, the background server of the medical treatment information automated back-up of the patient to ROS；
5th step, the medical treatment information of the shared patient of other doctors.
8. application of the Ros distributed system architectures as claimed in claim 5 in medical care, it is characterised in that：Ros points
The system deployment step of cloth system architecture is as follows：
Step one, the client of the terminal machine people needs to configure following information：
Linux is general in/etc/profile configurations ROS_MASTER_URI=http://localhost:11311
Windows is configured in environmental variance
ROS_HOSTNAME ROS_HOSTNAME=" local IP "
ROS_MASTER_URI http://localhost:11311, localhost is the IP of ROSCore
After the completion of above-mentioned configuration, it is possible to the operation program on server and each terminal machine people, generally, as long as
After the completion of configuring for the first time, just without changing configuration again, directly initiating power supply next time can be to use；
Step 2, after having configured information above, it is possible to log in master control system client, after opening client, will be automatic
Start ROS_MASTER, be on the client not before the terminal machine people for being not turned on each ward after opening client
Real-time data collection on any terminal machine people can be shown, now the not online state of display terminal machine people；
Step 3, remote opening ward terminal machine people or the power on button being manually pressed by terminal machine people, can be real
Existing terminal machine people starts, terminal machine people start every time all can self-inspection once, it is ensured that modules normal work, then by institute
Some states are sent to master control room client；
Step 4, whether respective module normally transports during client judges system according to the state that each terminal machine people returns
OK, and by feedback of the information include on monitoring interface, if any one terminal goes wrong, attendant physician is notified in time, and
Database of record；
Step 5, communication is to maintain between the terminal machine people of different specialized hospitals and main control server all the time, is ensureing to visit
In the case of asking authority permission, main control server can be with any station terminal robot of remote operation, the patient in ward or shield
Scholar, it is also possible to call main control server at any time, information is passed in time.
9. application of the Ros distributed system architectures as claimed in claim 5 in medical care, it is characterised in that：Ros points
Cloth system architecture mainly includes three below aspect：
Ground floor：OS layers：OS layers is most crucial place, and it is responsible for the collection and motion control and data interaction of bottom data
Control, equivalent to the brain of every station terminal robot, it can show as one and run operating system（Operating
System）MCU, be loaded with various motion control arithmetics and data process method and maintain terminal machine people shape in itself
State machine；
The second layer：Driver layers：According to the configuration in Different hospital or ward, the access of equipment can be freely cut, most at last
All of tidal data recovering is analyzed and calculates to OS layers, and the state of feedback terminal robot and performs MCU and be given
Order, some terminals only carry motion-control module, just only need to navigation and drive, what is had only nurses and company disease beside sick bed
People, it is possible to driven without navigation, as long as adding language module and visual processes；
Third layer：Control centre's layer：One hospital only needs to a control centre, and all of terminal machine people is by information transmission
Comprehensive analysis is carried out to here, staff can observe the situation of patient by controlling all terminal machine people here.
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| CN112809696A (en) * | 2020-12-31 | 2021-05-18 | 山东大学 | Omnibearing intelligent nursing system and method for high-infectivity isolated disease area |
| CN113183162A (en) * | 2021-04-28 | 2021-07-30 | 哈尔滨理工大学 | Intelligent nursing robot control method and system |
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| CN113276133A (en) * | 2021-06-10 | 2021-08-20 | 上海钛米机器人股份有限公司 | Data processing method, device, equipment and storage medium |
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