CN113547530A - Intelligent medical accompanying robot - Google Patents
Intelligent medical accompanying robot Download PDFInfo
- Publication number
- CN113547530A CN113547530A CN202110825993.6A CN202110825993A CN113547530A CN 113547530 A CN113547530 A CN 113547530A CN 202110825993 A CN202110825993 A CN 202110825993A CN 113547530 A CN113547530 A CN 113547530A
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- finger
- physiological data
- data acquisition
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- 238000009529 body temperature measurement Methods 0.000 claims abstract description 17
- 230000005611 electricity Effects 0.000 claims abstract description 8
- 238000009530 blood pressure measurement Methods 0.000 claims abstract description 6
- 210000003811 finger Anatomy 0.000 claims description 54
- 230000036772 blood pressure Effects 0.000 claims description 14
- 210000003857 wrist joint Anatomy 0.000 claims description 10
- 210000002310 elbow joint Anatomy 0.000 claims description 9
- 210000000323 shoulder joint Anatomy 0.000 claims description 9
- 210000000236 metacarpal bone Anatomy 0.000 claims description 7
- 238000005452 bending Methods 0.000 claims description 4
- 230000008093 supporting effect Effects 0.000 claims description 3
- 210000004932 little finger Anatomy 0.000 claims description 2
- 230000036760 body temperature Effects 0.000 description 5
- 230000036541 health Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009532 heart rate measurement Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 210000000707 wrist Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Pathology (AREA)
- Biophysics (AREA)
- Measuring Pulse, Heart Rate, Blood Pressure Or Blood Flow (AREA)
- Measuring And Recording Apparatus For Diagnosis (AREA)
Abstract
The intelligent medical accompanying and attending robot comprises an electrically-driven movable base, a machine body, a video camera and a physiological data acquisition module; the body is arranged on the electrically-driven movable base, and the video camera and the physiological data acquisition module are arranged on the body; the physiological data acquisition module comprises a temperature measurement camera and a blood pressure measurement mechanical arm; still be provided with power module and control module on the fuselage, power module supplies power for control module, electricity drive portable base, video camera and physiological data acquisition module, and temperature measurement camera and physiological data acquisition module link to each other with control module, and control module control electricity drives portable base. The invention can help doctors and nurses to accompany patients, thereby reducing the working intensity.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to an intelligent medical accompanying robot which is used for assisting doctors and nurses in accompanying patients.
Background
With the arrival of an aging society, the old people are basically in every home, the family members are difficult to attend the sick old people for 24 hours, the old people cannot get ill suddenly and can not get to the side of the body in time, especially the health of the empty nest old people can not be guaranteed, and the existing medical robot is high in cost and few in application.
Disclosure of Invention
The invention provides an intelligent medical accompanying and attending robot for overcoming the defects of the prior art.
The intelligent medical accompanying and attending robot comprises an electrically-driven movable base, a machine body, a video camera and a physiological data acquisition module; the body is arranged on the electrically-driven movable base, and the video camera and the physiological data acquisition module are arranged on the body;
the physiological data acquisition module comprises a temperature measurement camera and a blood pressure measurement mechanical arm;
still be provided with power module and control module on the fuselage, power module supplies power for control module, electricity drive portable base, video camera and physiological data acquisition module, and temperature measurement camera and physiological data acquisition module link to each other with control module, and control module control electricity drives portable base.
Compared with the prior art, the invention has the beneficial effects that:
the invention designs a physiological data acquisition module which has the functions of measuring body temperature, measuring blood pressure and other human physiological data, and the electrically-driven movable base can realize the functions of the whole robot such as in-situ rotation or turning, greatly improves the flexibility of the robot, and can well help doctors to patrol wards and carefully check the physical condition of each patient. The working pressure of doctors is greatly reduced, and the risk of disease propagation is reduced. The video camera can enable doctors to communicate with patients in offices, communication between the patients and families is more convenient, and when the families of the patients and the patients carry out videos, the robot detects various physiological data of the bodies of the patients, so that the families can master the physical conditions of the patients at any time.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a perspective view of an intelligent medical accompanying robot of the present invention;
FIG. 2 is a schematic structural view of a blood pressure measuring mechanical arm;
FIG. 3 is a perspective view of the fuselage;
FIG. 4 is a perspective view of a hand;
FIG. 5 is a perspective view of a finger;
FIG. 6 is a schematic view of a micro-retractor;
FIG. 7 is a schematic flow chart of the present invention;
fig. 8 is a schematic view of the principle of the control of the blood pressure measuring mechanical arm.
Detailed Description
Referring to fig. 1 and 7, the intelligent medical accompanying and attending robot comprises an electrically-driven movable base 1, a machine body 2, a video camera 3 and a physiological data acquisition module; the body 2 is arranged on the electrically-driven movable base 1, and the video camera 3 and the physiological data acquisition module 4 are arranged on the body 2; the physiological data acquisition module comprises a temperature measurement camera 41 and a blood pressure measurement mechanical arm 42;
still be provided with power module and control module 5 on the fuselage 2, power module supplies power for control module 5, electricity drive portable base 1, video camera 3 and physiological data acquisition module, and temperature measurement camera 41 and physiological data acquisition module 42 link to each other with control module 5, and control module 5 control electricity drives portable base 1.
As shown in fig. 1, the temperature measuring camera 41 is an infrared temperature measuring camera.
The temperature measurement system comprises an infrared temperature measurement camera and a video camera, wherein the infrared camera can scan a patient to obtain body temperature data of the patient, and the video camera is a camera which is commonly used in the market and used for video. Alternatively, the video camera may adopt a Robotic C930e type camera. The infrared temperature measurement camera can adopt a thermal imaging face temperature measurement module of Shenzhen Yikun network technology Limited, a Heiman HTPA32 star 32D thermopile sensor, a 33-degree field angle and an effective temperature measurement distance of 0.5-1 meter. When the robot moves to the front of a patient, the infrared temperature measuring camera is automatically opened to obtain body temperature data of the patient; and the video camera can be opened and closed through manual setting. When the medical device is opened, a doctor can carry out video with a patient through the video camera; when the robot is closed, the robot only performs daily examination on physiological data of a patient and records the physiological data, and the recorded data is transferred to a mobile phone or a computer of a doctor through WIFI, so that the doctor can know the physical condition of the patient at any time. Various physiological data of the patient detected by the robot can be displayed on the display screen, and family members can master the physical condition of the patient at any time.
The machine body 2 is also provided with a display screen 8 and a loudspeaker 9; display screen 8 is in normally open state, and when doctor or family members do not open the video, display screen 8 shows the self-defined picture of doctor, and speaker 9 below display screen 8 is in operating condition always, and speaker 9 is used for typeeing patient's sound and broadcast video sound. Both the display screen and the microphone for providing video functions are common devices on the market.
Further, as shown in fig. 1, the electrically-driven mobile base 1 comprises a support base 1-1 and four electrically-driven driving wheels 1-2, and four corners of the bottom of the support base 1-1 are provided with the four electrically-driven driving wheels 1-2. The functions of in-situ rotation or turning and the like of the whole robot can be realized through the speed difference among the four wheels, the flexibility of the robot is greatly improved, and the round wheels also have the advantages of low noise and small trace left on the ground. Under control module 5's control, the robot can move to the place that the doctor appointed and examine specific patient, perhaps realizes the patrol function, can be in turn in every ward to every patient's inspection health, gather physiological data to pass through WIFI with data and forward doctor's terminal, can let the doctor just know every patient's health in the office like this, greatly reduced doctor's operating pressure.
As shown in FIGS. 2 and 3, the blood pressure measuring mechanical arm 42 comprises an arm 42-1, a shoulder joint 42-2, an elbow joint 42-3, a wrist joint 42-4 and a hand 42-5; the shoulder joint 42-2 is connected with the body 2, the arm 42-1 is connected with the shoulder joint 42-2, the arm 42-1 is connected with the elbow joint 42-3, the elbow joint 42-3 is connected with the wrist joint 42-4, the wrist joint 42-4 is connected with the hand 42-5, and the hand 42-5 is provided with a pressure sensor 6 for measuring blood pressure.
According to the scheme, the arms 42-1 of the two mechanical arms are respectively arranged on universal joints on two sides of the machine body 2, the whole arm 42-1 can swing through the shoulder joint 42-2, and the arm sleeve is used for storing electric wires of the whole mechanical arm. The elbow joint 42-3 is connected to the tail end of the arm 42-1, so that left and right rotation can be realized, and the effect of simulating the elbow of a human body is realized. The wrist joint 42-4 is connected to the end of the elbow joint 42-3, and can realize the motion of the simulated human wrist. The pressure sensor 6 is used to measure the blood pressure of the patient, preferably a Duoxixin sensor technology Inc. model number LX-S19A.
As shown in FIG. 4, the hand 42-5 includes a metacarpal 42-51 and four fingers 42-52; the metacarpal bones 42-51 are connected with the wrist joints 42-4, four fingers 42-52 are arranged on the metacarpal bones 42-51 and can do stretching and bending movement relative to the metacarpal bones 42-51, and the end parts of the three fingers are provided with pressure sensors 6 for measuring blood pressure. Further, as shown in fig. 5, the fingers 42-52 comprise an index finger 42-521, a middle finger 42-522, a ring finger 42-523 and a little finger 42-524, two adjacent finger sections of three finger sections of each finger are rotatably connected, a head finger section 42A and a middle finger section 42B, and a middle finger section 42B and a root finger section 42C are respectively connected through a micro-telescopic device 7, and the micro-telescopic device 7 provides extension and bending movements of the fingers.
The micro-expansion piece 7 is used for providing two different expansion forces, can adopt small pneumatic elements on the market, mainly comprises an expansion rod 7-1 and a sleeve 7-2, and can realize the expansion function.
Specifically, as shown in fig. 5 and 6, the micro-telescopic device 7 is a pneumatic telescopic rod, the telescopic rod 7-1 between the head finger section 42A and the middle finger section 42B is connected with the head finger section 42A, and the sleeve 7-2 is arranged on the middle finger section 42B; the telescoping rod 7-1 between the middle finger section 42B and the root finger section 42C is connected to the middle finger section 42B, and the sleeve 7-2 is disposed on the root finger section 42C. The micro-expansion piece is powered by an external pneumatic device, when the pneumatic device is powered, the micro-expansion piece 7 is expanded, the expansion rod 7-1 extends out of the sleeve 7-2, the three finger sections are supported, the supporting effect is achieved, and the state that a human hand is opened is simulated; when the pneumatic device stops providing power, the micro-expansion piece 7 stops expanding, the expansion rod 7-1 and the sleeve 7-2 keep the original state and the action of the whole hand is fixed; when the pneumatic device is used for pumping air, the telescopic device 7-1 can realize the function of 'contracting', and the telescopic rod 7-1 can be slowly contracted into the sleeve to respectively provide restoring force for the three finger sections, so that the state that a human hand slowly grips is simulated.
Preferably, the pressure sensors 6 are arranged on the index finger 42-521, the middle finger 42-522 and the ring finger 42-523, and the whole finger completes the extraction and identification of complex pulse conditions of the cun, guan and chi pulse positions according to different pressure changes and transmits the complex pulse conditions to the doctor terminal; when measuring the blood pressure of the patient, the robot holds the finger firmly at 1/3 under the elbow of the patient, and the blood pressure data of the patient is measured. The obtained data are all transferred to a computer or a mobile phone of a doctor through WIFI. Meanwhile, the data are also displayed below the screen of the family members when the patient and the family members are in video.
Optionally, the temperature measuring camera 41 and the video camera 3 are embedded in the upper part 1/5 of the body 2 side by side, so that a good view is provided, the display screen 8 is placed in the middle of the body 2, so that the contents in the screen can be easily seen, and the shoulder joints 42-2 are arranged on the two sides of the body 2 and are approximately 2/5 away from the top of the body 2.
The working process is explained in conjunction with fig. 7 and 8 as follows:
(1) after the patrol route is set manually, the robot acquires physiological information of each patient in each ward along the route by electrically driving the movable base 1.
(2) The physiological information collection is divided into infrared temperature measurement and mechanical arm heart rate and blood pressure measurement. When the body temperature of a patient is measured, the body temperature data of the patient can be obtained only by the patient in the visual field of the infrared temperature measurement camera. But the mechanical arm is needed to control the position distance when the heart rate and the blood pressure of the patient are measured by the mechanical arm, so that the intelligent advantage of the robot is also embodied. The robot will first coarsely adjust the distance between the entire robot and the patient according to the control module 5 so that the blood pressure measuring mechanical arm 42 is within a distance range to touch the arm of the patient. Then, the heart rate measurement and the blood pressure measurement are carried out by enabling the mechanical palm to completely cover the wrist of the patient or the middle point of the elbow and the shoulder through fine adjustment of the shoulder joint, the elbow joint and the wrist joint. The acquired physiological information of the patient is transmitted to the doctor terminal.
(3) After the physiological information is collected, a doctor or a patient can select to start the video function in one way, and the other party can also select to receive the video or cannot receive the video for a while. In addition, the patient may also choose to communicate with his family members via video. When both sides do not need videos, the robot can patrol according to a set route and carry out corresponding work before going to the next patient bed.
(4) When the robot detects that the electric quantity of the robot is insufficient, if other robots are standing by around, the standing-by robot can replace the robot with insufficient electric quantity to perform the next patrol inspection task, and the robot with insufficient electric quantity can automatically search a charging position to charge; if there is no robot on standby around, the robot will send a message to the doctor and interrupt the current task and automatically find the place to charge for automatic charging.
The present invention is not limited to the above embodiments, and those skilled in the art can make various changes and modifications without departing from the scope of the invention.
Claims (8)
1. Intelligent medical care robot, its characterized in that: comprises an electrically-driven movable base (1), a machine body (2), a video camera (3) and a physiological data acquisition module;
the body (2) is arranged on the electrically-driven movable base (1), and the video camera (3) and the physiological data acquisition module (4) are arranged on the body (2);
the physiological data acquisition module comprises a temperature measurement camera (41) and a blood pressure measurement mechanical arm (42);
still be provided with power module and control module (5) on fuselage (2), power module supplies power for control module (5), electricity drive portable base (1), video camera (3) and physiological data acquisition module, and temperature measurement camera (41) and physiological data acquisition module (42) link to each other with control module (5), and control module (5) control electricity drive portable base (1).
2. The intelligent medical accompanying robot as claimed in claim 1, wherein: the temperature measurement camera (41) is an infrared temperature measurement camera.
3. The intelligent medical accompanying robot as claimed in claim 1, wherein: the electrically-driven movable base (1) comprises a supporting seat (1-1) and four electrically-driven driving wheels (1-2), wherein the four corners of the bottom of the supporting seat (1-1) are provided with the four electrically-driven driving wheels (1-2).
4. The intelligent medical accompanying robot as claimed in claim 2 or 3, wherein: the blood pressure measuring mechanical arm (42) comprises an arm (42-1), a shoulder joint (42-2), an elbow joint (42-3), a wrist joint (42-4) and a hand (42-5); the shoulder joint (42-2) is connected with the body (2), the arm (42-1) is connected with the shoulder joint (42-2), the arm (42-1) is connected with the elbow joint (42-3), the elbow joint (42-3) is connected with the wrist joint (42-4), the wrist joint (42-4) is connected with the hand (42-5), and the hand (42-5) is provided with a pressure sensor (6) for measuring blood pressure.
5. The intelligent medical accompanying robot as claimed in claim 4, wherein: the hand (42-5) comprises a metacarpal bone (42-51) and four fingers (42-52); the metacarpal bones (42-51) are connected with the wrist joints (42-4), four fingers (42-52) are arranged on the metacarpal bones (42-51) and can do stretching and bending movement relative to the metacarpal bones (42-51), and the end parts of the three fingers are provided with pressure sensors (6) for measuring blood pressure.
6. The intelligent medical accompanying robot as claimed in claim 5, wherein: the finger (42-52) comprises an index finger (42-521), a middle finger (42-522), a ring finger (42-523) and a little finger (42-524), two adjacent finger sections of three finger sections of each finger are rotatably connected, a head finger section (42A) and a middle finger section (42B), and a middle finger section (42B) and a root finger section (42C) are respectively connected through a micro-telescopic device (7), and the micro-telescopic device (7) provides extension and bending movement of the finger.
7. The intelligent medical accompanying robot as claimed in claim 6, wherein: the miniature expansion piece (7) is a pneumatic expansion link, an expansion link (7-1) between the head finger section (42A) and the middle finger section (42B) is connected with the head finger section (42A), and the sleeve (7-2) is arranged on the middle finger section (42B); a telescopic rod (7-1) between the middle finger section (42B) and the root finger section (42C) is connected with the middle finger section (42B), and a sleeve (7-2) is arranged on the root finger section (42C).
8. The intelligent medical accompanying robot as claimed in claim 1 or 7, wherein: the machine body (2) is also provided with a display screen (8) and a loudspeaker (9); display screen (8) are in normally open state, and when doctor or family members do not open the video, display screen (8) show doctor's self-defined picture, and speaker (9) below display screen (8) are in operating condition always, and speaker (9) are used for typeeing patient's sound and play video sound.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825993.6A CN113547530A (en) | 2021-07-21 | 2021-07-21 | Intelligent medical accompanying robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110825993.6A CN113547530A (en) | 2021-07-21 | 2021-07-21 | Intelligent medical accompanying robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113547530A true CN113547530A (en) | 2021-10-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110825993.6A Pending CN113547530A (en) | 2021-07-21 | 2021-07-21 | Intelligent medical accompanying robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN113547530A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
| CN116256067A (en) * | 2023-05-16 | 2023-06-13 | 吉林大学 | Temperature measuring device capable of accurately measuring body temperature of patient |
| WO2023207258A1 (en) * | 2023-02-08 | 2023-11-02 | 中南大学湘雅医院 | Interactive emotional robot suitable for elderly people |
-
2021
- 2021-07-21 CN CN202110825993.6A patent/CN113547530A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114310967A (en) * | 2022-01-19 | 2022-04-12 | 上海今一科技发展有限公司 | Old man attends to intelligent robot |
| WO2023207258A1 (en) * | 2023-02-08 | 2023-11-02 | 中南大学湘雅医院 | Interactive emotional robot suitable for elderly people |
| CN116256067A (en) * | 2023-05-16 | 2023-06-13 | 吉林大学 | Temperature measuring device capable of accurately measuring body temperature of patient |
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