CN111358439A

CN111358439A - General practitioner robot system

Info

Publication number: CN111358439A
Application number: CN202010217182.3A
Authority: CN
Inventors: 王忠堂
Original assignee: Accuragen Inc
Current assignee: Accuragen Inc
Priority date: 2020-03-14
Filing date: 2020-03-14
Publication date: 2020-07-03

Abstract

The general practitioner robot arrives preset position, adopt remote control or intelligent control mode, with the help of human-computer interaction, man-machine fusion, human vital sign, physical examination such as whole body physical examination, electrocardio, supersound, X-ray, electroencephalogram, pulmonary function, gather the sample and accomplish chemical examination pathological examination, implement remote diagnosis, automatic generation case history document, carry out medical advice, emotion accompanying and attending, environmental disinfection to in ward, at home, in the dangerous environment, accomplish basic operation of diagnosing, improve the efficiency, reduce medical personnel's risk.

Description

General practitioner robot system

Technical Field

Relates to the field of intelligent service robots, in particular to a general practitioner robot system for providing general medical service.

Background

The cultivation and use of general practitioners in China are in the initial stage, the number of general physicians is seriously insufficient, and the primary medical and health service level is restricted. The general disciplines are not complete, either traditional Chinese medicine or Western medicine, and some special examination projects need a laboratory, an ultrasound department or a radiologist to be performed.

The specialist physicians in China usually have to serve most of the time and energy for patients with common diseases, frequently encountered diseases and chronic diseases, but not the medical scientists who focus on diagnosis and treatment of difficult and complicated diseases, so that the level of clinical research is limited. Standing in the aspect of freeing specialist physicians, a large number of low-age capital doctors need to be supplemented urgently.

When epidemic situations such as SARS, new coronary pneumonia and the like outbreak, medical care personnel directly contact with highly contagious patients in short distance, which causes infection in hospitals of a large number of doctors and nurses and causes the loss of national rescue ability.

The dilemma faced is:

(1) as clinical medicine is scientific in experience, outstanding doctors have long success period and low output and can not supplement in time in short supply;

(2) epidemic outbreaks, social panic, congestion of patients and confusion, and medical care personnel have to directly contact the highly contagious patients in a short distance;

(3) the epidemic situation is outbreak, the patient population is increased rapidly, medical workers have to work continuously and intensively, the medical workers often have full physical strength, anxiety and tension are generated, the immunity is reduced, self protection measures cannot be fully guaranteed, and doctors and nurses who are originally in short supply are infected and die one after another.

Worth following is:

the system has the advantages of epidemic prevention and control of Internet medical services, no cross infection risk, convenience in use, capability of providing '7 × 24' service and natural advantages.

However, the existing internet medical and robot doctors provide remote inquiry and question answering, and are used as a doctor assistant, and cannot replace the examination and diagnosis of the entity hospital.

In view of this, a general practitioner robot is designed, which monitors vital signs and medical physical examination, completes the examination of electrocardio, ultrasound, X-ray, electroencephalogram, pulmonary function, assay, pathology and the like, and executes drug and food delivery, emotional accompanying and environmental disinfection by means of a remote control or intelligent control mode with the help of a support system, thereby improving energy efficiency and reducing the risk of contact infection.

Disclosure of Invention

The invention provides a general practitioner robot system, which solves the problems that the number of general practitioners is insufficient, and a large number of medical care infection dilemmas occur when epidemic situations occur, monitors vital signs, performs medical physical examination, completes special examination, performs diagnosis and treatment, emotional accompanying and environmental disinfection by means of a support system and a remote control or intelligent control mode, thereby improving energy efficiency and reducing the risk of contact infection.

In order to solve the above technical problem, an embodiment of the present invention provides a general practitioner robot system, including:

the general practitioner robot comprises a chassis and a robot body, the robot body comprises a display, a mechanical arm, a snake-shaped mechanical neck and a main structure, the display is connected with the main structure through the snake-shaped mechanical neck, the mechanical arm comprises a left-side nine-shaft mechanical arm and a right-side nine-shaft mechanical arm, the left-side nine-shaft mechanical arm and the right-side nine-shaft mechanical arm are respectively connected with the upper end of the left side of the main structure and the upper end of the right side of the main structure, and the nine-shaft mechanical arm comprises a shoulder shaft joint, an upper arm, an elbow joint, a forearm, a wrist joint, a palm, a back of the hand, a metacarpophalang;

the chassis is a four-wheel omnidirectional drive intelligent moving carrier, the height is 15-25 cm, the detection devices are dispersedly arranged on the chassis, a display, a mechanical arm and a main structure, GPS/Beidou positioning navigation is adopted, the control mode comprises two modes of unmanned driving and manned remote control, and the vehicle reaches a preset service operation position by executing a route planning algorithm; the detection device at least comprises a camera, an ultrasonic radar, a laser radar, a gyroscope, a 3D sensor and an infrared sensor;

the display is provided with a touch screen, a detection device, a state sensing module, an air quality monitoring device, a biological characteristic identification module, an interactive system module and a wireless communication module; the display can move up and down and turn around in a certain range through the snake-shaped mechanical neck, and can also be shifted to the side surface of the main body structure, so that the human interaction is facilitated, and the display can be horizontally placed and is convenient to store; a plurality of display screens can be arranged on the palms and the backs of the hands of the nine-axis mechanical arm and the periphery of the main body structure, so that the human-computer interaction efficiency is improved;

the main body structure is connected with the chassis and is provided with a medical care module, a sample collection module, a sample detection module, an electrocardio examination module, an ultrasonic examination module, an X-ray examination module, an electroencephalogram examination module, a lung function examination module, a daily care module, a central data processing module, a biological safety module, a data safety module and a power supply power module;

the medical care module comprises blood pressure measuring equipment, oxyhemoglobin saturation measuring equipment, pulse measuring equipment, body temperature measuring equipment and grip strength measuring equipment which are arranged in the first box body; the first box body is arranged on the outer wall of the left side of the main structure and is connected with an intelligent lead screw lifting device in the main structure, the lifting range of the first box body is not less than 50cm, and the length, width and height of a chamber of the first box body are not less than 50cm, 20cm and 20cm respectively;

the front end of the display is provided with a camera, a 3D sensor and an infrared sensor, the image data of the fluctuation motion of the chest and the abdomen of the human body is collected, and the respiratory frequency and the respiratory depth are detected according to an algorithm;

by means of a camera and an interactive system module, at least one of a doctor remote control mode and a robot intelligent control mode is adopted, conventional medical history collection, whole-body physical examination and medical ward examination are carried out, wherein a stethoscope and a percussion hammer which are arranged on a palm of a right-side nine-shaft mechanical arm are used for carrying out auscultation and percussion, a matrix consisting of flexible film-shaped pressure sensors is arranged on the finger abdomen of a forefinger and a middle finger of the right-side nine-shaft mechanical arm, pulse conditions are sensed, and an illumination, a camera, a 3D sensor and an infrared sensor are arranged at the middle finger tip of the right-side nine-shaft mechanical arm, so that tongue conditions are sensed;

the small finger of the right nine-axis mechanical arm is provided with an ammonia sensor, a hydrogen sulfide sensor and an aromatic hydrocarbon sensor for detecting odor;

a diagnosis and treatment scheme is drawn up by at least one of a doctor remote control mode and a robot intelligent control mode, and medical orders are given;

according to a program algorithm, a nine-axis mechanical arm and an interactive system module execute medical orders, wherein the content of executing the medical orders comprises nursing, diet, project inspection, oral medicine, intravenous infusion, physical rehabilitation, psychotherapy, remote consultation and discharge;

fusing medical history, physical examination, medical advice and medical advice execution data to form a data set and generate a medical care medical record document;

the daily care module comprises an intelligent storage cabinet for providing medicine distribution and food distribution, the left nine-shaft mechanical arm and the right nine-shaft mechanical arm assist in sitting up and toileting, body building and food taking, and the interactive system module provides emotion accompanying and attending and external communication;

the intelligent cabinet is designed in an automatic drawing mode, is arranged on the front side in the main body structure, is divided into a heat preservation cabin and a low-temperature cabin and is used for temporarily storing medicines, foods and daily necessities, the cabin door is provided with a touch screen and an intelligent sound box, the touch screen displays the articles in the cabin in real time, the intelligent sound box broadcasts prompt information, and meanwhile, a user can interact with the intelligent sound box or use a mobile intelligent terminal to send a demand to call medical staff, order food and shop;

an air quality monitoring device is arranged on the rear side of the display and comprises a temperature sensor, a humidity sensor, a smoke sensor, an oxygen sensor, a carbon dioxide sensor, a carbon monoxide sensor, a PM10 sensor and a PM2.5 sensor, the local space environment is monitored, and the intelligent window is controlled to be opened and closed through a micro control module, so that the air conditioner and the air purification device are controlled to operate;

the sample collection module comprises a finger blood collection device, a venous blood collection device, a pleural fluid and peritoneal fluid collection device, a urine collection device, a feces collection device and at least four universal collection devices, and is arranged on the upper part of the main structure, wherein the universal collection devices are used for collecting human saliva, nasal secretion, pharyngeal secretion, sputum, vomit, prostatic fluid, semen, leucorrhea, human body surface and environmental object surface samples; the destination of the collected sample comprises the direct introduction into a detection process for analysis and detection, or the sample is temporarily stored in a sample bottle for inspection;

the finger blood collecting device is arranged in a second box body on the outer wall of the left side of the main structure, the second box body is tightly connected with the first box body, the length, the width and the height of a cavity of the second box body are not less than 5cm, and a lighting device, a camera, a 3D sensor, an infrared sensor, a finger bundling belt, a puncture needle box, a three-axis puncture mechanical arm, a blood collecting pipe and a disinfectant spraying device are arranged in the cavity;

the venous blood collection device is arranged in the first box body, and is internally provided with an illumination device, a camera, an arm restraint belt, a blood collection tube with a puncture needle, a six-axis venous blood drawing mechanical arm, a 3D sensor, an infrared sensor, a blood vessel imaging device and a disinfectant spraying device;

the universal collecting device comprises a first hose, a second hose, a first intelligent peristaltic pump and a second intelligent peristaltic pump; the near end of the first hose is connected with the physiological saline bag, the tail end of the first hose is provided with a spray head, and a first intelligent peristaltic pump is arranged between the physiological saline bag and the spray head; the near end of the second hose is connected with a sample collection bottle, the tail end of the second hose is provided with a collection head, and a second intelligent peristaltic pump is arranged between the sample collection bottle and the collection head; the first intelligent peristaltic pump and the second intelligent peristaltic pump receive instructions of the central data processing module, and sample collection is implemented by intelligently controlling a right nine-axis mechanical arm according to sample types and properties;

the urine collecting device comprises a urinal urine collecting device and a urine collecting bag urine collecting device; the urinal urine collecting device comprises a third hose, the near end of the third hose is connected with a sample collecting bottle, the tail end of the third hose is provided with a collecting head, and an intelligent peristaltic pump is arranged between the sample collecting bottle and the collecting head; the urine collection device of the urine collection bag comprises a fourth hose, the near end of the fourth hose is connected with a sample collection bottle, the tail end of the fourth hose is connected with a puncture needle head, an intelligent peristaltic pump is arranged between the sample collection bottle and the puncture needle head, and the puncture collection of a urine sample is implemented by the cooperation of a left nine-shaft mechanical arm and a right nine-shaft mechanical arm;

the excrement collecting device comprises a protective cover, a collecting hose, a filter membrane and a sample collecting bottle; the collecting hose comprises three independent hoses, the near end of the first independent hose is connected with the physiological saline bag, the tail end of the first independent hose is provided with a spray head, and an intelligent peristaltic pump is arranged between the physiological saline bag and the spray head; the near end of the second independent hose is connected with a sample collection bottle, the tail end of the second hose is provided with a collection head, and an intelligent peristaltic pump is arranged between the sample collection bottle and the collection head; a transmission shaft is arranged in the third independent hose, the near end of the transmission shaft is connected with a micro motor, and the tail end of the transmission shaft is connected with a stirring head; a filter membrane is arranged at the position, close to the sample collection bottle, of the second hose;

the pleural effusion and ascites collecting device adopts at least one mode of remote control and intelligent control, wherein the remote control mode controls nine mechanical arms under the remote visual effect of doctors to guide the patient to change the body position, and the pleural effusion and the ascites are extracted and led into the pleural effusion and ascites detecting device under the ultrasonic guidance; in the intelligent control mode, the robot guides the patient to change the body position by means of human-computer interaction, the nine-axis mechanical arm performs puncture under ultrasonic guidance, and hydrothorax and ascites are extracted;

the sample detection module is arranged in the main body structure and comprises a blood detection device, an excrement detection device, a urine detection device, an excrement detection device, an antigen-antibody detection device and a nucleic acid detection device;

the blood detection device comprises a full-automatic blood cell counting analysis device and a full-automatic biochemical analysis device; introducing collected finger blood and venous blood into a full-automatic blood counting and analyzing device to obtain various cell component data of the blood; introducing collected finger blood and venous blood into full-automatic biochemical analysis equipment to obtain component data in blood plasma;

the excrement detection device comprises full-automatic general observation equipment, full-automatic microscope observation equipment, full-automatic smear HE staining microscopy equipment and full-automatic smear immunohistochemical staining microscopy equipment;

the urine detection device comprises a urine sample diversion pipeline, a urine sample test paper detection chamber and a urine sample flow analysis detection chamber; the urine sample test paper detection chamber comprises a urine detection test paper storage box, full-automatic urine detection test paper analysis equipment and a waste detection test paper storage box; the urine sample flow analysis detection chamber comprises a urine sample full-automatic centrifugal concentration device and a full-automatic flow cytometry detection device;

the excrement detection device comprises an excrement filtrate drainage pipeline, full-automatic excrement filtrate test strip detection equipment and full-automatic excrement filtrate flow detection analysis equipment;

the antigen-antibody detection device comprises full-automatic antigen-antibody detection equipment, a kit and a test paper board, and a colloidal gold method is selected;

the nucleic acid detection device comprises a gene chip detection device and an RT-PCR detection device, wherein the gene chip detection device comprises a gene chip storage box, full-automatic sample preparation equipment, a detection kit, full-automatic gene chip hybridization reaction equipment and signal detection equipment; the RT-PCR detection device comprises mRNA full-automatic extraction equipment, a full-automatic RT-PCR instrument, a fluorescence detector and a nucleic acid detection kit;

the electrocardiogram detection module comprises a plate electrode, a lead wire and an electrocardiogram host machine, wherein the plate electrode and the lead wire are arranged on the front wall of the main structure, the electrocardiogram host machine is arranged in the main structure, and the lead wire at least comprises a standard limb lead, a pressurized single-pole limb lead and a chest lead;

the ultrasonic inspection module comprises an ultrasonic probe and an ultrasonic instrument host; the ultrasonic probe at least comprises a convex array probe, a linear array probe and a phased array probe, and is arranged on the front wall of the main body structure, and the ultrasonic instrument host is arranged inside the main body structure;

the X-ray inspection module comprises an X-ray generating device, a bulb tube and an X-ray digital flat panel detector; the X-ray generating device is arranged in the main structure, the bulb tube is arranged on the palm of the left nine-axis mechanical arm, and the X-ray digital flat panel detector is stored in a rear wall storage box of the main structure;

the electroencephalogram examination module comprises electrodes, leads, an amplifier and an electroencephalograph, wherein the leads at least comprise a reference lead, a longitudinal bipolar lead and a transverse bipolar lead;

by means of the camera and the interactive system module, at least one of a doctor remote control mode and a robot intelligent control mode is adopted, and the right nine-axis mechanical arm assists the patient to suck the mouthpiece of the lung function detector to perform lung function examination;

the central data processing module comprises a data storage device and a data processing device, the acquired clinical data are fused with the multi-sensor data and are issued to the cloud server, effective data are obtained through calculation processing to form a data set, and diagnosis and treatment operations are completed by combining an intelligent medical system and an artificial medical system;

the biological safety module comprises an internal disinfection device, an external disinfection device, an air purification device and a waste treatment device; the external disinfection at least comprises two modes of disinfectant spraying and ultraviolet lamp irradiation, wherein the disinfectant spraying and ultraviolet lamp are arranged on a left nine-axis mechanical arm; waste treatment comprises waste storage, waste disinfection and waste disposal;

the data security module establishes a user data center through a block chain technology, and stores and distributively operates user data;

the state sensing module comprises a camera, a sensor, a detector and a gyroscope, and is scattered outside and inside the chassis, the display, the mechanical arm and the main structure to sense the self state of the robot and the surrounding environment;

the support system consists of a mobile intelligent terminal, a cloud server, a 5G, a logistics system, an intelligent medical system, a man-machine fusion protocol, VR/AR equipment, a map navigation system, an intelligent access control, a surgical robot, a nursing robot, a sleeping robot and software; the human-computer fusion protocol comprises communication protocols between a human and a general practitioner robot, between the general practitioner robot and other robots and between the general practitioner robot and intelligent hardware; the software includes an underlying operating system, application programs, and algorithms.

As a preferred scheme, the biometric identification module performs real-name authentication by using a block chain technology, and the biometric identification of the user at least comprises one of voice, iris, palm print, handwriting, gait, gesture, lip reading, face and idea.

As a preferred scheme, the interactive system module comprises a human-computer interactive system and an inter-equipment interactive system, and integrates a multi-channel interactive mode.

Preferably, the urine test device and the blood test device can be used for detecting pleural effusion and ascites samples, and detecting the substance components in the pleural effusion and the ascites samples in more detail.

Preferably, the stool collection device and the stool detection device can be used for collecting and detecting vomit samples.

Preferably, the nucleic acid detection device is provided with a plurality of sample channels, and detects a plurality of types of bacteria, viruses and tumor-related genes or a plurality of samples of the same type of bacteria, viruses and tumor-related genes according to a program; the nucleic acid detecting apparatus can detect a plurality of samples in parallel.

As a preferable scheme, the pulse condition diagnosis and treatment is implemented by a flexible pressure sensor array arranged on the finger distal finger abdomen of a right nine-axis mechanical arm, palpation is carried out, action potential data is sensed, synchronous or delayed mapping is carried out on intelligent hardware of a remote doctor fingertip, the pulse condition is obtained, the pulse condition can also be transmitted to a cloud server, and the pulse condition is obtained by a specific algorithm.

As the preferred scheme, the sample detection device is at least provided with one detection channel, so that single-person single-sample detection and single-person multi-sample detection are realized.

As a preferred scheme, the control comprises a man-machine remote fusion mode, a man-machine fusion mode and an intelligent operation mode; under the condition of a human-computer remote fusion mode, when the robot works autonomously, an operator dynamically senses the state of the robot in real time at a control end, and once a fault or an error occurs, the operator can control or cut off the autonomous working, help is given in real time, and the working is optimized; under the condition of a man-machine fusion mode, the robot performs operation in cooperation with on-site doctors, nurses, patients and patient accompanying personnel; under the condition of an intelligent operation mode, the robot arrives at the site and completely and autonomously performs operation.

As the preferred scheme, at least one expansion groove is reserved in the main body structure, and the expansion groove comprises a connection interface and a space of a circuit, a water path, a gas path, a specimen transmission channel and a data chain and is used for adding a functional module.

As a preferred scheme, the general practitioner robot selectively reduces and matches one or more modules of a specimen collecting module, a specimen detecting module, a medical care module, an electrocardio examination module, an ultrasonic examination module, an X-ray examination module and a daily care module according to the user requirements, so as to meet the personalized requirements of the user;

according to the user requirements, one or more collection devices in the specimen collection module are selectively reduced, one or more detection devices in the specimen detection module are selectively reduced, and the individual requirements of the user are met.

Based on the scheme, the embodiment of the invention has the advantages that; the general practitioner robot integrates an intelligent moving chassis and a diagnosis and treatment function module, by means of human-computer interaction and human-computer fusion technology, under independent or remote control, the medical physical examination is carried out, the physical examination is carried out, such as electrocardio, ultrasound, X-ray, lung function and the like, environment and human body samples are collected, the pathological examination is carried out, by means of an intelligent medical system, diagnosis is carried out, medical advice is given, conventional treatment is executed, medical record documents are automatically generated, the general practitioner robot cooperates with other robots, the daily care, surgical operation, emotional accompanying and nursing of a patient and environmental disinfection are implemented, so that the general practitioner and a low-age-capital specialist are partially replaced, the basic diagnosis and treatment operation is completed in a ward, at home and in a dangerous environment, the energy efficiency is improved, and the risk of medical care personnel is reduced.

Drawings

FIG. 1 is a front general structural assembly diagram of a general physician robot system;

FIG. 2 is a side view of the general practitioner robot;

FIG. 3 is a schematic view of a first case structure;

FIG. 4 is a schematic view of a second case structure;

FIG. 5 is a schematic structural view of the first and second box lifting devices;

FIG. 6 is a schematic illustration of a hand assembly of a right nine-axis robotic arm;

FIG. 7 is a schematic diagram of a hand flexible film-like pressure sensor matrix for a right-hand nine-axis robotic arm;

FIG. 8 is a schematic view of the structure of a urinal urine specimen collecting device;

FIG. 9 is a schematic structural view of a specimen collection device of a urine collection bag;

FIG. 10 is a schematic view of a stool specimen collection device;

FIG. 11 is a schematic view of a general specimen collection device;

FIG. 12 is a schematic view of the structure of the specimen testing device;

FIG. 13 is a schematic view of an X-ray examination;

FIG. 14 is a schematic view of the construction of the disinfecting spray apparatus;

wherein the reference numbers in the drawings of the specification are as follows:

a chassis 1; a display 2; a mechanical arm 3; a left nine-axis mechanical arm 3A; a right nine-axis mechanical arm 3B; a serpentine mechanical neck 4; a body structure 5; a finger 6; a shoulder axis joint 7; an upper arm 8; an elbow joint 9; a forearm 10; a wrist joint 11; a palm 12; a wheel 13; GPS/beidou navigation 14; a detection device 15; a 3D sensor 16; an infrared sensor 17; a touch screen 18; a state sensing module 19; an air quality monitoring device 20; a biometric recognition module 21; an interactive system module 22; a wireless communication module 23; a specimen collection module 24; a specimen detection module 25; a central data processing module 26; a data security module 27; a power supply power module 28; a first case 29; setting up the lighting 30; a camera 33; an arm-binding band 34; a connecting member 35; a blood collection tube 36 with a puncture needle; a six-axis venous blood withdrawal mechanical arm 37; a vascular imaging device 38; a disinfectant spraying device 39; a armguard 40; an arm entrance 41; an arm outlet 42; a blood pressure measuring device 43; a blood oxygen saturation measurement device 44; a pulse measuring device 45; a body temperature measuring device 46; a grip force measuring device 47; a second case 48; finger guard 49; a finger-tying band 50; a puncture needle cartridge 51; a three-axis piercing robotic arm 52; a blood collection tube 53; a left outer wall 54; a composite fitting part 55; a finger portal 56; a lead screw 57; a motor 58; a stethoscope 59; a plexor 60; a flexible film-like pressure sensor matrix 61; an ammonia sensor 62; a hydrogen sulfide sensor 63; an aromatic hydrocarbon sensor 64; an intelligent locker 65; a smart speaker 66; a micro-control module 67; an air purification device 68; a urine collection device 69; a feces collection device 70; a general-purpose type acquisition device 71; a third hose 72; a sample collection bottle 73; a collection head 74; an intelligent peristaltic pump 75; an exit aperture 76; a fourth hose 77; a puncture needle head 78; a protective cover 79; a collection hose 80; a filter membrane 81; a first independent hose 82; a second independent hose 83; a third independent hose 84; a saline bag 85; a spray head 86; a drive shaft 87; a micro-motor 88; a stirring head 89; a first hose 90; a second hose 91; a first smart peristaltic pump 92; a second intelligent peristaltic pump 93; an AR/VR device 94; a first inlet 95; a fully automatic blood cell count analysis device 96; a full-automatic biochemical analysis apparatus 97; a second inlet 98; fully automated gross viewing apparatus 99; a fully automatic microscope observation apparatus 100; a full-automatic smear HE staining microscopy device 101; a full-automatic smear immunohistochemical staining microscopy device 102; a third inlet 103; a sample strip detection chamber 104; a sample flow analysis detection chamber 105; an antigen-antibody detection device 106; a gene chip detection device 107; an RT-PCR detection device 108; a first storage box 109; a second storage box 110; an electrocardiogram host 111; an ultrasonic instrument host 112; an X-ray generating device 113; an X-ray digital flat panel detector 114; a bulb 115; a lung function detector 116; an electroencephalograph 117; a waste disposal device 118; a reservoir bag 119; a fill port 120; a fifth hose 121; a rigid hose 122; a spray outlet 123; an ultraviolet lamp 124.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Fig. 1 to 14 show a general practitioner robot system according to a preferred embodiment of the present invention, which performs physical examinations such as monitoring vital signs of a human body, whole-body physical examination, pulmonary function, electrocardiography, ultrasound, electroencephalogram, and X-ray, collects samples, completes pathological examination, performs remote diagnosis, automatically generates medical record documents, and executes medical advice, emotional accompanying and environmental disinfection, in a remote control or intelligent control manner.

As shown in fig. 1, the general practitioner robot system comprises a general practitioner robot and a support system, the general practitioner robot is composed of a chassis 1 and a robot body, the robot body comprises a display 2, a mechanical arm 3, a serpentine mechanical neck 4 and a main structure 5, the display 2 is connected with the main structure 5 through the serpentine mechanical neck 4, the mechanical arm 3 comprises a left nine-axis mechanical arm 3A and a right nine-axis mechanical arm 3B, which are respectively connected with the left upper end of the main structure 5 and the right upper end of the main structure 5, the mechanical arm 3 is composed of a shoulder axis joint 7, an upper arm 8, an elbow joint 9, a forearm 10, a wrist joint 11, a palm 12, a back of the hand, a metacarpophalangeal joint, five fingers 6 and interphalangeal joints, wherein one axis joints are respectively arranged in the middle sections of the upper arm 8 and the forearm 10, and the flexion flexibility of the mechanical arm.

The chassis 1 is an intelligent moving carrier with four wheels 13 and omni-directional drive, the height is 15-25 cm, the detection devices 15 are dispersedly arranged on the chassis 1, the display 2, the mechanical arm 3 and the main structure 5 to sense immediate change information of the surrounding environment, the GPS/Beidou positioning 14 navigation is adopted, two driving modes of unmanned driving and manned remote control can be selected, and by executing a route planning algorithm, based on user instructions, under a specific environment, obstacles are avoided autonomously, a moving line is optimized, and a preset service operation position is reached; the detection device 15 at least comprises a camera 33, an ultrasonic radar, a laser radar, a gyroscope, a 3D sensor 16 and an infrared sensor 17.

It should be noted that, in response to the user's needs, short routes, such as inside a hospital, inside a community, and near communities, go to a predetermined position by themselves by means of the chassis 1; although the route is short, the road conditions are complex, such as steps, gullies and rugged roads, and the chassis 1 is manually carried or assisted to reach the end user; the route is longer, takes vehicle, for example car, aircraft, unmanned aerial vehicle, track traffic etc. and provides the service of going to the door, also can entrust third party logistics system, reaches predetermined position.

As shown in fig. 1 and fig. 2, the display 2 is provided with a touch screen 18, a detection device 15, a state sensing module 19, an air quality monitoring device 20, a biometric identification module 21, an interactive system module 22, and a wireless communication module 23. The display 2 can move up and down and turn around in a certain range through the snake-shaped mechanical neck 4, and can also be shifted to the side surface of the main structure 5, so that the man-machine interaction is facilitated, and the display can be horizontally placed and is convenient to store; a plurality of touch screens 18 can be arranged on the palm 12 and the back of the hand of the mechanical arm 3 and the periphery of the main body structure 5, so that the man-machine interaction efficiency is improved.

In one possible design, the interactive system module 22 performs human-computer interaction with the smart device, including at least the touch screen 18; the interactive system module 22 meets the use habits of different types of users and the communication standards of the internet of things system devices by integrating a multi-channel interactive mode including voice, a touch screen, eye-to-eye, expression, iris, palm print, handwriting, gait, gesture, lip reading, human face, DNA, idea and other human biological feature recognition modules 21, mobile intelligent terminals, intelligent wearable devices, in-vivo implanted sensing chips and group information integration, and realizes man-machine interaction and device-to-device interaction. Of course, the invention can automatically sense the user requirement through intelligent training and gradual evolution, and can complete diagnosis and treatment service without interaction with the user through human biological characteristics.

The main structure 5 is connected with the chassis 1 in a detachable modular manner, and a medical care module, a specimen collection module 24, a specimen detection module 25, an electrocardio examination module, an ultrasonic examination module, an X-ray examination module, a lung function examination module, a daily care module, a central data processing module 26, a biological safety module, a data safety module 27 and a power supply power module 28 are arranged in the main structure 5.

The medical care module function is realized by means of the display 3, the main structure 5, the mechanical arm 3 and the snake-shaped mechanical neck 4 and software algorithm support.

As shown in fig. 3, the first box 29 has a chamber length, width and height of not less than 50cm, 20cm and 20cm, and is internally provided with an illumination 30, a camera 33, an arm binding belt 34 and a connecting part 35 thereof, a blood sampling tube 36 with a puncture needle, a six-axis vein blood drawing mechanical arm 37, a 3D sensor 16, an infrared sensor 17, a blood vessel imaging device 38, a disinfectant spraying device 39, an arm protection plate 40, an arm inlet 41 and an arm outlet 42; the patient extends a naked upper limb into the first box body 29 from an arm inlet 41, the naked upper limb penetrates through the arm binding belt 34 and is placed on the arm protecting plate 40, the upper limb moves forwards along the sliding groove along with the arm protecting plate 40, the connecting part 35 is fixed with the inner wall of the first box body 29, so that the upper limb is bound by pressurization, the end part of the upper limb which cannot be accommodated in the first box body 29 extends out from an arm outlet 42, the disinfectant spraying device 39 sprays skin disinfectant, after the skin disinfectant is dried, data are monitored according to the 3D sensor 16 and the blood vessel imaging device 38, the six-axis venous blood drawing mechanical arm 37 is additionally provided with the blood sampling tube 36 with the puncture needle, the upper limb vein is punctured, blood enters the blood sampling tube 36 with the puncture needle, the whole process is under the condition of illumination 30, data are collected by the camera 33 and the infrared sensor 17, and the cooperation of the patient is.

A blood pressure measuring device 43, a blood oxygen saturation measuring device 44, a pulse measuring device 45, a body temperature measuring device 46 and a grip strength measuring device 47 are also arranged in the first box body 29; by means of the interactive system module 22, referring to the operation demonstration prompt of the touch screen 18, the patient extends the naked upper limb into the first box 29 from the arm inlet 41, the naked upper limb passes through the blood pressure measuring device 43 and the pulse measuring device 45 which are fixed on the armguard plate 40 to measure the blood pressure and the pulse, the body temperature measuring device 46 does not contact with the measured body temperature, the left hand or the right hand tightly holds the grip strength measuring device 47 to detect the muscle strength of the hand of the patient, the patient pinches and lifts the inner side skin of the upper arm by himself, the camera 33 and the 3D sensor 16 acquire data of the body fat content of the patient, and the nutritional status is evaluated.

As shown in fig. 4, the second box 48 is provided with a finger blood collecting device, the length, width and height of a chamber of the finger blood collecting device are not less than 5cm, and the chamber is provided with an illumination 30, a camera 33, a 3D sensor 16, an infrared sensor 17, a finger protection plate 49, a finger binding belt 50, a connecting part 35, a puncture needle box 51, a three-axis puncture mechanical arm 52, a blood collecting pipe 53 and a disinfectant spraying device 39; by means of the interactive system module 22, referring to the demonstration prompt of the touch screen 18, the palm of the patient is upward, a finger is selected to extend into the second box 48 from a finger inlet 56 of the second box 48, penetrate through a finger-binding belt 50 fixed on a finger-protecting plate 49 through a connecting part 35, and extend the finger forward, so that the root of the finger is bound, under the condition of illumination 30, data collected by the camera 33, the 3D sensor 16 and the infrared sensor 17 are imaged and displayed on the touch screen 18 in real time, and the patient is prompted to adjust the finger position for cooperation operation, the disinfectant spraying device 39 sprays skin disinfectant, after the skin disinfectant is dried, the three-axis puncture mechanical arm 52 clamps a puncture needle from the puncture needle box 51 according to monitoring data collected by the camera 33, the 3D sensor 16 and the infrared sensor 17, punctures the end knuckle of the finger of the patient, the blood collecting tube 53 collects the blood of the knuckle, for detection.

Referring to fig. 5, the first box 29 and the second box 48 are tightly coupled, the composite assembly part 55 fixes the first box 29 and the second box 48 on the left outer wall 54 of the main structure 5, the intelligent lifting device composed of a lead screw 57 and a motor 58 is arranged inside the main structure 5, and the lead screw 57 and the motor 58 are fixed on the left outer wall 54 of the main structure 5 through a connecting rod 56. When the device works, the motor 58 is started, the motor 58 drives the lead screw 57 to rotate forwards or backwards, the lead screw 57 drives the composite assembling part 55 to move upwards or downwards, the first box body 29 and the second box body 48 are driven to move upwards or downwards, and the lifting range of the device is not less than 50cm, so that the device is suitable for the arm height of a patient in different body positions such as a sitting position, a lying position and a standing position.

In addition, the front end of the display 2 is provided with a camera 33, a 3D sensor 16 and an infrared sensor 17, the image data of the fluctuation of the chest and the abdomen when the human body is in various body positions is collected, and the respiratory frequency and the respiratory depth data are obtained according to an algorithm.

In the present embodiment, the cooperation of the patient is prompted by means of the camera 33 and the interactive system module 22 by referring to the operation demonstration of the touch screen 18, and at least one of the doctor remote control mode and the robot intelligent control mode is adopted to perform the conventional medical history collection, the whole body physical examination and the medical ward visit, wherein please refer to fig. 6, the right nine-axis mechanical arm 3B performs the heart lung abdominal auscultation and the percussion using the stethoscope 59 arranged on the palm 12 and the percussion hammer 60 arranged on the last segment of the forefinger 6, the fingertip 30, the camera 33, the 3D sensor 16 and the infrared sensor 17 are arranged at the middle finger 6 part of the right nine-axis mechanical arm 3B, the data of the camera 33, the 3D sensor 16 and the infrared sensor 17 are collected, and the tongue image and the face image of the patient are sensed through algorithm processing; referring to fig. 7, a matrix 61 composed of flexible film-shaped pressure sensors is arranged on the finger abdomen of the ring finger 6 of the index finger and the middle finger of the right nine-axis mechanical arm 3B, so that whole body palpation is implemented, action potential data is sensed, and synchronous or delayed mapping is performed on intelligent hardware of a fingertip of a remote doctor to obtain a pulse condition, and the pulse condition can be transmitted to a cloud server to obtain the pulse condition by a specific algorithm.

As shown in fig. 6, an ammonia sensor 62, a hydrogen sulfide sensor 63, and an aromatic hydrocarbon sensor 64 are provided in the little finger 6 of the right nine-axis robot arm 3B, and the little finger 6 of the right nine-axis robot arm 3B is brought close to a human body part, excrement, and secretion as required to detect the local odor concentration in real time.

At least one of the doctor remote control mode and the robot intelligent control mode is used for drawing up a diagnosis and treatment scheme and issuing orders. According to a program algorithm, the left nine-axis mechanical arm 3A, the right nine-axis mechanical arm 3B and the interactive system module 22 execute medical orders, and the content of executing the medical orders comprises nursing, diet, project inspection, oral medicine, intravenous infusion, physical rehabilitation, psychotherapy, remote consultation and discharge. And fusing the medical history, physical examination, medical advice and medical advice execution data to form a data set and generate a medical care medical record document.

The daily care module is mainly used for providing medicine distribution, food distribution and daily article distribution through the intelligent storage cabinet 65, the left nine-shaft mechanical arm 3A and the right nine-shaft mechanical arm 3B assist in sitting up and toilet sitting, body building and food taking, and the interactive system module 22 provides emotion care and external communication. Referring to fig. 1, the intelligent storage cabinet 65 is designed to be automatically drawn and pulled, is disposed at the front side inside the main body structure 5, and is divided into a heat preservation chamber and a low temperature chamber for temporarily storing medicines, foods and daily necessities, the chamber door is provided with the touch screen 18 and the intelligent sound box 66, the touch screen 18 displays the articles in the chamber in real time, the intelligent sound box 66 broadcasts prompt information, and meanwhile, a user interacts with the intelligent sound box 66 or uses a mobile intelligent terminal to make a request to call medical staff, order food and shop.

As shown in fig. 2, the air quality monitoring device 20 disposed at the rear side of the display 2 at least includes a temperature sensor, a humidity sensor, a smoke sensor, an oxygen sensor, a carbon dioxide sensor, a carbon monoxide sensor, a PM10 sensor, and a PM2.5 sensor, monitors the local space environment, and controls the opening and closing of the smart window and the operation of the room air conditioner and air purification device 68 through the micro control module 67.

The collection and detection of human body and environmental samples are closely related to disease diagnosis and prevention.

The specimen collection module of the present embodiment includes a finger blood collection device disposed in the second box 48, a venous blood collection device disposed in the first box 29, a urine collection device 69, a feces collection device 70, and at least four universal collection devices 71, which are arranged in an array and disposed on the upper portion of the main structure 5, wherein the universal collection devices 71 are used for collecting human saliva, nasal secretion, pharyngeal secretion, sputum, vomit, prostatic fluid, semen, leucorrhea, human body surface and surface samples of environmental objects; the destination of the collected sample comprises direct introduction into a detection process for analysis and detection or temporary storage in a sample bottle for inspection.

As shown in fig. 8 and 9, urine collection device 69 includes a urinal urine collection device 69A and a urine collection bag urine collection device 69B for collecting urine from the urinal and the urine collection bag, respectively. When urine is collected from the urinal, the right nine-axis mechanical arm 3B takes out the third hose 72 from the upper part of the main structure 5, a collecting head 74 arranged at the tail end is immersed into the urine of the urinal, the intelligent peristaltic pump 75 is started, and a urine sample enters a sample collecting bottle 73 connected with the near end of the third hose 72 or directly enters the urine detection device through a liquid outlet 76; when gathering the urine from the collection urine bag, take out fourth hose 77 from major structure 5 upper portion by nine arms 3A on left side and nine arms 3B on right side in coordination, with the puncture needle 78 puncture entering collection urine bag of the end-to-end connection of fourth hose 77, intelligent peristaltic pump 75 starts, and the urine sample gets into collection appearance bottle 73 that the near-end is connected or directly gets into urine detection device through going out liquid hole 76 through fourth hose 77.

As shown in fig. 10, the feces collection device 70 includes a protective cover 79, a collection tube 80, a filter 81, and a collection bottle 73, the collection tube 80 includes a first independent tube 82, a second independent tube 83, and a third independent tube 84, and the protective cover 79 is disposed at a distal end of the collection tube 80. The near end of the first independent hose 82 is connected with a physiological saline bag 85, the tail end of the first independent hose is provided with a spray head 86, and an intelligent peristaltic pump 75 is arranged between the physiological saline bag 85 and the spray head 86; the proximal end of the second independent hose 83 is connected with the sample collection bottle 73, the tail end of the second independent hose 83 is provided with the collection head 74, and the intelligent peristaltic pump 75 is arranged between the sample collection bottle 73 and the collection head 74; a transmission shaft 87 is arranged in the third independent hose 84, the proximal end of the transmission shaft 87 is connected with a micro motor 88, and the tail end of the transmission shaft 87 is connected with a stirring head 89; a filter 81 is provided in the second independent tube 83 near the sampling flask 73. When gathering the excrement and urine sample, the nine arm 3B of right side takes out collection hose 80 from major structure 5 upper portion, arrange protection cover 79 in on the excrement and urine, prevent excrement and urine spill and polluted environment, start intelligent peristaltic pump 75 of first independent hose 82, the normal saline of normal saline bag 85 splendid attire sprays the excrement and urine through shower nozzle 86, start micro motor 88, drive stirring head 89 through the built-in transmission shaft 87 of third independent hose 84, stir into the thin paste with excrement and urine, second independent hose 83 intelligence peristaltic pump 75 starts, the excrement and urine sample gets into second independent hose 83 through collection head 74, excrement and urine filtrating entering collection appearance bottle 73 that forms through filter membrane 81 or directly get into excrement and urine detection device through liquid outlet 76.

As shown in fig. 11, the universal collecting device 71 is mainly used for collecting samples such as human body surfaces, environmental object surfaces, oral cavities, throats, sputum, leucorrhea, semen and the like, and structurally comprises a first hose 90, a second hose 91, a first intelligent peristaltic pump 92 and a second intelligent peristaltic pump 93; the near end of the first hose 90 is connected with the physiological saline bag 85, the tail end of the first hose 90 is provided with the spray head 86, and a first intelligent peristaltic pump 92 is arranged between the physiological saline bag 85 and the spray head 86; the proximal end of the second hose 91 is connected with the sample collection bottle 73, the collecting head 74 is arranged at the tail end of the second hose 91, and a second intelligent peristaltic pump 93 is arranged between the sample collection bottle 73 and the collecting head 74. When a sample on the surface of an environmental object is collected, the right nine-axis mechanical arm 3B takes out the universal collecting device 71 from the upper part of the main body structure 5, the tail end of the second hose 91 is provided with a collecting head 74 which is contacted with the surface of the object, the first intelligent peristaltic pump 92 is started, the physiological saline in the physiological saline bag 85 is sprayed on the surface of the object through the spray head 86 at the tail end of the first hose 90, the second intelligent peristaltic pump 93 is started, and the physiological saline containing the surface components of the object enters the sample collecting bottle 73 through the collecting head 74 and the second hose 91 or directly enters the detection device with a preset program through the liquid outlet 76; when a throat sample is collected, the patient uses the interactive system module 22, the operation prompt of the touch screen 18 is referred, the implementation is matched, the middle finger 6 of the right nine-axis mechanical arm 3B extends into the oral cavity of the patient, the tongue body is pressed down, the throat is exposed, and according to the illumination 30 and the camera 33 at the tip part of the middle finger 6, the data of the 3D sensor 16 and the infrared sensor 17 sense the exact position of the throat, the left nine-axis mechanical arm 3A takes out the universal acquisition device 71 from the upper part of the main structure 5, the tail end of the second hose 91 is provided with an acquisition head 74 which contacts and stimulates the throat, the first intelligent peristaltic pump 92 is started, the physiological saline in the physiological saline bag 85 is sprayed to the throat part through the nozzle 86 at the tail end of the first hose 90, the second intelligent peristaltic pump 93 is started, the physiological saline containing throat secretion components enters the sample collection bottle 73 through the acquisition head 74 and the second hose 91 or directly enters the detection device preset by a program through the liquid outlet 76; when fluid or semi-fluid samples such as sputum, leucorrhea, semen and the like are collected, the collecting head 74 arranged at the tail end of the second hose 91 is immersed in the fluid or semi-fluid samples, the second intelligent peristaltic pump 93 is started, and the fluid or semi-fluid samples enter the sample collecting bottle 73 through the collecting head 74 and the second hose 91 or directly enter a detection device with a preset program through the liquid outlet hole 76. The above operations are all performed medical orders, receive the instruction of the central data processing module 26 according to the type and the property of the sample, and are implemented through intelligent control or remote control.

In the work, hydrothorax and ascites are collected by adopting at least one mode of a remote control mode and an intelligent control mode, wherein the remote control mode is implemented by a doctor under the remote visual condition, wearing an intelligent helmet or intelligent glasses and intelligent gloves of an AR/VR device 94, controlling a left nine-axis mechanical arm 3A and a right nine-axis mechanical arm 3B, guiding a patient to change the body position, clamping a blood collecting tube 53 with a puncture needle head under the ultrasonic guidance, puncturing, extracting hydrothorax and ascites, and leading the hydrothorax and the ascites into a hydrothorax and ascites detection device; the intelligent control mode guides the patient to change the body position by the aid of the interactive system module 22 through the robot, and the left nine-axis mechanical arm 3A and the right nine-axis mechanical arm 3B are cooperated to perform puncture under ultrasonic guidance to extract hydrothorax and ascites.

The specimen detection module 25 is disposed inside the main structure 5, and includes a blood detection device, an excrement detection device, a urine detection device, an antigen-antibody detection device 106, and a nucleic acid detection device, wherein the urine detection device and the blood detection device can be used for detecting components of pleural fluid and ascites samples, and the urine detection device can be used for detecting components of feces and vomit samples.

As shown in fig. 12, the collected finger blood and venous blood enter a full-automatic blood count analysis device 96 through a first inlet 95 to obtain various cell component data of the blood, and enter a full-automatic biochemical analysis device 97 through the first inlet 95 to obtain component data in plasma, which is used for analyzing early warning markers of organ functions, infection, inflammation and tumor. Of course, the pleural fluid, the ascites, and the cerebrospinal fluid enter the fully automatic blood cell counting and analyzing device 96 and the fully automatic biochemical analyzing device 97 through the first inlet 95, and the blood cells and biochemical indexes in the pleural fluid, the ascites, and the cerebrospinal fluid can be detected.

As shown in fig. 12, the collected excreta such as saliva, nasal secretion, pharyngeal secretion, sputum, vomit, prostatic fluid, semen, leucorrhea, etc. enter a fully automatic gross observation device 99 through a second entrance 98 to observe the basic properties of the excreta, and then enter a fully automatic microscope observation device 100, a fully automatic smear HE staining microscopy device 101, and a fully automatic smear immunohistochemical staining microscopy device 102, respectively, to further observe the cells, microorganisms and fine components thereof in the excreta.

As shown in fig. 12, the collected urine sample and the collected feces filtrate enter the sample strip detection chamber 104 and the sample flow analysis detection chamber 105 through the third inlet 103, and the urine and feces components are detected and analyzed by the fully automatic urine detection strip analysis device and the fully automatic flow cytometry detection device.

The collected sample enters the antigen-antibody detection device 106 through the first inlet 95, the second inlet 98 and the third inlet 103, and is used for qualitative or quantitative detection of pathogens or antibodies in the collected sample by adopting a colloidal gold chromatography immunoassay method of full-automatic antigen-antibody detection equipment.

The collected specimen enters the gene chip detection device 107 and the RT-PCR detection device 108 through the inlet 95, the inlet 98 and the inlet 103 respectively, and is used for macro gene detection and specific gene detection respectively. Wherein, the gene chip detection device 107 comprises a gene chip storage box, a full-automatic sample preparation device, a detection kit, a full-automatic gene chip hybridization reaction device and a signal detection device; the RT-PCR detection device 108 comprises mRNA full-automatic extraction equipment, a full-automatic RT-PCR instrument, a fluorescence detector and a nucleic acid detection kit. The nucleic acid detection device is provided with a plurality of sample channels, can detect a plurality of samples in parallel, and detects a plurality of types of bacteria, viruses and tumor related genes of the same sample or the same type of bacteria, viruses and tumor related genes of a plurality of samples according to a program.

When the electrocardiographic examination is required, the right nine-axis robot arm 3B takes out the electrode plate and the lead wire from the first storage box 109 on the front wall of the main structure 5, affixes and removes the electrode plate to and from the body surface of the person according to a program algorithm, selects the standard limb lead, the pressurized single-pole limb lead, or the chest lead, and acquires electrocardiographic data by the electrocardiographic host 111 provided inside the main structure 5.

When ultrasonic inspection is required, according to a program algorithm, the right nine-axis mechanical arm 3B takes out at least one ultrasonic probe of the convex array probe, the linear array probe or the phased array probe from the second storage box 110 on the front wall of the main structure 5, holds the ultrasonic probe to detect the movement of the human body surface, and acquires ultrasonic data by the internal ultrasonic instrument host 112 arranged on the main structure 5.

When the X-ray examination is required, referring to fig. 13, according to the program algorithm, the palm 12 and fingers 6 of the right nine-axis robot 3B clamp the X-ray digital flat panel detector 114, and cooperate with the bulb 115 of the palm 12 of the left robot 3A, the X-ray generator 113 disposed in the main body structure 5 emits X-rays, penetrates the human body, and performs the X-ray detection of the human body, and the data collected by the X-ray digital flat panel detector 114 is sent to the central data processing module 26.

When the lung function examination is needed, at least one of doctor remote control and robot intelligent control modes is adopted by means of the camera 33 and the interactive system module 22, the mouthpiece of the lung function detector 116 is taken out by the right nine-axis mechanical arm 3B to assist the patient to suck the mouthpiece of the lung function detector 116 for blowing, and the data collected by the lung function detector 116 is sent to the central data processing module 26 to generate a lung function quantification index and evaluate the respiratory function.

When the electroencephalogram needs to be checked, at least one of the doctor remote control mode and the robot intelligent control mode is adopted by means of the camera 33 and the interactive system module 22, the right-side nine-axis mechanical arm 3B takes out a head sleeve containing electrodes and leads of the electroencephalograph 117, a patient wears the head sleeve in a matched mode, the electrode positions are exact and fully contact with the scalp, the electroencephalograph 117 is started, electroencephalogram data are collected and sent to the central data processing module 26, and electroencephalogram quantitative indexes are generated.

The central data processing module 26 of this embodiment includes data storage device and data processing device, and the clinical data of collection fuses multi-sensor data, detector data, lung function detection data, electroencephalogram data, ultrasonic data, sample chemical examination data, issues to the cloud ware, through calculation processing, acquires the valid data, forms the data set, combines intelligent medical system, artifical medical system, accomplishes the operation of diagnosing.

In medical activities, biological safety is of paramount importance. The bio-safety measures of the present invention include an internally disposed disinfectant spraying means 39, an externally disposed disinfection means, an air purification means 68, a waste disposal means 118. Specifically, as shown in fig. 14, the internal disinfectant spraying device 39 comprises a storage bag 119, a filling port 120, a fifth hose 121, an intelligent peristaltic pump 75, a hard hose 122, and a spraying port 123, wherein the disinfectant is filled into the storage bag 119 through the filling port 120, during disinfection, the intelligent peristaltic pump 75 is started, the disinfectant flows through the fifth hose 121, flows out of the hard hose 122, and forms high-pressure spray-shaped micro droplets through the spraying port 123 for disinfection of the internal space; the external disinfection device adopts two modes of a disinfectant spraying device 39 and an ultraviolet lamp 124 for irradiation, a storage bag 119 of the disinfectant spraying device 39, a filling port 120, a fifth hose 121 and an intelligent peristaltic pump 75 are arranged in the main structure 5, the hard hose 122 is made of the material of the fifth hose 121, a spraying port 123 is arranged at the tail end of a middle finger 6 of a left nine-axis mechanical arm 3A and is used for disinfecting the disinfectant on the outer surface of medical equipment, a hose for collecting specimens, a hospital, a household and an isolation space, and the ultraviolet lamp 124 is arranged on a forearm 10 of the left nine-axis mechanical arm 3A and is used for ultraviolet sterilization and disinfection in a closed space. Waste disposal unit 118 includes waste storage, waste disinfection, waste disposal, collection and decontamination of waste from collected samples, fluids for washing equipment, reagents for testing, and consumables.

In order to expand future requirements of a general practitioner robot system, at least one expansion groove is reserved in each of the specimen collection module 24 and the specimen detection module 25, and each expansion groove comprises a connection interface and a space for a circuit, a water path, a gas path, a sample transmission channel and a data chain, and is used for adding a specimen collection and detection functional module. Of course, one or more detection channels may be additionally disposed in the device of the specimen detection module 25, so that not only single-person single-sample detection but also single-person multiple-sample detection or multi-person multiple-sample detection can be realized.

In addition, according to the user's requirement, the functional modules of the present invention can be combined as needed, and the working states of some functional modules can be closed or opened, for example:

according to the requirements, a user can randomly select or combine one or more modules of the sample collection module 24, the sample detection module 25, the medical care module, the electrocardio examination module, the ultrasonic examination module, the X-ray examination module, the lung function examination module and the daily care module to be matched, so that the individual requirements of the user are met.

Even, according to the user's needs, selectively subtract one or more collection devices in the sample collection module 24 and selectively subtract one or more detection devices in the sample detection module 25, so as to meet the user's personalized needs.

The data security is realized by establishing a user data center through a block chain technology, storing and operating user data in a distributed mode, wherein the connection of the user data, the connected Internet of things data and the public cloud or the private cloud is completely based on a block chain intelligent contract authorized by a user, the user data written into the block chain in real time is issued to the block chain of the public cloud or the private cloud after being authorized by the user, the user data security isolation is realized, and a third party user obtains authorized readable data.

The embodiment is distributed outside and inside the chassis 1, the display 2, the mechanical arm 3 and the main structure 5 through collecting data of the cameras 33, the 3D sensor 16, the infrared sensor 17, the detector 15, the GPS/Beidou navigation system 14 and the gyroscope, and the self state and the surrounding environment of the robot are sensed through data fusion calculation.

The invention also provides a support system which at least comprises a mobile intelligent terminal, a cloud server, 5G, a logistics system, an intelligent medical system, a man-machine integration protocol, intelligent wearable equipment, a VR/AR device 94, a map navigation system, an intelligent entrance guard, a surgical robot, a nursing robot, a sleeping robot and software; the human-computer fusion protocol comprises communication protocols between a human and a general practitioner robot, between the general practitioner robot and other robots and between intelligent hardware; the software includes an underlying operating system, application programs, and algorithms.

Based on the control mode, the general practitioner robot can at least select a human-computer remote fusion mode, a human-computer fusion mode or an intelligent operation mode. Under the condition of a human-computer remote fusion mode, when the robot works autonomously, an operator dynamically senses the state of the robot in real time at a control end, and once a fault or an error occurs, the operator can control or cut off the autonomous working, help is given in real time, and the working is optimized; under the condition of a man-machine fusion mode, the robot performs operation in cooperation with on-site doctors, nurses, patients and patient accompanying personnel; under the condition of an intelligent operation mode, the robot arrives at the site and completely and autonomously performs operation.

Based on the scheme, the embodiment of the invention has the beneficial effects that: the general practitioner robot integrates an intelligent moving chassis and a diagnosis and treatment function module, by means of human-computer interaction and human-computer fusion technology, under independent or remote control, the medical physical examination is carried out, the physical examination is carried out, such as electrocardio, ultrasound, X-ray and the like, environment and human body samples are collected, the pathological examination and detection are carried out, by means of an intelligent medical system, diagnosis is carried out, medical advice is given, conventional treatment is executed, medical record documents are automatically generated, the general practitioner robot cooperates with other robots, the patient daily care, surgical operation, emotional accompanying and nursing and environmental disinfection are implemented, so that the general practitioner and a low-age special practitioner are partially replaced, in a ward, a home and a dangerous environment, basic diagnosis and treatment operation is completed, the energy efficiency is improved, and the risk of medical care personnel is reduced.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. General practitioner robot system comprises general practitioner robot and support system, and general practitioner robot comprises chassis and robot body, and the robot body includes display, arm, snakelike mechanical neck and major structure, is linked by snakelike mechanical neck between display and the major structure, its characterized in that:

the chassis is a four-wheel omnidirectional drive intelligent moving carrier, the height is 15cm-25cm, the detection devices are dispersedly arranged around the chassis and the robot body, GPS/Beidou positioning navigation is adopted, and the control mode comprises unmanned driving and manned remote control;

the display is provided with a touch screen, a detection device, a state sensing module, a biological characteristic identification module, an interaction system module, a wireless communication module and an air quality monitoring device;

the mechanical arms comprise a left side nine-shaft mechanical arm and a right side nine-shaft mechanical arm which are respectively connected with the upper end of the left side of the main body structure and the upper end of the right side of the main body structure; the nine-axis mechanical arm consists of a shoulder axis joint, an upper arm, an elbow joint, a forearm, a wrist joint, a palm, a metacarpophalangeal joint, five fingers and interphalangeal joints;

the main body structure is connected with the chassis and is provided with a medical care module, a specimen collecting module, a specimen detecting module, an electrocardiogram checking module, an ultrasonic checking module, an X-ray checking module, an electroencephalogram checking module, a lung function checking module, a daily care module, a central data processing module, a biological safety module, a data safety module and a power supply power module;

the medical care module comprises blood pressure measuring equipment, oxyhemoglobin saturation measuring equipment, pulse measuring equipment, body temperature measuring equipment and grip strength measuring equipment which are arranged in the first box body;

the first box body is arranged on the outer wall of the left side of the main structure and is connected with an intelligent lead screw lifting device in the main structure, the lifting range of the first box body is not less than 50cm, and the length, width and height of a chamber of the first box body are not less than 50cm, 20cm and 20cm respectively;

by means of a camera and an interactive system module, at least one of a doctor remote control mode and a robot intelligent control mode is adopted to implement conventional medical history acquisition, whole-body physical examination and medical ward examination, wherein a stethoscope and a percussion hammer which are arranged on a palm of a right-side nine-axis mechanical arm are used for implementing auscultation and percussion, a flexible film-shaped pressure sensor matrix is arranged on the finger abdomen of a ring finger of a forefinger and a middle finger of the right-side nine-axis mechanical arm to sense pulse conditions, and an illumination, a camera, a 3D sensor and an infrared sensor are arranged at the middle finger tip of the right-side nine-axis mechanical arm to sense tongue conditions; the nine mechanical arms on the right side assist the patient to suck the mouthpiece of the lung function detector to perform lung function examination;

according to a program algorithm, a nine-axis mechanical arm and an interactive system module execute medical orders, wherein the content of executing the medical orders comprises nursing, diet, examination items, medication, physical rehabilitation, psychotherapy, remote consultation and discharge;

the daily care module comprises medicine distribution and food distribution provided by an intelligent storage cabinet, the left nine-shaft mechanical arm and the right nine-shaft mechanical arm assist in sitting up for the toilet, body building and food taking, the interactive system module provides emotion accompanying and caring and external communication, an air quality monitoring device is arranged on the rear side of the display and monitors a local space environment, and an intelligent window is controlled to be opened and closed through a micro-control unit to control an air conditioner and an air purification device to operate;

the sample collection module comprises a finger blood collection device, a venous blood collection device, a pleural fluid and peritoneal fluid collection device, a urine collection device, a feces collection device and at least four universal collection devices, and is arranged on the upper part of the main structure, wherein the universal collection devices are used for collecting human saliva, nasal secretion, pharyngeal secretion, sputum, vomit, prostatic fluid, semen, leucorrhea, human body surface and environmental object surface samples;

the venous blood collection device is arranged in the first box body, and is internally provided with an illumination device, a camera, an arm restraint belt, a blood collection tube with a puncture needle, a six-axis venous blood drawing mechanical arm, a 3D sensor, an infrared sensor, blood vessel imaging equipment, a blood collection tube transfer device and a disinfectant spraying device;

the finger blood collecting device is arranged in a second box body, the second box body is tightly connected with the first box body, the length, the width and the height of a cavity of the second box body are not less than 5cm, and a lighting device, a camera, a 3D sensor, an infrared sensor, a finger binding belt, a puncture needle box, a three-axis puncture mechanical arm, a blood collecting pipe transferring device and a disinfectant spraying device are arranged in the cavity;

the universal type collecting device comprises a first hose, a second hose, a first intelligent peristaltic pump and a second intelligent peristaltic pump; the near end of the first hose is connected with the physiological saline bag, the tail end of the first hose is provided with a spray head, and a first intelligent peristaltic pump is arranged between the physiological saline bag and the spray head; the near end of the second hose is connected with a sample collection bottle, the tail end of the second hose is provided with a collection head, and a second intelligent peristaltic pump is arranged between the sample collection bottle and the collection head; the first intelligent peristaltic pump and the second intelligent peristaltic pump receive instructions of the central data processing module, and sample collection is implemented by intelligently controlling a right nine-axis mechanical arm according to sample types and properties;

the urine collecting device comprises a urinal urine collecting device and a urine collecting bag urine collecting device; the urinal urine collecting device comprises a third hose, a sample collecting bottle, a collecting head and an intelligent peristaltic pump; the urine collection device of the urine collection bag comprises a fourth hose, a sample collection bottle, a puncture needle head and an intelligent peristaltic pump, and puncture collection of a urine sample is implemented by cooperation of a left nine-shaft mechanical arm and a right nine-shaft mechanical arm;

the pleural effusion and ascites collecting device adopts at least one mode of a remote control mode and an intelligent control mode, wherein the remote control mode controls nine mechanical arms under the remote visual effect of doctors to guide a patient to change the body position, and the pleural effusion and the ascites are extracted and guided into the pleural effusion and ascites detecting device under the ultrasonic guidance; in the intelligent control mode, the robot guides the patient to change the body position by means of human-computer interaction, the nine-axis mechanical arm performs puncture under ultrasonic guidance, and hydrothorax and ascites are extracted;

the sample detection module is arranged in the main body structure and comprises a blood detection device, an excrement detection device, a urine detection device, an excrement detection device, a pleural effusion and ascites detection device, an antigen-antibody detection device and a nucleic acid detection device;

the nucleic acid detection device comprises a gene chip detection device and an RT-PCR detection device which are respectively used for detecting macro genes and specific genes; the gene chip detection device comprises a gene chip storage box, full-automatic sample preparation equipment, a detection kit, full-automatic gene chip hybridization reaction equipment and signal detection equipment; the RT-PCR detection device comprises mRNA full-automatic extraction equipment, a full-automatic RT-PCR instrument, a fluorescence detector and a nucleic acid detection kit;

the electrocardiogram detection module comprises an electrode plate, a lead wire and an electrocardiogram host; the electrode plate and the lead wire are arranged on the front wall of the main body structure, the electrocardiogram host machine is arranged in the main body structure, and the electrode plate is pasted and removed on the surface of the human body by the nine mechanical arms on the right side according to a program algorithm; the lead wire at least comprises a standard limb lead, a pressurized unipolar limb lead and a chest lead;

the ultrasonic inspection module comprises an ultrasonic probe and an ultrasonic instrument host; the ultrasonic probe at least comprises a convex array probe, a linear array probe and a phased array probe, and is arranged on the front wall of the main body structure, the main machine of the ultrasonic instrument is arranged in the main body structure, and the ultrasonic probe is selected by the right nine-axis mechanical arm according to a program algorithm and is held for detection;

the central data processing module comprises a data storage device and a data processing device, the acquired clinical data, the fused multi-sensor information and the distributed data are issued to the cloud server, effective data are obtained through calculation processing to form a data set, and diagnosis and treatment operations are completed by combining an intelligent medical system and an artificial medical system;

the biological safety module comprises an internal disinfection device, an external disinfection device, an air purification device and a waste treatment device; the internal disinfection device adopts disinfection spraying equipment made of a disinfectant bag with an intelligent peristaltic pump; the external disinfection at least comprises two modes of disinfectant spraying and ultraviolet lamp irradiation, wherein the disinfectant spraying and ultraviolet lamp are arranged on a left nine-axis mechanical arm;

the support system comprises a mobile intelligent terminal, a cloud server, a 5G, a logistics system, an intelligent medical system, a man-machine fusion protocol, VR/AR equipment, a map navigation system, an intelligent access control, a surgical robot, a nursing robot, a sleeping robot and software; the human-computer fusion protocol comprises communication protocols between a human and a general practitioner robot, between the general practitioner robot and other robots and between the general practitioner robot and intelligent hardware; the software includes an underlying operating system, application programs, and algorithms.

2. The general practitioner robotic system according to claim 1, wherein: the detection device at least comprises a camera, an ultrasonic radar, a laser radar, a gyroscope, a 3D sensor and an infrared sensor.

3. The general practitioner robotic system according to claim 1, wherein: the display can move up and down in a certain range from front to back, left to right, and forwards move to the front side of the main body structure or be horizontally placed and stored.

4. The general practitioner robotic system according to claim 1, wherein: the biological feature recognition module adopts a block chain technology to carry out real-name authentication, and the biological feature recognition of the user at least comprises one of voice, iris, palm print, handwriting, gait, gesture and human face.

5. The general practitioner robotic system according to claim 1, wherein: the interactive system module comprises a man-machine interactive system and an inter-equipment interactive system and integrates a multi-channel interactive mode.

6. The general practitioner robotic system according to claim 1, wherein: the pleural effusion and ascites sample detection adopts a urine detection device and a blood detection device.

7. The general practitioner robotic system according to claim 1, wherein: the nucleic acid detecting apparatus can detect a plurality of samples in parallel.

8. The general practitioner robotic system according to claim 1, wherein: the diagnosis and treatment of the pulse condition are implemented by a flexible pressure sensor array arranged on the finger tail and finger abdomen of a right nine-axis mechanical arm finger, action potential data is sensed, and the pulse condition is synchronously or in a delayed mapping mode to intelligent hardware of a remote doctor fingertip or transmitted to a cloud server to obtain the pulse condition.

9. The general practitioner robotic system according to claim 1, wherein: the sample detection device is at least provided with one detection channel to realize single-person single-sample detection and single-person multi-sample detection;

the nucleic acid detection device is provided with a plurality of sample channels, and detects related genes of a plurality of types of bacteria, viruses and tumors or related genes of the same type of bacteria, viruses and tumors of a plurality of samples according to a program.

10. The general practitioner robotic system according to claim 1, wherein: the control comprises a man-machine remote fusion mode, a man-machine fusion mode and an intelligent operation mode; under the condition of a human-computer remote fusion mode, when the robot works autonomously, an operator dynamically senses the state of the robot in real time at a control end, and once a fault or an error occurs, the operator can control or cut off the autonomous working, help is given in real time, and the working is optimized; under the condition of a man-machine fusion mode, the robot performs operation in cooperation with on-site doctors, nurses, patients and patient accompanying personnel; under the condition of an intelligent operation mode, the robot arrives at the site and completely and autonomously performs operation.

11. The general practitioner robotic system according to claim 1, wherein: at least one expansion groove is reserved in the main body structure, and the expansion groove comprises a connection interface and a space of a circuit, a water path, a gas path, a specimen transmission channel and a data chain, and is used for adding a functional module.

12. The general practitioner robotic system according to claim 1, wherein: the intelligent cabinet is arranged on the front side inside the main body structure and is divided into a heat preservation cabin and a low-temperature cabin, the cabin door is provided with a touch screen and an intelligent sound box, articles in the cabin are displayed in real time through the touch screen, and prompt information is broadcasted by the intelligent sound box.

13. The general practitioner robotic system of claim 1, wherein: the general practitioner robot and the support system selectively combine and assemble the specimen collection module, the specimen detection module, the medical care module, the electrocardio examination module, the ultrasonic examination module, the X-ray examination module, the lung function examination module and the daily care module according to the requirements of users, thereby meeting the individual requirements of the users.