CN113858219A - Medical robot device, system and method - Google Patents
Medical robot device, system and method Download PDFInfo
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- CN113858219A CN113858219A CN202110978141.0A CN202110978141A CN113858219A CN 113858219 A CN113858219 A CN 113858219A CN 202110978141 A CN202110978141 A CN 202110978141A CN 113858219 A CN113858219 A CN 113858219A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
Abstract
A medical robot device, system and method is characterized in that an artificial intelligent robot technology is utilized, a medical robot device for remote diagnosis and auxiliary treatment is provided, a remote control and ultrasonic image acquisition device for controlling a robot arm autonomously is used, medical images are acquired and shared autonomously by the remote control, autonomous movement is realized by a moving base through a radar, and the problems of movement and acquisition are solved. The device comprises a plane vision device, a depth vision device, intelligent identification plane information, depth information such as bones and the like. Through the medical image acquisition device that the robot carried on, realize robot remote control, independently gather, solve medical personnel operating pressure big, gather the numerous scheduling problem of task. The flexibility and the real-time performance of remote real-time inquiry, ward-round and multi-department combined consultation of experts and doctors are improved, and the system is applied to outpatient service, wards, overseas medical institutions and efficient multi-treatment-scheme multi-expert common opinion solution clinical cases.
Description
Technical Field
The invention belongs to the technical field of artificial intelligent robot health medical equipment, and relates to the technical field of robots, an image intelligent identification method, intelligent equipment and an intelligent system.
Background
The method is currently applied to the medical field, and in the examination process, due to the fact that various human factors are analyzed, medical images and videos are poor in collection quality, low in standardization degree and poor in disease condition identification accuracy. The field and medical specialties of each specialist are limited, multiple departments and multiple experts jointly consult, and the condition discussion of a patient in a ward and a ward is difficult to realize in an outpatient service. A robot device for remote control of an administrator, remote combined consultation, combined ward round of ward experts and combined treatment and a robot platform relate to robot theory and practice technology.
Due to high infectivity, low efficiency, inaccurate manual collection, serious problems of plague spread and the like, the medical images and videos are collected by utilizing the far end of the robot arm and automatically.
The robot arm, the vision device, the depth vision device, various neural network methods and improvement methods thereof carried by the robot are utilized to assist in acquiring medical images and videos, realize remote acquisition, autonomous acquisition, infection detection and intelligent data analysis, and effectively prevent the spread of serious diseases such as infectious diseases, plagues and the like.
Technical problem
The invention aims to overcome the defects and shortcomings of the prior art and provide a medical robot device, which utilizes a remote autonomous robot to acquire a medical image device and solves the problems of manual scanning, error in examination, acquisition, diagnosis and treatment, limitation of a single medical department, singleness of a diagnosis scheme and the like.
The radar and the mobile base realize autonomous movement, map building, positioning and navigation, and the problem of mobile acquisition is solved.
The device comprises a plane vision device, a depth vision device, intelligent identification plane information, depth information such as bones and the like.
Through the medical image acquisition device that the robot carried on, realize robot remote control, independently gather, solve medical personnel operating pressure big, gather the numerous scheduling problem of task. The flexibility and the real-time performance of the remote real-time inquiry, ward-round and multi-department combined consultation of the experts and the doctors are improved, and the clinical cases are solved by the high-efficiency multi-treatment scheme and the multi-expert mutual opinions.
The technical scheme adopted by the invention
A medical robot device includes:
a robot master system module for connecting and controlling a robotic device module, comprising: the system comprises a voice device, a voice module, a visual acquisition device, a visual recognition module, a radar mobile autonomous mapping positioning navigation device and module, a machine scanning arm and information verification machine arm, an ultrasonic diagnosis and treatment device, a medical image video acquisition and sharing module, an ultrasonic scanning device, a pressure device, an information acquisition and reading device, a lying position, a pose and an angle adjusting device.
The vision acquisition device and the vision identification module are used for acquiring images, videos and identifying the images and the videos. The vision acquisition device comprises: planar vision device, depth vision device.
And the voice device and the voice module are used for collecting and identifying voice, and voice interaction and voice inquiry among users and administrators.
Radar autonomous movement, map building location navigation head and module, the device includes: the mobile base and the radar are used for self-building map and self-positioning navigation movement.
The robot arm comprises a machine scanning arm and an information verification robot arm, and the machine scanning arm is used for acquiring medical images and videos; the information verification robot arm is used for collecting, scanning, identifying and reading two-dimensional codes, digital codes, characters, marks, biological information, RFID information and patient user information.
The ultrasonic diagnosis and treatment device and the medical image video acquisition and sharing module are used for acquiring medical images, videos, sharing medical images, videos, remote consultation, multi-department combined consultation and image sharing.
The ultrasonic scanning device is used for scanning and collecting images and videos.
And the pressure device is used for applying pressure and scanning.
The information acquisition and reading device is used for scanning, identifying and reading the two-dimensional code, the digital code, the characters, the identification, the biological information, the RFID information, the patient information and the user information.
The horizontal position, pose and angle adjusting device adjusts the position, angle and direction of each scanning task according to the standard scanning requirement.
And the communication module is respectively connected with the robot main system and the remote client and is used for communication between the remote client and the robot main system. The communication module comprises one or more communication modes of a wireless communication module, a Bluetooth communication module, a wired internet communication module, radio frequency communication and radio communication.
Remote control and autonomous control, and dual-mode control of each device, each module, and each node in the medical robot. And the remote client communicates with the robot main system by using the communication module to control each device. The robot is trained to learn planning actions and adaptively demodulate and set action planning parameters through administrator mediation and setting parameters and a neural network improvement method, and is used for action planning, so that medical images, videos and reading and identifying two-dimensional codes, digital codes, characters, marks, biological information, RFID information, patient information and user information are acquired.
The voice device and the voice module are connected with the robot main system and the voice device and are used for collecting and recognizing voice, and voice interaction and inquiry among users and administrators.
The speech device includes: the voice acquisition device, the voice input device and the voice output device;
the voice module includes: voice recognition, voice-text conversion, voice synthesis, voiceprint recognition, voice instruction and voice guidance functions.
The robot main system is connected with the vision acquisition device and is used for acquiring images, videos and identifying the images and the videos;
the vision acquisition device comprises: a planar vision device, a depth vision device;
the visual recognition module includes:
the planar image recognition includes: identifying face images and positions, identifying images and positions of five sense organs, identifying characteristic points and positions of a human body, and identifying medical scenes;
the depth image recognition includes: identifying a skeleton image and a position, identifying a joint image and a position, identifying a key joint and a position, identifying a characteristic point and a position of a human body, and identifying a special characteristic and a position of the special characteristic;
the medical image that ultrasonic device gathered, video identification includes: the method comprises the steps of identifying characteristic points of blood vessels, organs, organ shapes, structures, contours and colors scanned by an ultrasonic device, identifying characteristics of diseases, and identifying images and videos acquired by ultrasonic.
The radar autonomous mobile medical scene identification mapping module is used for connecting a radar and a vision device with a robot main system,
autonomous positioning, navigation and real-time mapping of radar,
the vision device and the intelligent identification method identify the face and the medical scene, and the medical scene comprises the following steps: letters, numbers, characters and bed numbers of addresses, departments and ward doorplates are fused with radar real-time mapping, and are automatically positioned, navigated and moved to corresponding departments, wards, beds and user positions.
The double-robot arm comprises a machine scanning arm and an information verification robot arm,
the machine scanning arm is connected with the scanning device and the pressure device and is used for acquiring medical images and videos;
the information verification robot arm is connected with the information acquisition device, the information scanning device and the reading device, is connected with the robot main system and the vision device, and is used for acquiring, scanning and reading digital codes, two-dimensional codes, RFID (radio frequency identification device), biological characteristics, intelligent identification reading two-dimensional codes, digital codes, characters, identification, biological information, RFID information and patient user information. And the horizontal position, the pose and the angle adjusting device are actuated to adjust the position, the angle and the direction of each scanning task of the medical object according to the standard scanning requirement.
The ultrasonic diagnosis and treatment device and the medical image video acquisition and sharing module are connected with the robot main system and are used for remote control and autonomous acquisition of medical images, videos, shared medical images, videos, remote consultation and multi-department combined consultation.
The ultrasonic probe scanning device is connected with the machine scanning arm and the pressure device, and the robot main system and the remote client control the ultrasonic probe scanning device to move with the machine arm, scan, acquire images and videos.
The pressure device is connected with the ultrasonic probe scanning device and the machine scanning arm, the robot main system and the remote client control the pressure device to apply pressure, and the probe scans.
The information verification robot arm is connected with the information acquisition device, the information scanning device and the reading device, is connected with the robot main system and the vision device, and is used for acquiring, scanning and reading digital codes, two-dimensional codes, RFID (radio frequency identification device), biological characteristics, intelligent identification reading two-dimensional codes, digital codes, characters, identification, biological information, RFID information and patient user information.
The information verification robot arm is connected with the robot main system, the lying position, the pose and the angle adjusting device, and the lying position, the pose and the angle adjusting device are actuated to enable the medical object to adjust the position, the angle and the direction of each scanning task according to the standard scanning requirement.
An optimization task configuration management system, comprising: a medical robot device, medical care task subsystems of a plurality of departments and 1 calling subsystem are provided, the medical robot device is the medical robot device in any scheme, and the medical care task subsystems and the 1 calling subsystem of all the departments are connected with a robot main control system and built on an optimized task management system platform.
Further, a remote control and autonomous positioning navigation movement, optimization task configuration method, comprising the following steps:
s1, manager, doctor communication module, issuing collection task, time information, position information, order information and service.
And S2, dynamically distributing the tasks to the robot device by using the optimized task configuration method.
Further, the dynamic task allocation method comprises the following steps: a dynamic optimized task configuration and path planning method adopts an optimized method to plan tasks, and aims to finish all tasks in the shortest time. The optimization method comprises the following steps: a genetic calculation method and an improvement method thereof, a tabu search calculation method and an improvement method thereof, a simulated annealing calculation method and an improvement method thereof, an ant colony calculation method and an improvement method thereof, a calculation method for particle beam optimization and an improvement method thereof, a neural network calculation method and an improvement method thereof, an evolution method and an improvement method thereof, and one or more combination methods thereof.
S3, the robot using the communication module, the distributing the patient position information includes: patient ward, outpatient clinic, department, bed position information and radar positioning navigation module subscribe the patient position information and autonomously move to the acquisition area.
And S4, the robot identifies the communication module to publish information service by using the vision module, subscribes the position information service by using the radar positioning navigation module, and autonomously moves to the acquisition area.
S5, the robot issues the acquisition position, task information and time information by using the communication module, the robot arm subscribes the fixing device, acquires the position information, and the action planning module subscribes the position information.
And S6, acquiring ultrasonic data and ultrasonic image action by the robot according to the position information of the step S6 and the action planning module.
And S7, returning task completion information to the administrator. If not, the task is moved to the next time period.
Description of the drawings:
FIG. 1 is a schematic view of a medical robotic device module according to the teachings of the present application;
reference numeral 1:
101-a robot master system; 102-collecting an action planning module; 103-a vision module;
104-medical image video acquisition module; 105-a speech module; 106-pressure device and sensor module;
107-a lying position pose angle adjusting device; 108-radar mapping, positioning and navigating mobile module;
109-information reading action planning module; 110-a communication module;
FIG. 2 is a schematic view of the construction of a medical robotic device according to the present disclosure;
the attached figure 2 marks:
201 a vision acquisition device; 202-robot master system; 203-ultrasonic diagnostic device; 204-a pressure device;
205-ultrasound scanning probe; 206-radar; 207-a mobile device; 208-information verification robotic arm;
209-machine scanning arm; 210-an information scanning device; 211-lying position, pose and angle adjusting device;
212-a voice device; 213 remote client;
Detailed Description
The invention aims to design a remote control robot which replaces human work, realize remote control robot arm acquisition and effectively solve the problem of autonomous image and video acquisition. The method comprises the steps of utilizing artificial intelligence robot technology, automatically collecting in the field of automation, planning the action of a robot arm, and collecting human faces, five sense organs, arms, external characteristics of a human body, bones and joint images by a depth camera.
The remote control robot and the automatic acquisition of medical images, videos and remote control medical images, the video acquisition device and shared images are realized, the artificial diagnosis and treatment errors are solved, and the accuracy of intelligent acquisition and the accuracy of medical data abnormity identification are improved. In order to better understand the technical solutions, the present invention will be further described in detail with reference to the following examples and drawings, but the embodiments of the present invention are not limited thereto.
The technical scheme in the implementation of the application is as follows for solving the technical problems:
a medical robot apparatus is provided, which is an apparatus for automatically acquiring medical images by a robot using a remote end.
The radar is utilized, the mobile base realizes autonomous movement, the map is built, the positioning and navigation are realized, and the problem of mobile acquisition is solved.
The method utilizes a plane vision device, a depth vision device, intelligent identification plane information and skeleton and depth information.
Through medical device, medical image, video acquisition device, realize robot remote control, independently gather, solve medical personnel's operating pressure big, gather the numerous scheduling problem of task.
Example 1:
the present invention will be described in further detail with reference to the following examples and fig. 1 and 2, but the present invention is not limited thereto.
A robot main system 101, wherein the robot main system 101 module is configured to connect and control a robot apparatus module, and comprises: the system comprises a voice device 212, a voice module 105, a vision acquisition device 201, a vision recognition module 103, a radar mobile autonomous mapping positioning navigation device and module 108, a machine scanning arm 209, an information verification machine arm 208, an ultrasonic diagnosis and treatment device 203, a medical image video acquisition and sharing module 104, an ultrasonic scanning device 205, a pressure device 106, an information acquisition and reading device 109, a lying position, a pose and an angle adjusting device 107.
The vision acquisition device 201 and the vision recognition module 103 are used for acquiring images, videos and recognizing the images and the videos. The vision acquisition device 201 comprises: planar vision device, depth vision device.
The voice device 212 and the voice module 105 are used for collecting and recognizing voice, voice interaction between users and administrators, and voice inquiry.
Radar autonomous movement, mapping positioning navigation device and module 108, the device comprising: a mobile base 207 and a radar 206 for self-built map self-positioning navigation movement.
The robot arm comprises a machine scanning arm 209 and an information verification robot arm 208, wherein the machine scanning arm 209 is used for acquiring medical images and videos; the information verification robot 208 is used for collecting, scanning, identifying, reading two-dimensional codes, digital codes, characters, identification, biological information, RFID information and patient user information.
The ultrasonic diagnosis and treatment device 203 and the medical image video acquisition and sharing module 104 are used for acquiring medical images, videos, sharing medical images, videos, remote consultation, multi-department combined consultation and image sharing.
The ultrasonic scanning device 205 is used for scanning and acquiring images and videos.
And the pressure device 106 is used for pressing and scanning.
And the information acquisition and reading device 109 is used for scanning, identifying and reading two-dimensional codes, digital codes, characters, marks, biological information, RFID information, patient information and user information.
The horizontal position, pose and angle adjusting device 107 adjusts the position, angle and direction of each scanning task according to the standard scanning requirements.
And the communication modules are respectively connected with the robot main system 101 and the remote client 213 and are used for communication between the remote client and the robot main system 101. The communication module comprises one or more communication modes of a wireless communication module, a Bluetooth communication module, a wired internet communication module, radio frequency communication and radio communication.
Example 2:
the optimization task management system and the medical robot device implementing method of the present invention are as follows:
by using the optimized task management system, a medical care manager arranges time for patients in a plurality of departments and wards and tasks corresponding to each time period of the time, all the tasks are added into the optimized task management system, and the medical robot device receives the tasks distributed by the optimized task management system manager according to the date, the time, the corresponding department and ward.
The administrator user and the expert user log in the optimized task management system, remotely control the robot, manage the respective departments and the robots under the ward jurisdiction, add, modify, delete, inquire and dynamically schedule various tasks of the robot in real time, are connected with a medical treatment area calling system, remotely ask for a doctor, jointly consult and treat patients in the ward jurisdiction, send medical advice information, receive the left messages of the patients and reply the left messages of the patients.
And according to the time periods and the robot tasks corresponding to the time periods, path planning is performed on the tasks by the radar module 108 and the vision module 103 in each time period. And the acquisition action planning module 102, the voice module 105 and the medical image video acquisition module 104 are respectively used for processing different tasks.
The robot utilizes a collection action planning module 102 for action planning when processing collection tasks. The collection steps are as follows:
the robot recognizes the order using the speech device 215, speech synthesis techniques, speech recording, speech to text recognition, etc.
The robot utilizes the position information of the patient, the position information of the patient ward, the department and the bed. The radar 207 navigates autonomously to the patient bed. The robot recognizes the face, five sense organs, features, and their positions using the camera 201 and the vision module 103. The finger, the toe end, the arm joints, and the joint positions are identified. The robot collects images and video shot movements according to the movement planning modules 102 and 109. And returning task completion information to the administrator. If not, the task is moved to the next time period.
Claims (10)
1. A medical robotic device, system and method, characterized in that the medical robotic device comprises:
a robot master system module for connecting and controlling a robotic device module, comprising: the system comprises a voice device, a voice module, a visual acquisition device, a visual recognition module, a radar mobile autonomous mapping positioning navigation device and module, a machine scanning arm and information verification machine arm, an ultrasonic diagnosis and treatment device, a medical image video acquisition and sharing module, an ultrasonic scanning device, a pressure device, an information acquisition and reading device, a lying position, a pose and an angle adjusting device.
The vision acquisition device and the vision identification module are used for acquiring images, videos and identifying the images and the videos. The vision acquisition device comprises: planar vision device, depth vision device.
And the voice device and the voice module are used for collecting and identifying voice, and voice interaction and voice inquiry among users and administrators.
Radar autonomous movement, map building location navigation head and module, the device includes: the mobile base and the radar are used for self-building map and self-positioning navigation movement.
The robot arm comprises a machine scanning arm and an information verification robot arm, and the machine scanning arm is used for acquiring medical images and videos; the information verification robot arm is used for collecting, scanning, identifying and reading two-dimensional codes, digital codes, characters, marks, biological information, RFID information and patient user information.
The ultrasonic diagnosis and treatment device and the medical image video acquisition and sharing module are used for acquiring medical images, videos, sharing medical images, videos, remote consultation, multi-department combined consultation and image sharing.
The ultrasonic scanning device is used for scanning and collecting images and videos.
And the pressure device is used for applying pressure and scanning.
The information acquisition and reading device is used for scanning, identifying and reading the two-dimensional code, the digital code, the characters, the identification, the biological information, the RFID information, the patient information and the user information.
The horizontal position, pose and angle adjusting device adjusts the position, angle and direction of each scanning task according to the standard scanning requirement.
And the communication module is respectively connected with the robot main system and the remote client and is used for communication between the remote client and the robot main system. The communication module comprises one or more communication modes of a wireless communication module, a Bluetooth communication module, a wired internet communication module, radio frequency communication and radio communication.
2. The medical robot device according to claim 1, wherein the remote control and the autonomous control each device, each module, and each node in the medical robot are controlled in a dual mode. And the remote client communicates with the robot main system by using the communication module to control each device. The robot is trained to learn planning actions and adaptively demodulate and set action planning parameters through administrator mediation and setting parameters and a neural network improvement method, and is used for action planning, so that medical images, videos and reading and identifying two-dimensional codes, digital codes, characters, marks, biological information, RFID information, patient information and user information are acquired.
3. The medical robot device of claim 1, wherein a voice device and a voice module are connected to the main robot system for collecting and recognizing voice, and voice interaction between users and administrators and inquiry are performed.
The speech device includes: the voice acquisition device, the voice input device and the voice output device;
the voice module includes: voice recognition, voice-text conversion, voice synthesis, voiceprint recognition, voice instruction and voice guidance functions.
4. The medical robot device according to claim 1, wherein the robot main system is connected to the vision acquisition device for acquiring images, videos and identifying images and videos;
the vision acquisition device comprises: a planar vision device, a depth vision device, an ultrasonic device;
the visual recognition module includes:
the planar image recognition includes: identifying face images and positions, identifying images and positions of five sense organs, identifying characteristic points and positions of a human body, and identifying medical scenes;
the depth image recognition includes: identifying a skeleton image and a position, identifying a joint image and a position, identifying a key joint and a position, identifying a characteristic point and a position of a human body, and identifying a special characteristic and a position of the special characteristic;
the medical image that ultrasonic device gathered, video identification includes: the method comprises the steps of identifying characteristic points of blood vessels, organs, organ shapes, structures, contours and colors scanned by an ultrasonic device, identifying characteristics of diseases, and identifying images and videos acquired by ultrasonic.
5. The medical robot apparatus according to claim 1, wherein the radar autonomous mobile medical scene recognition mapping module,
the radar autonomous mobile medical scene identification mapping module is used for connecting a radar and a vision device with a robot main system,
autonomous positioning, navigation and real-time mapping of radar,
the vision device and the intelligent identification method identify the face and the medical scene, and the medical scene comprises the following steps: letters, numbers, characters and bed numbers of addresses, departments and ward doorplates are fused with radar real-time mapping, and are automatically positioned, navigated and moved to corresponding departments, wards, beds and user positions.
6. The medical robotic device of claim 1, wherein the robotic device comprises a robotic scanning arm and an information verification robotic arm,
the machine scanning arm is connected with the scanning device and the pressure device and is used for acquiring medical images and videos;
the information verification robot arm is connected with the information acquisition device, the information scanning device and the reading device, is connected with the robot main system and the vision device, and is used for acquiring, scanning and reading digital codes, two-dimensional codes, RFID (radio frequency identification device), biological characteristics, intelligent identification reading two-dimensional codes, digital codes, characters, identification, biological information, RFID information and patient user information.
And the horizontal position, the pose and the angle adjusting device are actuated to adjust the position, the angle and the direction of each scanning task of the medical object according to the standard scanning requirement.
7. The medical robot apparatus according to claim 1, wherein the ultrasound diagnosis apparatus and the medical image video capturing and sharing module are connected to the robot host system for remote control and autonomous capturing of medical images, videos, shared medical images, videos, remote consultation and multi-department combined consultation.
8. The medical robot device according to claim 1, wherein the ultrasound probe scanning device and the pressure device are connected to the robot scanning arm and the pressure device, and the robot main system and the remote client control the ultrasound probe scanning device and the robot arm to move, scan, acquire images and videos.
The pressure device is connected with the ultrasonic probe scanning device and the machine scanning arm, the robot main system and the remote client control the pressure device to apply pressure, and the probe scans.
9. The robotic medical device of claim 1, wherein the information verification arm is coupled to the information collection device, the information scanning device, the reading device, the robotic host system, and the vision device for collecting, scanning, reading digital codes, two-dimensional codes, RFID, biometric features, smart identification reading two-dimensional codes, digital codes, text, logos, biological information, RFID information, and patient user information.
The information verification robot arm is connected with the robot main system, the lying position, the pose and the angle adjusting device, and the lying position, the pose and the angle adjusting device are actuated to enable the medical object to adjust the position, the angle and the direction of each scanning task according to the standard scanning requirement.
10. A medical robot apparatus, system and method, characterized in that an optimization task configuration management system includes: a medical robot device, medical care task subsystems of a plurality of departments and 1 calling subsystem are provided, the medical robot device is the medical robot device in any scheme, and the medical care task subsystems and the 1 calling subsystem of all the departments are connected with a robot main control system and built on an optimized task management system platform.
Further, a remote control and autonomous positioning navigation movement, optimization task configuration method, comprising the following steps:
s1, manager, doctor communication module, issuing collection task, time information, position information, order information and service.
And S2, dynamically distributing the tasks to the robot device by using the optimized task configuration method.
Further, the dynamic task allocation method comprises the following steps: a dynamic optimized task configuration and path planning method adopts an optimized method to plan tasks, and aims to finish all tasks in the shortest time. The optimization method comprises the following steps: a genetic calculation method and an improvement method thereof, a tabu search calculation method and an improvement method thereof, a simulated annealing calculation method and an improvement method thereof, an ant colony calculation method and an improvement method thereof, a calculation method for particle beam optimization and an improvement method thereof, a neural network calculation method and an improvement method thereof, an evolution method and an improvement method thereof, and one or more combination methods thereof.
S3, the robot using the communication module, the distributing the patient position information includes: patient ward, outpatient clinic, department, bed position information and radar positioning navigation module subscribe the patient position information and autonomously move to the acquisition area.
And S4, the robot identifies the communication module to publish information service by using the vision module, subscribes the position information service by using the radar positioning navigation module, and autonomously moves to the acquisition area.
S5, the robot issues the acquisition position, task information and time information by using the communication module, the robot arm subscribes the fixing device, acquires the position information, and the action planning module subscribes the position information.
And S6, acquiring ultrasonic data and ultrasonic image action by the robot according to the position information of the step S6 and the action planning module.
And S7, returning task completion information to the administrator. If not, the task is moved to the next time period.
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| CN202110978141.0A CN113858219A (en) | 2021-08-23 | 2021-08-23 | Medical robot device, system and method |
| PCT/CN2022/000120 WO2023024399A1 (en) | 2021-08-23 | 2022-08-18 | Medical robot apparatus, system and method |
| AU2022333762A AU2022333762A1 (en) | 2021-08-23 | 2022-08-18 | Medical robot apparatus, system and method |
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| WO2023167830A1 (en) * | 2022-03-01 | 2023-09-07 | The Johns Hopkins University | Autonomous robotic point of care ultrasound imaging |
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| AU2022333762A1 (en) | 2024-04-11 |
| WO2023024399A1 (en) | 2023-03-02 |
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