CN111687852B

CN111687852B - Medical emergency robot, working method and system

Info

Publication number: CN111687852B
Application number: CN202010533573.6A
Authority: CN
Inventors: 王忠堂
Original assignee: Accuragen Inc
Current assignee: Accuragen Inc
Priority date: 2020-06-07
Filing date: 2020-06-07
Publication date: 2021-07-09
Anticipated expiration: 2040-06-07
Also published as: CN113370230A; CN111687852A

Abstract

A medical emergency robot device that senses its own state and environmental changes in real time, stands by or roams in medical institutions and public areas, responds to emergency medical assistance needs in a timely manner, autonomously arrives at a predetermined location, and finds patients in need of help. Inclusive and collaborative methods, it provides medical and emergency operations such as physical examination, physical and laboratory examination, intelligent diagnosis, life support, and surgical treatment.

Description

Medical emergency robot, working method and system

Technical Field

The invention relates to a medical emergency technology, in particular to a medical emergency robot, a working method and a system.

Background

The hospital emergency treatment vehicle, the ambulance and the family first-aid kit are important equipment for medical first-aid in hospital, outside hospital and in family respectively. When the allocated medical care treatment force is insufficient, the conventional hospital rescue vehicle, ambulance and family first-aid kit can hardly meet the requirements of timely diagnosis and effective treatment on the first-aid site, and unnecessary life loss is caused.

The intelligent rescue vehicle disclosed in CN105147485B adopts a liftable storage cabinet, and a pushing cylinder is arranged at the rear part of a medicine storage bin, so that the medicine can be discharged quickly; the intelligent ambulance systems published by CN205453955U, CN204562603U and CN106510982A collect on-site audio and video data, vital signs and electrocardio monitoring data, upload the data to a server and obtain remote technical support; CN108743053A and CN110581837A publish domestic intelligent first-aid kit, realize that the medicine pops out automatically, especially CN110037860A publishes domestic intelligent removal first-aid kit, with mobile robot carry on have speech control's intelligent first-aid kit with user's intelligence wearing hardware combination.

The intelligent rescue vehicle, the ambulance and the family first-aid kit are still difficult to meet the requirements of on-site first-aid, and are shown in the following steps: (1) the diagnosis measures are few, and the diagnosis is easy to miss and misdiagnose depending on clinical experience of rescuers and an electrocardiogram monitor; (2) the rescue workers have few hands and are not enough to deal with the chaotic scene, so that errors are easily caused; (3) the treatment measures are few, and the patient cannot obtain effective life support; (4) the intelligent degree is low, and the treatment efficiency is limited.

In view of the above, there is a need for a medical emergency robot that can perform standby or patrol in medical institutions and public areas, sense self-state and environmental changes in real time, respond to emergency medical assistance in time, and provide vital sign monitoring, physical examination, physical and chemical examination, life support, and surgical treatment by using an intelligent autonomous or man-machine cooperative method, so as to implement diagnosis and treatment with high efficiency.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide a medical first-aid robot which can wait or go round in medical institutions and public areas, sense the self state and environmental change in real time, respond to emergency medical assistance requirements in time and efficiently implement diagnosis and treatment first-aid operation.

(II) technical scheme

A medical emergency robot comprises a mobile chassis, mechanical arms and a robot body, wherein the mobile chassis is matched with a wheel type intelligent mobile walking structure, a four-foot intelligent mobile walking structure or a crawler type intelligent mobile walking structure according to application scenes, moves according to path planning or self-navigation and obstacle avoidance and moves to reach a preset position, the application scenes comprise a common hospital department rescue room, an emergency department rescue room, public places with gathered people, an ambulance, a family and communities, wherein the common department rescue room, the emergency department rescue room, the family and the community of the hospital adopt the wheel type intelligent mobile walking structure, the public places adopt the wheel type intelligent mobile walking structure or the crawler type intelligent mobile walking structure, the ambulance adopts the four-foot intelligent mobile walking structure or the crawler type intelligent mobile walking structure, the mechanical arms are bilaterally and symmetrically arranged on the human-like joint arms at two sides of the robot body, the tail end of the arm is provided with a holding structure, a sucker structure and an auxiliary diagnosis structure, wherein the auxiliary diagnosis structure comprises a visible light and a far infrared camera, an LED lamp, a 3D sensor, an intelligent stethoscope, a pressure sensor array, a temperature measuring sensor, a pulse sensor, a respiration monitoring sensor, a blood pressure sensor and a blood oxygen saturation sensor, the holding structure and the sucker structure are used for treatment operation including transferring medicine equipment, operating equipment, carrying stretcher and disinfection, the sucker structure at least comprises a flexible adsorption tail end with a cambered surface and used for adsorbing round articles such as an An-who-cut bottle and the like and a planar flexible adsorption tail end and used for adsorbing other articles, the robot body comprises a state perception module, an environment perception module, a man-machine interaction module, a wireless communication module, a central data storage processing module, a physical examination module, an assay examination module, a life support module, a computer, Surgery first aid module, disinfection module, waste liquid waste disposal module, intelligent storage module, warning equipment, universal stand, display screen and power battery charging equipment.

Preferably, the state sensing module comprises a speed sensor, an acceleration sensor, an angular velocity sensor, a power supply electric quantity monitoring sensor, a two-dimensional code recognition device, an online detection device and a self weight monitoring sensor, and is used for monitoring the self state of the device in real time, wherein the two-dimensional code recognition device collects data and is used for counting the types, the quantity and the expiration date of medicines and consumables, and the online detection device is used for collecting the data of connected medical devices and monitoring the performance conditions of the medical devices in real time.

Preferably, the environment sensing module comprises a positioning chip, a computer vision sensor and an environment detection sensor, the positioning chip is used for accurately positioning the position and sending the position to the cloud server in a working state, the computer vision sensor comprises an image sensor array and is used for acquiring and identifying an optical image, real-time identifying road conditions, nearby people, obstacles, elevators and doors and evaluating the traffic degree, and the environment detection sensor is used for monitoring and displaying the concentration of environment 5G signals, temperature, humidity, noise, toxic gas, radioactive rays and air particles in real time, so that the basic technical problems of where the position is, how the surrounding environment is, how the device is safe, whether the device needs to wade into the water to pass through the doors and the like are solved.

Preferably, the human-computer interaction module comprises a universal display touch screen, an intelligent sound box, a biological recognition device and a machine-computer interaction device, is used for communicating with patients, medical staff, maintenance personnel and other intelligent devices to obtain authorization, reading existing health data stored in private clouds and public clouds of the patients, inquiring medical history, soothing mood of the patients, guiding the patients to cooperate, quickly checking the bodies according to medical emergency logic and assisting diagnosis and treatment.

Preferably, the physical examination module comprises an electrocardiogram device, an electroencephalogram device, an X-ray examination device and an ultrasonic examination device, and shares a common display touch screen as a display and an intelligent cloud diagnosis workstation, wherein electrode plates and electrocardiogram leads of the electrocardiogram device, electrodes and leads of the electroencephalogram device, an X-ray digital flat panel detector and an ultrasonic probe of the ultrasonic examination device are all designed in a wireless mode, operation portability is improved, signal data acquired by the physical examination module are transmitted to the intelligent electrocardiogram, electroencephalogram, X-ray and ultrasonic image cloud diagnosis workstation in a wireless mode, and processed image data are transmitted to the common display touch screen for reference of emergency on-site diagnosis.

Preferably, the assay module comprises a full-automatic blood cell analyzer, a full-automatic biochemical analyzer, a full-automatic urine analyzer, and a full-automatic blood gas analyzer, wherein the detection items of the full-automatic biochemical analyzer at least include blood sugar, electrolyte, troponin, alcohol, drugs, and common organic and inorganic poisons.

Preferably, the life support system at least comprises an oxygen generator, a negative pressure aspirator, a tracheal intubation device, a noninvasive ventilator, a defibrillator, a pacemaker, an automatic cardio-pulmonary resuscitation machine, emergency medicines, an infusion device and an infusion pump.

Preferably, the surgical emergency treatment module at least comprises an external fixing splint, a plaster bandage, a tourniquet, a sterile bandaging material, an ice bag, a disinfectant and a folding stretcher.

Preferably, the disinfection module comprises an ozone generator and an ozone conveying pipeline, and ozone is conveyed to parts or parts needing conventional disinfection, such as spaces for storing drug consumables and instruments and medical waste liquid temporary storage areas, through the ozone conveying pipeline.

Preferably, the intelligent storage bin is divided into a small article storage part and a large article storage part, the small article storage part comprises a storage grid box body, an induction conveyor belt, an induction cabin door and a temporary storage concave disc, the storage grid box body is arranged on two sides of the induction conveyor belt and is at least divided into two layers and four zones, each zone comprises a plurality of relatively independent storage grids, each storage grid is provided with a rotating wheel structure, each rotating wheel structure comprises a rotating shaft, a first micro motor, a controller and a rotating wheel shifting sheet, the spacing width of the shifting sheets is adjusted according to the size of the stored articles, the small articles of the same type are placed between the shifting sheets, such as an An-cut bottle, a medicine bottle, a tablet and a soft package infusion bag, the controller sends the articles to the common temporary storage concave disc through the common induction conveyor belt according to each storage grid corresponding to a user-defined digital table according to interact with a patient, sell medicines or medical care instructions, when a person or a mechanical arm takes a thing, the induction cabin door is opened; the large article storage part comprises a plurality of relatively independent chambers, each chamber comprises an induction cabin door, a conveying plate, a controller, a micro motor and a lead screw connecting structure, wherein the opening of the induction cabin door is formed in the surface of the shell of the robot body, a second micro motor controlled by the controller reciprocates through the conveying plate connected with the lead screw, equipment placed in the chambers is conveyed out of the device, the used equipment is conveyed back to the chambers, and the conveying plates further provide temporary supporting platforms for the equipment.

Preferably, the central data storage and processing module packages and compresses the acquired data, the data are sent to the cloud server through the wireless communication module, the data returned by the cloud server are received and decompressed, the data are displayed on the universal display touch screen and the corresponding auxiliary display touch screen, and the acquired data comprise all data of the mobile chassis, the mechanical arm and the robot body.

Preferably, the warning device at least comprises a light signal, a sound signal and a wireless signal, and is used for avoiding interference during rescue, guiding the assistance-increasing force, informing the position at other time, and avoiding collision of people and other machines.

Preferably, the number of the universal supports is at least one, and the universal supports are used for erecting infusion and oxygen therapy equipment, arranging camera shooting and lighting equipment, antenna equipment, a navigation sensor and a warning lamp, and are foldable and convenient to store.

Preferably, the display screen comprises a general display touch screen and a plurality of auxiliary display touch screens, wherein the general display touch screen is arranged at the top and used for man-machine interaction, physical examination image data display, chemical examination data and remote interaction image data display, the display interface comprises a main menu and a sub-menu, self state and environment data are preferentially displayed during standby, patient monitoring data, examination real-time results and remote interaction images are preferentially displayed during medical rescue, the auxiliary display touch screen arranged on the induction cabin door of the large article storage part is used for touch operation, the working parameters of equipment such as an internal oxygen generator, an ozone machine, a breathing machine, an automatic heart-lung resuscitator and an infusion pump are adjusted, and the other auxiliary display touch screen interfaces display the dynamic data of consumable materials of the pharmaceutical equipment and the environment perception data in real time.

As a preferred aspect of the above technical solution, the robot body is configured to be increased, decreased, and recombined according to task requirements, for example, when the ambulance is used, the required volume is not too large and not too heavy, the intelligent storage bin is appropriately reduced, and the number of the mechanical arms is reduced; when the household first-aid kit is used, the intelligent storage bin, the physical inspection equipment, the chemical examination equipment and the surgical first-aid equipment can be properly simplified, the size is reduced, and the cost is reduced.

A medical emergency robot working method comprises the following steps.

S1: according to the task configuration function module, equipment and function configuration are increased and decreased appropriately according to the requirements of a common department and an emergency department in a hospital, crowd gathering places such as stations, navigation station buildings, squares and sports grounds, ambulance follow assistance, families and communities and the like.

S2: the device self-checks, finds out the abnormality, debugs and maintains the equipment in time, and intelligently stores the increase and decrease of drugs and consumables; when the goods are replenished, the intelligent warehouse carries out replenishment, goods taking and goods checking, the small goods warehousing part and each runner structure thereof as well as each cavity of the large goods warehousing part are all arranged in a modularized way and can be integrally disassembled and taken out, the circuit, the communication circuit and the gas circuit of the intelligent warehouse adopt plug-pull connection, a user-defined digital table is arranged on the universal display touch screen during replenishment, the digital table corresponds to each runner structure and cavity, the acquired medicine, consumable type quantity failure period and instrument device type quantity data are transmitted to the central data storage processing center through scanning and identification of two-dimensional code identification equipment, corresponding actual goods are placed between plectrums corresponding to each runner structure and in the cavities, and when the goods are taken, man-machine interaction information or instructions are transmitted to the intelligent control micro motor, the intelligent control micro motor and the intelligent control micro motor of the runner structure corresponding to the small goods warehousing part through the central data storage processing center, The intelligent control's of cavity conveying board connection of major possession article storage portion micro motor, micro motor starts, and the medicine that corresponds, consumptive material, apparatus are taken to face to store up the concave dish through the response conveying respectively, through conveying board to interim supporting platform, are taken by patient or medical personnel again, or the arm takes, wherein, when getting goods, the human-computer interaction preferred mode is voice interaction, and then the touch-sensitive screen selects, supports the package formula demand that contains multiple medicine, consumptive material, apparatus, a plurality of runner structures and the cavity of intelligence warehouse are at the while and send out goods, when checking goods, according to the replenishment data, get goods data, self-checking data, statistics are gathered.

S3: and (4) standby or regional cruising at a preset position, and monitoring environmental information.

S4: acquiring information, responding to a demand, and timely arriving at a patient position according to a floor number of hospital calling information or other emergency calling information to identify a patient requiring medical first aid; the method for identifying the patient needing medical first-aid comprises the steps of calling patient information provided by linkage through an emergency platform, intelligently wearing hardware of the patient, a smart phone of the patient, human faces and other biological identification, other people guidance, on-site intelligent judgment and expert remote control guidance, and also comprises data-driven rescue based on evidence, reading the previous patient data on a cloud server, combining the latest symptoms, signs, physical examination and chemical examination, applying an intelligent diagnosis algorithm on the cloud server, analyzing the state of an illness and providing medical first-aid decisions.

S5: carrying out rescue, wherein the working mode comprises that a medicine selling service is provided for people who need medicines urgently, rescue operation is carried out autonomously, man-machine cooperative rescue operation is carried out under remote medical control, the rescue operation of medical personnel is assisted, and if necessary, medical resources are called to support and transmit data; in the implementation of the rescue process, remote medical treatment is implemented by family doctors, specialist doctors and artificial intelligent diagnosis and treatment systems, diagnosis and treatment data are automatically recorded, and the recording contents comprise audio and video, body temperature, respiration, pulse, blood pressure, blood oxygen saturation, consciousness state, facial symmetry, tongue extending movement, limb movement, body surface injury monitoring, facial image, tongue image and pulse image examination, physical examination, assay analysis examination data, man-machine interaction data, decision basis, a rescue process and follow-up processing in the whole rescue process; and (5) settling the fee.

S6: and performing self-inspection on the equipment again, treating medical waste, timely supplementing when the inventory in the intelligent storage bin is found to be less than a preset base number, charging, cleaning and disinfecting.

S7: and continuing the service.

A medical first-aid robot system comprises software and an algorithm, a cloud server, a 5G network, a remote medical system, a diagnosis and treatment data recording system, a medical data encryption system, a medicine consumable material equipment updating and supplementing system, a call transfer handover system, a logistics transportation system, an intelligent access control system and a charge settlement system.

The software comprises a chassis operating system, a mechanical arm operating system and an application program, the algorithms comprise an intelligent diagnosis and treatment algorithm, a route planning algorithm, a data integration algorithm, an electronic medical record automatic generation algorithm and an interface priority display algorithm, wherein the interface is used for preferentially displaying important information, voice interaction information, intelligent diagnosis information and telemedicine information, and a main menu, a secondary menu and submenus thereof are displayed on the interface and can be awakened and preferentially displayed by a user at any time.

Preferably, the cloud server is used for storing the past data and the instant diagnosis and treatment data of the patient, the self perception and environment data of the device, the navigation data, the operating system data and the algorithm.

Preferably, the remote medical system is implemented by taking the previous medical record data and the instant diagnosis and treatment data of the patient and implemented by family doctors, specialist doctors and an artificial intelligent expert system.

Preferably, the diagnosis and treatment data recording system comprises audio and video data, physical examination data, chemical examination data, human-computer interaction data, decision basis, diagnosis data, treatment data and subsequent processing condition data of the whole diagnosis and treatment process.

Preferably, the medical data encryption system adopts a block chain technology to release the patient medical data to an industry private cloud or a public cloud.

Preferably, the system for updating and supplementing the medicine consumable materials comprises an intelligent storage bin for supplementing, taking and checking the materials, the overdue medicine consumable materials remind updating, equipment self-check, and timely repair, maintenance or replacement when abnormality is found.

As the optimization of the technical scheme, the intelligent access control system is used for intelligently and independently taking public transportation and elevators, and getting in and out of hospitals, wards and public places.

Preferably, the medical expense settlement system comprises one or more of medical insurance card swiping, bank card, credit card, mobile payment and settlement according to contracts.

(III) advantageous effects

Compared with the prior art, the invention has the following obvious and prominent substantive features and remarkable technical progress.

The invention relates to a medical emergency robot, which consists of a mobile chassis, a mechanical arm and a robot body, wherein the mobile chassis is adapted to an intelligent mobile walking structure according to an application scene, the trafficability degree is increased, the service area range is wider, the mechanical arm is provided with a gripping structure, a sucker structure and an auxiliary diagnosis structure to assist in completing complex operations, a functional module arranged on the robot body senses the change of self and environment in real time to obtain the type, the quantity and the expiration date of medicine consumables and the performance status of linked medical equipment, the body is quickly checked according to medical emergency logic, a display screen and electrocardiogram equipment, electroencephalogram equipment, X-ray inspection equipment and ultrasonic inspection equipment of an intelligent diagnosis workstation are shared, the equipment volume is reduced, the manufacturing cost is reduced, a perfect life support system and surgical emergency facilities basically complete conventional medical rescue, and particularly, an intelligent storage bin is configured for intelligently and automatically transmitting small articles, such as ann tears open the bottle, the medicine bottle, the tablet, medicine consumptive material such as soft-packing infusion bag, and major possession article, such as equipment such as noninvasive ventilator, automatic cardiopulmonary resuscitation machine, electrode plate and lead, in addition, according to the task demand, the configuration can increase and decrease, the recombination, for example during the ambulance usage, it can not be too big to require the volume, can not be too heavy, then suitably reduce intelligent warehouse, reduce arm quantity, during family and community usage, intelligent warehouse, physical examination equipment, chemical examination check equipment, surgery first aid equipment can suitably simplify, for example demolish the arm, physical examination equipment and chemical examination equipment, medicine and consumptive material spatial structure are stored in the reduction, reduce medicine and consumptive material kind, adopt wheeled removal chassis, reduce the volume, reduce cost.

The invention relates to a medical first-aid robot working method, which is characterized in that different functional modules are configured according to different tasks, a preset position is autonomously and intelligently executed to wait or cruise in an area, environmental information is monitored, information is acquired, a demand is responded, a patient needing medical first-aid is timely reached and identified, rescue operation is implemented, special physical examination such as X-ray examination, electrocardiogram examination, electroencephalogram examination and ultrasonic examination can be timely implemented at the bedside, consultation time of requesting related professionals and professional equipment is saved, special test examination such as blood cell analysis, blood gas analysis, biochemical analysis and urine analysis can be timely implemented at the bedside, waiting time for sending a sample to a professional laboratory for test analysis is saved, and can automatically record all data in the whole diagnosis and treatment process, thereby reducing the working intensity of medical personnel and improving the medical rescue efficiency.

The medical first-aid robot system comprises software and an algorithm, a cloud server, a 5G network, a remote medical system, a diagnosis and treatment data recording system, a medical data encryption system, a medicine consumable material equipment updating and supplementing system, a call transfer and handover system, a logistics transportation system, an intelligent access control system and a charge settlement system, wherein remote medical treatment is implemented by family doctors, specialist doctors and an artificial intelligent expert system, so that patients can obtain timely and accurate medical first-aid system guarantee.

Drawings

Fig. 1 is a schematic structural diagram of a medical emergency robot, which comprises a mobile chassis, a power supply, a mechanical arm and a robot body.

Fig. 2 is a schematic view of a small article storage part, which comprises a storage case body, an induction conveyor belt, an induction cabin door and a storage concave disc.

FIG. 3 is a schematic view of a wheel structure of a storage compartment, which includes a rotating shaft, a first micro-motor, a controller, and a shifting plate.

Fig. 4 is a schematic view of a longitudinal cross-sectional structure of a chamber of a bulk goods storage part, which includes an induction door, a transmission plate, a controller, a second micro-motor, a screw structure, and a sub-display touch screen.

FIG. 5 is a cross-sectional view of a chamber of the bulk goods warehouse, including a transfer plate, a screw structure, and a slide rail.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms of orientation such as up, down, left, right, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.

As shown in figure 1, the medical emergency robot comprises a mobile chassis 1, a power supply 2, a mechanical arm 4 and a robot body 3, wherein the mobile chassis 1 is adapted to a wheeled intelligent mobile walking structure, a four-footed intelligent mobile walking structure or a crawler-type intelligent mobile walking structure according to application scenes, the mechanical arm 4 is arranged on human-like joint arms at two sides of the robot body 3 in bilateral symmetry, and a grasping structure 41, a sucking disc structure 42 and an auxiliary diagnosis structure 43 are arranged at the tail end of each arm, wherein the auxiliary diagnosis structure 43 comprises a visible light and far infrared camera, an LED lamp, a 3D sensor, an intelligent stethoscope, a pressure sensor array, a temperature measuring sensor, a pulse sensor, a respiration monitoring sensor, a blood pressure sensor and a blood oxygen saturation sensor, and the grasping structure 41 and the sucking disc structure 42 are used for rescue operation including transferring medicine equipment, operating equipment, carrying stretcher equipment, The sucker structure 42 at least comprises a flexible adsorption tail end with a cambered surface for adsorbing an ampoule and a planar flexible adsorption tail end for adsorbing other articles, the uppermost part of the robot body 3 is provided with a universal display touch screen 38, an intelligent sound box 36 and a universal bracket 37, the universal display touch screen 38 and the intelligent sound box 36 are internally provided with a state sensing module, an environment sensing module, a wireless communication module, a central data storage processing module and a man-machine interaction module, the universal bracket 37 is provided with a transfusion frame, an oxygen pipeline bracket, a camera and lighting device, an antenna device, a navigation sensor and a warning device, the upper part of the robot body 3 is provided with a small article storage part 35 and a physical examination and test equipment area 33, a tray 34 is arranged between the small article storage part 35 and the physical examination and test equipment area 33, and the extracted tray 34 can be used as a temporary operation table, the small article storage part 35 is divided into a plurality of independent functional structural regions, the physical examination and chemical examination equipment region 33 is divided into a plurality of independent functional structural regions, an electrode plate and an electrocardiogram lead of electrocardiogram equipment are respectively placed, an electrode and a lead of electroencephalogram equipment, an X-ray digital flat panel detector, a bulb tube and an X-ray generating device, an ultrasonic probe, a full-automatic blood cell analyzer, a full-automatic biochemical analyzer, a full-automatic urine analyzer and a full-automatic blood gas analyzer, the lower part of the robot body 3 is provided with a large article storage part 31, and a folding stretcher 32 is arranged between the physical examination and chemical examination equipment region 33 and the large article storage part 31.

As shown in fig. 2 and 3, the small article storage part 35 is divided into a plurality of independent functional structural regions, each independent functional structural region includes a storage cell box 351, a sensing conveyor belt 352, a sensing cabin door 354, a storage adjacent concave tray 353, and corresponding circuits, communication circuits and gas circuits, the storage cell box 351 is disposed at two sides of the sensing conveyor belt 352, each storage cell box 351 includes a plurality of storage cells 3511, each storage cell 3511 is provided with a rotating wheel structure, the rotating wheel structure includes a rotating shaft 35111, a first micro motor 35112, a controller 35114, and a plurality of dials 35113, the distance and width of the dials 35113 are adjusted according to the size of the stored articles, the small articles 35115A of the same kind are placed between the dials 35113, the controller 35114 controls the rotation of the first micro motor 35112 according to the storage cells 3511 corresponding to a self-defined digital table and according to the instructions of interaction with the patient, the selling of medicines, or medical care, small article 35115B moves to exit 35116 of storage grid 3511 along with paddle 35113, small article 35115B slides into sensing conveyor belt 352 below under the action of its own weight, and sensing door 354 is opened when person or robot arm 4 fetches articles from adjacent storage tray 353 to which small article 35115B is sent.

As shown in fig. 4 and 5, the bulk storage part 31 includes a plurality of cavities 311, each cavity 311 includes a sensing compartment door 3115, a transfer board 3111, a controller 3114, a micro motor 3113, a screw structure 3112, and a circuit, a communication circuit and an air circuit, wherein the sensing compartment door 3115 is opened on the surface of the housing of the robot body 3, a sub-display touch screen 3117 is disposed on the surface of the sensing compartment door 3115, two sides of the transfer board 3111 are respectively coupled to a sliding rail 3116A and a sliding rail 3116B at the lower portion of the cavity 311, when the equipment is transferred, the transfer board 3111 extends out of the sensing compartment door 3115 and can also be used as a temporary firm support platform of the equipment, and the equipment includes an oxygen generator, an ozone generator, a negative pressure aspirator, a tracheal intubation equipment, a noninvasive ventilator, a defibrillator, a pacemaker, an automated cardiopulmonary resuscitation machine, an infusion pump, an.

Example 1 Hospital rescue Room

General departments of a hospital, such as internal medicine, surgery, gynecology, pediatrics, infectious department, radiology department, are provided with at least one rescue room or treatment room, and emergency departments or emergency centers must be provided with at least one rescue room.

Medical first aid robot of hospital's rescue room is including removing chassis 1, arm 4 and robot 3, and it removes chassis 1 and adopts wheeled intelligent movement walking structure, and robot 3 disposes state perception module, environment perception module, man-machine interaction module, wireless communication module, central data storage processing module, physics inspection module, chemical examination inspection module, life support module, surgery first aid module, disinfection module, intelligent storage module, warning equipment, universal stand, display screen.

The medical emergency robot in the hospital emergency room waits for orders in the emergency room daily, performs self-inspection at regular time, finds abnormality, debugs and maintains equipment in time, supplements medicines and consumables in an intelligent storage bin, replaces the medicines and consumables which are about to expire and supplements electric quantity; once the response requirement is obtained, according to the floor number of the hospital calling information, autonomous navigation, obstacle avoidance and movement are carried out, the patient can arrive at the position of the patient in time, and the patient needing medical first aid is identified; the working modes when the rescue is implemented comprise: the method comprises the following steps of carrying out rescue operation autonomously, assisting medical staff on duty on site in rescue operation or carrying out man-machine cooperative rescue operation under remote medical control, and calling the support of more medical resources to participate in rescue operation if necessary; during rescue operation, according to medical rescue operation specifications, checking the body, reading past and near-term health and medical data encrypted by a block chain technology on the cloud server, and timely performing necessary special physical examination, such as X-ray examination, electrocardiogram examination, electroencephalogram examination and ultrasonic examination, special chemical examination, such as blood cell analysis, blood gas analysis, biochemical analysis and urine analysis, clearly diagnosing and treating symptoms; automatically recording diagnosis and treatment data, wherein the recorded contents comprise audio and video, body temperature, respiration, pulse, blood pressure, blood oxygen saturation, consciousness state, facial symmetry, tongue extending movement, limb movement, body surface injury monitoring, face image, tongue image and pulse image examination, physical examination, assay analysis and examination data, man-machine interaction data, decision basis, treatment process and follow-up processing in the whole rescue process, automatically forming an electronic rescue course record meeting medical standards, and sending the record to a cloud server; settling medical expenses; returning to the rescue room, performing self-checking, supplementing consumption, cleaning and disinfecting again, and continuing to stand by.

Example 2 crowd gathering place such as station, terminal building, square and stadium

Medical first aid robot in crowd's gathering place is including removing chassis 1, arm 4 and robot 3, it removes chassis 1 and adopts wheeled intelligent movement walking structure or crawler-type intelligent movement walking structure, robot 3 sets up state perception module, environment perception module, human-computer interaction module, wireless communication module, central data storage processing module, physics inspection module, chemical examination inspection module, life support module, surgery first aid module, disinfection module, intelligent storage module, warning equipment, universal stand, display screen.

The medical first-aid robot in the crowd gathering place makes a tour in a limited area, performs self-inspection at regular time, finds out abnormality, debugs and maintains equipment in time, supplements medicines and consumables in an intelligent warehouse, replaces the medicines and consumables which are about to expire and supplements electric quantity to a specific position; once the response requirement is obtained, according to the geographical position of the calling information, autonomous navigation, obstacle avoidance and movement are carried out, the patient can arrive at the position of the patient in time, and the patient needing medical first aid is identified; the working modes when the rescue is implemented comprise: carrying out rescue operation autonomously or carrying out man-machine cooperative rescue operation under remote medical control, and calling the support of more medical resources to participate in the rescue operation when necessary; during rescue operation, according to medical rescue operation specifications, checking the body, retrieving past health and medical data encrypted by a block chain technology on a cloud server of a patient, timely implementing necessary special physical examination and assay analysis, clearly diagnosing and treating symptoms; automatically recording diagnosis and treatment data, automatically forming an electronic rescue course record meeting medical standards, and sending the record to a cloud server; settling medical expenses; self-checking, treating medical waste liquid and waste, supplementing consumption, starting the ozone generator for disinfection, and continuing to make standby.

EXAMPLE 3 ambulance follow-up assistance

Ambulances and medical teams independently participate in medical rescue operation at high frequency, and often face the problems of insufficient hands, insufficient medical equipment and equipment, insufficient medical skills, opaque patient information and labor for repeatedly taking articles in the ambulances, so that the medical rescue level is further improved.

Ambulance follows supplementary medical first aid robot and includes removing chassis 1, arm 4 and robot 3, it removes chassis 1 and adopts four-footed intelligent movement walking structure or crawler-type intelligent movement walking structure, robot 3 sets up state perception module, environment perception module, human-computer interaction module, wireless communication module, central data storage processing module, physics inspection module, chemical examination inspection module, life support module, surgery first aid module, disinfection module, intelligence storage module, warning equipment, universal stand, display screen.

The medical emergency robot waits in the ambulance along with the ambulance and a medical team, regularly performs self-inspection, finds abnormality, debugs maintenance equipment in time, supplements medicines and consumables in an intelligent warehouse, replaces the medicines and consumables which are about to expire and supplements electric quantity; once the response request is obtained, the patient location is reached along with the ambulance; the working modes when the rescue is implemented comprise: the rescue operation of medical personnel on duty on site or the man-machine cooperative rescue operation under remote medical control is assisted; during rescue operation, medical workers are assisted to check the body, the past health and medical data encrypted by the block chain technology on the cloud server are read and displayed on the universal display touch screen 38, the medical workers are assisted to carry out necessary special physical examination and chemical examination according to instructions, an intelligent cloud diagnosis workstation and an algorithm are called, the medical workers are assisted to clearly diagnose and treat symptoms, and in the process, the tray 34 is pulled out to be used as a temporary workbench, the folding stretcher 32 is pulled out, and patients are transferred; in addition, during rescue operation, according to the requirements of the state of an illness, according to the instructions of medical staff, medicines and consumables are timely conveyed out, the medicines and consumables are conveyed into the hands of the medical staff or placed on the tray 34 by the mechanical arm 4, equipment such as an oxygen generator, a negative pressure aspirator, a tracheal intubation equipment, a noninvasive ventilator, a defibrillator, a pacemaker, an automatic cardiopulmonary resuscitation machine, an infusion pump and the like is conveyed out from the large article storage part 31, the mechanical arm 4 and the intelligent cloud diagnosis workstation assist the medical staff to debug and select optimal working parameters for treatment, and equipment such as an external fixing splint, a plaster bandage, a tourniquet, a sterile bandaging material, an ice bag, a disinfectant and the like are conveyed out from the large article storage part 31 for trauma treatment; automatically recording diagnosis and treatment data, automatically forming an electronic rescue course record meeting medical standards, and sending the record to a cloud server; settling medical expenses; returning to the ambulance, self-checking, replenishing consumption, cleaning and disinfecting again, and standing by.

Example 5 Home and Community medical Emergency treatment

The medical emergency robot for families and communities is mainly used for frequently encountered emergency patients and comprises a mobile chassis 1, a mechanical arm 4 and a robot body 3, wherein the mobile chassis 1 adopts a wheeled intelligent mobile walking structure, the number of the mechanical arm 4 is reduced from two to one or is saved, physical examination and chemical examination analysis and examination equipment of the robot body 3 can be simplified or saved, the manufacturing cost is reduced, in addition, a user can rent the medical emergency robot and services except for purchase, and the use cost is further reduced.

The medical emergency robot stands by in a family and a community, performs self-inspection at regular time, finds abnormality, debugs and maintains equipment in time, supplements medicines and consumables in an intelligent warehouse, replaces the medicines and consumables which are about to expire and supplements electric quantity to a specific position; once the response requirement is obtained, according to the geographical position of the calling information, autonomous navigation, obstacle avoidance and movement are carried out, the patient can arrive at the position of the patient in time, and the patient needing medical first aid is identified; the working modes when the rescue is implemented comprise: carrying out rescue operation autonomously or carrying out man-machine cooperative rescue operation under remote medical control, and calling the support of more medical resources to participate in the rescue operation when necessary; during rescue operation, according to medical rescue operation specifications, physical examination is carried out, past health and medical data encrypted by a block chain technology on the cloud server are retrieved, diagnosis is made clearly, and symptomatic treatment is carried out; automatically recording diagnosis and treatment data, automatically forming an electronic rescue course record meeting medical standards, and sending the record to a cloud server; self-checking, treating medical waste liquid and waste, supplementing consumption, starting the ozone generator for disinfection, and continuing standby.

The above description is only exemplary of the present invention and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above exemplary embodiments according to the technical spirit of the present invention are within the technical scope of the present invention. Those skilled in the art will recognize that the skilled in the art may use different methods to implement the described functionality for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

Claims

1. A medical emergency robot, consisting of a mobile chassis, a robotic arm and a robot body, is used in medical institutions, public areas on standby or on tour, and provides emergency medical assistance, characterized in that: the mobile chassis is adapted to a wheeled type according to an application scenario. Intelligent mobile walking structure, quadruped intelligent mobile walking structure, or crawler-type intelligent mobile walking structure, move according to path planning, or move autonomously, avoid obstacles, and reach a predetermined position; the robotic arms are symmetrically arranged on both sides of the robot body The humanoid joint arm, the end of the arm is provided with a grasping structure, a suction cup structure and an auxiliary diagnosis structure, wherein the grasping structure and the suction cup structure are used for medical treatment operations, and the suction cup structure includes at least one flexible suction end with a curved surface and one The flat flexible adsorption end, the auxiliary diagnosis structure includes visible light and far-infrared cameras, LED lights, 3D sensors, smart stethoscopes, pressure sensor arrays, temperature sensors, pulse sensors, blood pressure sensors, respiration monitoring sensors, and blood oxygen saturation sensors; all The robot body includes a state perception module, an environment perception module, a human-computer interaction module, a wireless communication module, a central data storage and processing module, a physical inspection module, a laboratory inspection module, a life support module, a surgical emergency module, a disinfection module, and an intelligent storage module. Warning equipment, universal bracket, display screen;

The state perception module includes a speed sensor, an acceleration sensor, an angular velocity sensor, a power supply monitoring sensor, a two-dimensional code identification device, and an online detection device, which are used to monitor the state of the device itself in real time. In order to count the type, quantity and expiration date of medicines and consumables, online testing equipment is used to collect connected medical equipment data to monitor the performance status of medical equipment in real time;

The environment perception module includes a positioning chip, a computer vision sensor and an environment detection sensor. When working, the positioning chip accurately locates the location and sends it to the cloud server. The computer vision sensor identifies road conditions, nearby people, and obstacles in real time. , Elevators, doors, assessing traffic, environmental detection sensors real-time monitoring of environmental 5G signals, temperature, humidity, noise, toxic gases, radiation, air particle concentration;

Among them, the human-computer interaction module includes a general-purpose display touch screen, a smart speaker, a biometric identification device, and a computer-computer interaction device. Past health data stored in the public cloud, inquiring about medical history, quick physical examination according to medical emergency logic, and assisting in diagnosis and treatment;

Wherein, the physical inspection module includes electrocardiogram equipment, electroencephalogram equipment, X-ray inspection equipment, and ultrasound inspection equipment, which share a common display touch screen and an intelligent cloud diagnosis workstation. , The electrodes and EEG leads of the EEG equipment, the digital flat panel detector of the X-ray inspection equipment and the ultrasonic probe of the ultrasonic inspection equipment are all wirelessly designed, and the collected signal data is wirelessly transmitted to the Intelligent cloud diagnosis workstation, the processed image data is then transmitted to the shared universal display touch screen for reference in emergency on-site diagnosis;

Wherein, the laboratory inspection module includes an automatic blood cell analyzer, an automatic biochemical analyzer, an automatic urine analyzer, and an automatic blood gas analyzer, wherein the testing items of the automatic biochemical analyzer at least include blood glucose, electrolytes, and muscle calcium. Protein, alcohol, drugs;

Among them, the disinfection module includes an ozone generator and an ozone delivery pipeline;

Wherein, the intelligent storage module is divided into a small-item storage part and a large-item storage part, and the small-item storage part includes a storage compartment box, an induction conveyor belt, an induction hatch, a temporary storage concave tray, and a storage compartment. The box body is arranged on both sides of the induction conveyor belt and is divided into at least two layers and four areas. Each area contains multiple storage compartments. Each storage compartment is provided with a runner structure. The runner structure includes a rotating shaft, a first micro motor, and a controller , Multiple picks, the spacing and width of the picks are adjusted according to the size of the items to be stored, and small items of the same type are placed between the picks. The controller interacts with the patient according to each storage compartment corresponding to the custom digital table Sell medicines, or medical care orders, send items to the temporary storage concave tray, and pick up items with a robotic arm; the large item storage section includes a plurality of chambers, and the chambers include an induction hatch, a transmission board, a controller, and a second miniature Motor and lead screw structure, wherein the induction hatch is opened on the surface of the robot body shell, the second micro motor controlled by the controller is connected to the transfer plate through the lead screw structure to reciprocate, and the equipment placed in the chamber is transferred to the outside of the robot body, And transfer the used equipment back into the chamber, and the transfer plate also provides a temporary support platform for the equipment and equipment;

The central data storage and processing module packs and compresses the collected data, sends it to the cloud server through the wireless communication module, and at the same time, receives the data returned from the cloud server, decompresses and displays it; the collected data includes the mobile chassis, the mechanical arm and the robot All data of the ontology.

2. The medical emergency robot according to claim 1, wherein the life support module at least comprises an oxygen generator, a negative pressure suction device, a tracheal intubation device, a non-invasive ventilator, a defibrillator, a pacemaker, Automatic cardiopulmonary resuscitation machine, emergency medicine, infusion equipment, infusion pump.

3 . The medical emergency robot according to claim 1 , wherein the surgical emergency module at least comprises an external fixation splint, a plaster bandage, a tourniquet, a sterile dressing material, an ice pack, a disinfectant, and a folding stretcher. 4 .

4. The medical emergency robot according to claim 1, characterized in that: the warning equipment includes light signals, sound signals, and wireless signals, which are used to avoid interference during rescue, guide reinforcements, inform positions, and avoid crowds and other machines. collision.

5. The medical emergency robot according to claim 1, characterized in that: the number of said universal supports is at least 1, which is used to set up an infusion stand, an oxygen delivery tube stand, a camera and lighting equipment, an antenna device, a navigation sensor, and a warning light, It is foldable for easy storage.

6 . The medical emergency robot according to claim 1 , wherein the display screen comprises a general display touch screen and a plurality of secondary display touch screens, wherein the general display touch screen is used for human-computer interaction and displaying physical examination images. 7 . Data, laboratory inspection data, remote interactive images, priority display of own status and environmental data when on standby, priority display of patient monitoring data, real-time results during inspection, abnormal results during medical rescue, set in each chamber of the large-scale goods storage department Induction cabin The secondary display touch screen of the door is used for touch operation to set the working parameters of the equipment in the chamber, and the other secondary display touch screen interface displays the dynamic data of medicine consumables and equipment and environmental perception data in real time.

7. The medical emergency robot of claim 1, wherein the intelligent storage module is used to implement replenishment, pickup, and inventory;

When replenishing goods, the storage unit for small items and its respective runner structures, and the chambers of the storage unit for large items are all modularized and can be disassembled and taken out as a whole. Pull-type connection, custom digital table on the universal display touch screen when replenishing, the digital table corresponds to each runner structure and chamber, scanned and recognized by the two-dimensional code recognition equipment, the collected drugs and consumables type, quantity, expiration date And the type and quantity data of the equipment are transmitted to the central data storage and processing module, and the corresponding actual items are placed between the paddles and the chambers corresponding to each runner structure;

When picking up the goods, the information or instructions of human-computer interaction are transmitted through the central data storage and processing module to the intelligent control micro-motor of the runner structure corresponding to the storage unit for small items, and the chamber of the storage unit for large items. The intelligently controlled micro-motor connected to the transfer plate, the micro-motor starts, and the corresponding medicines, consumables, and equipment are brought to the temporary storage concave plate through the induction conveyor, and then to the temporary support platform through the transfer plate, and then taken by the patient or medical staff. Or robotic arm picking, among which, when picking up goods, the preferred method of human-computer interaction is voice interaction, followed by touch screen selection, which supports package requirements including a variety of drugs, consumables, and equipment. At this time, the intelligent storage module has many runner structures and chambers run concurrently;

When stocking, the statistics are summarized based on the obtained replenishment data, pickup data, and self-inspection data.

8. A working method of a medical emergency robot, characterized in that: comprising the medical emergency robot described in any one of claims 1-7, and the working method comprises the steps:

S1: Configure function modules according to tasks, and appropriately increase or decrease the configuration of medical emergency robot function modules according to the high-incidence needs of hospital emergency rooms, stations, terminals, squares, sports fields, ambulance follow-up assistance and family communities;

S2: Self-inspection of the medical emergency robot, supplemented by the intelligent storage module of medicines and consumables;

S3: Standby at a predetermined location or cruise in a predetermined area, and the medical emergency robot identifies a patient who needs medical assistance; the method for the medical emergency robot to identify a patient who needs medical assistance includes receiving an instruction from the emergency platform, and receiving an instruction from the patient's smart wearable hardware. information, receiving information from the patient's smartphone, receiving information obtained through face and other biometric identification, information guided by others, on-site intelligent self-judgment, and accepting remote control by experts;

S4: When a patient in urgent need of drugs is identified, the medical emergency robot provides drug sales services; when a patient in need of medical assistance is identified, the medical emergency robot performs medical emergency operations autonomously, or the medical emergency robot assists medical staff to implement in a human-machine collaborative manner Medical emergency operations, or medical emergency robots seeking external support;

S5: Self-inspection again, supplementary consumption, cleaning and disinfection;

S6: Continue the service.

9. A medical emergency robot system, characterized in that: the system comprises software and algorithms, cloud servers, 5G networks, telemedicine systems, and algorithms adopted by the medical emergency robots or working methods described in any one of claims 1-8. Medical data encryption system, pharmaceutical consumables and equipment update and supplement system, call transfer transfer system, logistics transportation system, intelligent access control system, expense settlement system;

The software includes a chassis operating system, a robotic arm operating system, and an application program, and the algorithms include an intelligent diagnosis and treatment algorithm, a route planning algorithm, a data integration algorithm, an automatic electronic medical record generation algorithm, and an interface priority display algorithm. Information, voice interaction information, intelligent diagnosis information, telemedicine information, and the main menu, secondary menu and its submenus are displayed on the interface, which can be displayed first by the user at any time;

Wherein, the cloud server is used to store the patient's past data and instant diagnosis and treatment data, the medical emergency robot's own perception and environmental data, navigation data, operating system data and algorithms;

Wherein, the telemedicine system realizes the retrieval of the patient's past medical records and real-time diagnosis and treatment data, which is implemented by family physicians, specialist physicians, and artificial intelligence expert systems;

Among them, the diagnosis and treatment data recording system includes audio and video data, physical examination data, physical inspection data, laboratory inspection data, human-computer interaction data, decision basis, diagnosis data and treatment data, and subsequent processing data of the whole process of diagnosis and treatment;

Among them, the pharmaceutical consumables and equipment update and replenishment system includes intelligent warehouses to implement replenishment, pickup, and inventory, reminders and updates of expired pharmaceuticals and consumables, self-inspection of equipment and equipment, and timely repair, maintenance or replacement if abnormalities are found.