CN115349888A - Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation - Google Patents

Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation Download PDF

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Publication number
CN115349888A
CN115349888A CN202211068626.7A CN202211068626A CN115349888A CN 115349888 A CN115349888 A CN 115349888A CN 202211068626 A CN202211068626 A CN 202211068626A CN 115349888 A CN115349888 A CN 115349888A
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CN
China
Prior art keywords
robot
treatment
diagnosis
cardiopulmonary resuscitation
mechanical arm
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Pending
Application number
CN202211068626.7A
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Chinese (zh)
Inventor
陈玉国
高明
徐峰
庞佼佼
王甲莉
王怀震
韩琪
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Qilu Hospital of Shandong University
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Qilu Hospital of Shandong University
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Application filed by Qilu Hospital of Shandong University filed Critical Qilu Hospital of Shandong University
Priority to CN202211068626.7A priority Critical patent/CN115349888A/en
Publication of CN115349888A publication Critical patent/CN115349888A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4405—Device being mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
    • A61H31/004—Heart stimulation
    • A61H31/006—Power driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2230/00—Measuring physical parameters of the user
    • A61H2230/50—Temperature

Abstract

The invention discloses a multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation, which belongs to the technical field of diagnosis and treatment instruments and comprises a machine body, a probe bracket, a remote operation handle and a mechanical arm, wherein the probe bracket is arranged on the side surface of the machine body and is used for placing various replaceable probes; the mechanical arm is arranged at the front end of the machine body, the tail end of the mechanical arm is provided with a probe replacing device, and the probe replacing device is matched with various replaceable probes. Through set up probe change device at the robotic arm end, make the robot can change different probes according to different modes, multiple functions in an organic whole such as integrated diagnosis and treatment and cardiopulmonary resuscitation can assist the doctor to carry out the treatment of pertinence to the patient, improves emergency department's treatment efficiency.

Description

Multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation
Technical Field
The invention belongs to the technical field of diagnosis and treatment instruments, and particularly relates to a multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation.
Background
Cardiopulmonary resuscitation is an emergency technique adopted for patients with cardiac and respiratory arrest, and the diagnosis and treatment of cardiopulmonary resuscitation are important contents for emergency treatment of doctors in order to recover spontaneous respiration and spontaneous circulation. In the implementation process of cardiopulmonary resuscitation, the mechanical equipment is used for effectively pressing the human body from the chest, so that the burden of a first aid doctor can be reduced, and the rescue efficiency of a patient can be improved.
Various diagnosis and treatment equipment is in the market, but the functions are single, the diagnosis and treatment effect is limited, and the special requirements of an emergency room and a ward cannot be met. The existing cardiopulmonary resuscitation robot has single function and poor cardiopulmonary resuscitation effect, and can not meet the various treatment requirements of medical first aid.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation, which integrates multiple functions of diagnosis and treatment, cardio-pulmonary resuscitation and the like, can assist doctors in carrying out targeted treatment on patients, and improves the treatment efficiency of emergency departments.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a multi-functional robot for diagnosing and treating and cardiopulmonary resuscitation, includes organism, probe bracket, teleoperation handle and arm, probe bracket sets up in the organism side for place multiple removable probe, and the one side relative with probe bracket is provided with teleoperation handle on the organism, and teleoperation handle passes through handle bracket to be fixed on the organism.
The mechanical arm is arranged at the front end of the machine body, the tail end of the mechanical arm is provided with the probe replacing device, and the probe replacing device is matched with various replaceable probes, so that the various replaceable probes can be replaced quickly.
Further, the top of organism is provided with mutual display, mutual display passes through rotating base to be fixed on the organism.
The rotating base comprises a supporting rod and an installation rod, one end of the installation rod is connected with the supporting rod, and the other end of the installation rod is connected with the interactive display.
Further, the top of the machine body is also provided with a manual replacing device, and the manual replacing device is connected with the machine body through a flexible hose.
Furthermore, a six-dimensional force sensor is arranged in the tail end of the mechanical arm.
Further, be provided with a plurality of laser radar and a plurality of ultrasonic radar on the organism, laser radar is equipped with 3, is located organism top and organism front end respectively, and the laser radar who is located the organism top passes through the telescopic bracket to be fixed on the organism, ultrasonic radar is equipped with 4, is located organism both sides and organism front end respectively.
Still be provided with a plurality of cameras, the camera is equipped with 2, is to arrange from top to bottom at the organism front end.
Furthermore, the various replaceable probes are respectively a palm-imitating pressing contact, an infrared thermal imager, a human body three-dimensional scanner and an ultrasonic probe.
Furthermore, a chassis is arranged at the bottom of the machine body, four universal wheels are symmetrically arranged on the chassis and connected with the machine body through a universal wheel connecting frame, the two universal wheels positioned at the front end of the machine body are larger than the two universal wheels positioned at the rear end of the machine body, and the two universal wheels positioned at the front end of the machine body are connected with a hub motor.
A plurality of T-shaped fixed foot frames are symmetrically arranged on the chassis and are arranged in a telescopic manner.
Further, the robot can be switched between an ultrasonic diagnosis and treatment mode and a cardio-pulmonary resuscitation mode.
Further, when the robot is switched to the ultrasonic diagnosis and treatment mode, the working method comprises the following steps:
the robot is arranged on the side of a patient bed, a patient is arranged in a horizontal position, the tail end of the mechanical arm is replaced by an ultrasonic probe, force feedback information when the robot is in contact with a human body is acquired through a six-dimensional force sensor arranged in the tail end of the mechanical arm, an operator controls a remote operation handle to adjust different poses of the mechanical arm according to the force feedback information, the pressing depth of different parts of the patient is adjusted in real time, ultrasonic information of all parts of the patient is observed through an interactive display, and ultrasonic examination is effectively carried out on all parts outside the chest of the patient.
Further, when the robot is switched to the cardiopulmonary resuscitation mode, the working method comprises the following steps:
the cardiopulmonary resuscitation robot is placed at the head side of a sickbed, a patient is placed in a horizontal position, the pillow is removed, the clothes button is unfastened, and the waistband is unfastened.
The tail end of the mechanical arm is replaced by a human body three-dimensional scanner to scan a human body to carry out human body structure three-dimensional reconstruction, and cardiopulmonary resuscitation pressing position positioning and pressing depth determining are carried out on different human body shapes.
The tail end of the mechanical arm is replaced by a palm-imitating pressing contact, pressing parameters are adjusted, a T-shaped fixed foot rest at the bottom of the machine body is unfolded, and the palm-imitating pressing contact replaced by the tail end of the mechanical arm presses the chest of a patient during cardio-pulmonary resuscitation.
The tail end of the mechanical arm is replaced by an infrared thermal imager to carry out thermal imaging collection on the skin surface of the patient, so that the peripheral perfusion condition of the patient can be observed, and the cardiopulmonary resuscitation process can be guided.
The invention has the following beneficial effects:
1. according to the invention, the probe replacing device is arranged at the tail end of the mechanical arm, so that the robot can replace different probes according to different modes, and integrates multiple functions of diagnosis and treatment, cardiopulmonary resuscitation and the like, a doctor can be assisted to perform targeted treatment on a patient, and the treatment efficiency of an emergency department is improved.
2. According to the invention, the plurality of laser radars and the plurality of ultrasonic radars are arranged, so that the required environment information perception can be provided for the autonomous movement of the robot, the plurality of cameras are arranged, so that the required visual information perception can be provided for the autonomous movement of the robot, and the collision-free safe autonomous navigation function of the robot is realized through the arrangement of the laser radars, the ultrasonic radars and the cameras.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a left side structure of the robot according to the embodiment of the present invention;
FIG. 3 is a schematic front view of a robot according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of the right side structure of the robot in the embodiment of the present invention;
wherein: 1. a body; 2. a probe holder; 3. remotely operating the handle; 4. a mechanical arm; 5. the probe can be replaced; 5-1, imitating a palm to press a contact; 5-2 infrared thermal imaging instrument; 5-3, a human body three-dimensional scanner; 5-4, an ultrasonic probe; 6. A handle bracket; 7. a probe replacing device; 8. an interactive display; 9. rotating the base; 10. a manual replacement device; 11. a flexible hose; 12. a six-dimensional force sensor; 13. a laser radar; 14. an ultrasonic radar; 15. a telescopic bracket; 16. a camera; 17. a chassis; 18. a universal wheel; 19. a universal wheel connecting frame; 20. a hub motor; 21. a T-shaped fixed foot rest; 22. a cart armrest; 23. and (6) an emergency stop switch.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in the present invention, if any, merely indicate correspondence with the directions of up, down, left and right of the drawings themselves, and do not limit the structure, but merely facilitate the description of the invention and simplify the description, rather than indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.
The term interpretation section: the terms "mounting," "connecting," "fixing," and the like in the present invention should be understood broadly, for example, they may be fixed, detachable, or integrated; the two components can be connected mechanically, electrically, directly or indirectly through an intermediate medium, or connected internally or in an interaction relationship, and the specific meaning of the terms in the present invention can be understood by those skilled in the art according to specific situations.
As introduced in the background art, the existing diagnosis and treatment or cardiopulmonary resuscitation equipment has a single function, and cannot meet the various treatment requirements of medical first aid.
A typical embodiment of the present invention, as shown in fig. 1-4, is a multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation, comprising a body 1, a probe holder 2, a remote operation handle 3 and a mechanical arm 4, wherein the probe holder is arranged at a side of the body and is used for placing a plurality of replaceable probes 5, the probe holder 2 is provided with a plurality of circular through holes adapted to the replaceable probes 5, and the replaceable probes 5 can be inserted into the through holes to fix the replaceable probes 5.
A remote operation handle 3 is arranged on one side of the machine body 1 opposite to the probe support 2, and the remote operation handle 3 is connected with the machine body through a handle support 6.
Teleoperation handle 3 has the force and feels the function, can realize the high accuracy force position hybrid control of arm 4, works as when the robot switches into manual mode, accessible teleoperation handle 3 carries out accurate control to arm 4.
The mechanical arm 4 is arranged at the front end of the machine body 1, the tail end of the mechanical arm 4 is provided with a probe replacing device 7, the probe replacing device 7 is matched with a plurality of replaceable probes 5 placed on the probe bracket 2, and the tail end of the mechanical arm 4 can be rapidly replaced among the plurality of replaceable probes 5 according to different modes.
The top of organism 1 is provided with interactive display 8, interactive display 8 possesses touch function and voice interaction function, can regard as the interactive media of operator and robot, can show all kinds of information that robot body and robot gathered to be equipped with multi-functional virtual button, can realize the mode switch of robot through interactive display.
Mutual display 8 passes through rotating base 9 and links to each other with organism 1, rotating base 9 includes bracing piece and installation pole, the one end of installation pole with the bracing piece links to each other, the other end with mutual display 8 links to each other, can realize mutual display 8's arbitrary angular rotation through rotating base 9.
The top of the machine body 1 is also provided with a manual replacing device 10, the manual replacing device 10 is connected with the machine body 1 through a telescopic hose 11, an operator can manually replace the replaceable probe 5, and manual physical therapy and inspection of the operator on the body of a patient are realized.
A six-dimensional force sensor 12 is arranged in the tail end of the mechanical arm 4, and when the mechanical arm is in contact with a human body, force feedback information is obtained through the built-in six-dimensional force sensor 12.
Be provided with a plurality of laser radar 13 and a plurality of ultrasonic radar 14 on the organism 1, laser radar 13 is provided with threely, is located 1 top of organism and front end respectively, 1 top of organism is provided with a laser radar 13, links to each other with organism 1 through telescopic bracket 15, 1 front end of organism is provided with two laser radar 13, is located the both sides of 1 front end of organism respectively. The number of the ultrasonic radars 14 is four, two of the four are respectively located at the bottoms of two side surfaces of the machine body 1, and the other two are arranged on two sides of the lower portion of the front end of the machine body 1. The lidar 13 and the ultrasonic radar 14 can provide the required environmental information perception for the autonomous movement of the robot.
The robot is characterized in that the machine body 1 is also provided with two cameras 16 which are arranged at the front end of the machine body 1 in an up-down manner, and the cameras 16 provide required visual information perception for autonomous movement of the robot.
The collision-free safe autonomous navigation function of the robot is realized through the arrangement of the laser radar 13, the ultrasonic radar 14 and the camera 16.
The replaceable probes 5 arranged on the probe bracket 2 are respectively a palm-simulated pressing contact 5-1, an infrared thermal imager 5-2, a human body three-dimensional scanner 5-3 and an ultrasonic probe 5-4. The palm-imitating pressing contact 5-1 is used for contacting and pressing with a human body to perform cardio-pulmonary resuscitation on the human body; the infrared thermal imager 5-2 is used for acquiring the surface temperature of the skin of a human body, the human body three-dimensional scanner 5-3 is used for acquiring the three-dimensional morphological characteristics of the human body, and the ultrasonic probe 5-4 is used for contacting with the human body to acquire ultrasonic information of the human body.
The robot comprises a machine body 1 and is characterized in that a chassis 17 is arranged at the bottom of the machine body 1, four universal wheels 18 are symmetrically arranged on the chassis, the universal wheels 18 are connected with the machine body 1 through universal wheel connecting frames 19, the two universal wheels positioned at the front end of the machine body are larger than the two universal wheels positioned at the rear end of the machine body, and the two universal wheels positioned at the front end of the machine body are connected with a hub motor 20 to provide power output required by the robot during autonomous movement.
Still be provided with a plurality of T type fixed foot rest 21 on the chassis 17 symmetrically, T type fixed foot rest 21 is scalable setting, can provide the support when the robot carries out cardiopulmonary resuscitation.
The rear end of the machine body 1 is provided with a cart handrail 22 for manually pushing the robot to transfer.
The side surface of the machine body 1 is also provided with an emergency stop switch 23, so that the robot can be stopped emergently.
The robot provided by the invention can be switched between an ultrasonic diagnosis and treatment mode and a cardio-pulmonary resuscitation mode.
When the mode is switched to the ultrasonic diagnosis and treatment mode to carry out ultrasonic diagnosis and treatment on the patient, the working method comprises the following steps:
the robot is arranged on the side of a patient bed, a patient is arranged in a horizontal position, the ultrasonic probe is replaced at the tail end of the mechanical arm, force feedback information when the robot is in contact with a human body is acquired through a six-dimensional force sensor arranged in the tail end of the mechanical arm, an operator controls a force feedback handle to adjust different poses of the mechanical arm, the pressing depth of different parts of the patient is adjusted in real time, ultrasonic information of all parts of the patient is observed through an interactive display, and ultrasonic examination is effectively carried out on all parts outside the chest of the patient.
When the patient is subjected to cardiopulmonary resuscitation by switching to the cardiopulmonary resuscitation mode, the working method comprises the following steps:
the cardiopulmonary resuscitation robot is arranged at the head side of a sickbed, a patient is arranged in a horizontal position, the pillow is removed, the clothes button is unfastened, and the waistband is unfastened. The tail end of the mechanical arm is replaced by a human body three-dimensional scanner to scan a human body to carry out human body structure three-dimensional reconstruction, and cardiopulmonary resuscitation pressing position positioning and pressing depth determining are carried out on different human body shapes.
The tail end of the mechanical arm is replaced by a palm-imitating pressing contact, pressing parameters are adjusted, manual setting parameters are supported, and the recommended pressing parameters are as follows: positioned 1/3 of the way down the sternum, pressing down on the sternum at a depth of 5cm to 6cm for an adult, releasing all pressure on the chest after each compression without losing mechanical arm contact with the chest, at a frequency of 100 to 120 compressions per minute.
When the cardiopulmonary resuscitation mode is started, the T-shaped fixed foot rest at the bottom of the machine body is automatically unfolded, the machine body is ensured to be free of displacement in the compression implementation process, and the palm-imitating compression contact replaced at the tail end of the mechanical arm is used for performing chest compression on a patient during cardiopulmonary resuscitation. The compression frequency is 100-120 times/min, and the effective cardio-pulmonary resuscitation process is performed on the patient.
In addition, the tail end of the mechanical arm is replaced by an infrared thermal imager, so that thermal imaging collection can be carried out on the skin surface of the patient, the peripheral perfusion condition of the patient can be observed, and the cardiopulmonary resuscitation process can be guided.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation is characterized by comprising a robot body, a probe bracket, a remote operation handle and a mechanical arm, wherein the probe bracket is arranged on the side surface of the robot body and used for placing various replaceable probes;
the mechanical arm is arranged at the front end of the machine body, the tail end of the mechanical arm is provided with a probe replacing device, and the probe replacing device is matched with various replaceable probes.
2. The multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation of claim 1, wherein an interactive display is provided on a top of the body, and the interactive display is fixed on the body by a rotating base;
the rotating base comprises a supporting rod and an installation rod, one end of the installation rod is connected with the supporting rod, and the other end of the installation rod is connected with the interactive display.
3. The multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation of claim 1, wherein said body top further has a manual exchange device, said manual exchange device is connected to said body through a flexible tube.
4. The multifunctional robot for diagnosis, treatment and cardiopulmonary resuscitation according to claim 1, wherein a six-dimensional force sensor is built in a tip of the robot arm.
5. The multi-functional robot for diagnosis, treatment and cardiopulmonary resuscitation according to claim 1, wherein the body is provided with a plurality of lidar and a plurality of ultrasonic radars, the number of lidar is 3, the lidar is respectively located at the top of the body and the front end of the body, the lidar is connected with the body through a telescopic bracket, the number of ultrasonic radars is 4, the lidar is respectively located at two sides of the body and the front end of the body;
still be provided with a plurality of cameras, the camera is equipped with 2, is arranging from top to bottom at the organism front end.
6. The multi-function robot for diagnosis and treatment and cardiopulmonary resuscitation of claim 1, wherein the plurality of replaceable probes are a palm-like press contact, an infrared thermal imager, a human body three-dimensional scanner, and an ultrasonic probe, respectively.
7. The multifunctional robot for diagnosis, treatment and cardiopulmonary resuscitation according to claim 1, wherein a chassis is disposed at a bottom of the machine body, four universal wheels are symmetrically disposed on the chassis, the universal wheels are connected to the machine body through a universal wheel connecting frame, two universal wheels at a front end of the machine body are larger than two universal wheels at a rear end of the machine body, and two universal wheels at the front end of the machine body are connected to a hub motor;
still the symmetry is provided with a plurality of T type fixed foot rests on the chassis, T type fixed foot rest is scalable setting.
8. The multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation of claim 1, wherein the robot is switchable between an ultrasound diagnosis and treatment mode and a cardiopulmonary resuscitation mode.
9. The multifunctional robot for diagnosis, treatment and cardiopulmonary resuscitation according to claim 8, wherein when switching to the ultrasound diagnosis and treatment mode, the operation method comprises:
the robot is arranged on the side of a patient bed, a patient is arranged in a horizontal position, the tail end of a mechanical arm is replaced by an ultrasonic probe, force feedback information when the robot is in contact with a human body is acquired through a six-dimensional force sensor arranged in the tail end of the mechanical arm, an operator controls a remote operation handle to adjust different poses of the mechanical arm according to the force feedback information, the pressing depth of different parts of the patient is adjusted in real time, ultrasonic information of all parts of the patient is observed through an interactive display, and ultrasonic examination is effectively carried out on all parts outside the chest of the patient.
10. The multifunctional robot for diagnosis and treatment and cardiopulmonary resuscitation of claim 8, when switching to the cardiopulmonary resuscitation mode, the operation method is:
placing the cardiopulmonary resuscitation robot at the head side of a sickbed, placing a patient in a horizontal position, removing a pillow, unfastening a clothes button, and loosening a waistband;
the tail end of the mechanical arm is replaced by a human body three-dimensional scanner to scan a human body to carry out human body structure three-dimensional reconstruction, and cardiopulmonary resuscitation pressing position positioning and pressing depth determining are carried out on different human body shapes;
replacing the tail end of the mechanical arm with a palm-simulated pressing contact, adjusting pressing parameters, unfolding a T-shaped fixed foot rest at the bottom of the machine body, and performing chest pressing on the patient during cardiopulmonary resuscitation through the palm-simulated pressing contact replaced at the tail end of the mechanical arm;
the tail end of the mechanical arm is replaced by an infrared thermal imager to carry out thermal imaging collection on the skin surface of the patient, so that the peripheral perfusion condition of the patient is observed, and the cardiopulmonary resuscitation process is guided.
CN202211068626.7A 2022-09-02 2022-09-02 Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation Pending CN115349888A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211068626.7A CN115349888A (en) 2022-09-02 2022-09-02 Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211068626.7A CN115349888A (en) 2022-09-02 2022-09-02 Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation

Publications (1)

Publication Number Publication Date
CN115349888A true CN115349888A (en) 2022-11-18

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Application Number Title Priority Date Filing Date
CN202211068626.7A Pending CN115349888A (en) 2022-09-02 2022-09-02 Multifunctional robot for diagnosis and treatment and cardio-pulmonary resuscitation

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116643268A (en) * 2023-04-23 2023-08-25 中国医学科学院北京协和医院 Cardiopulmonary resuscitation pressing detection evaluation method and system based on millimeter wave radar

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116643268A (en) * 2023-04-23 2023-08-25 中国医学科学院北京协和医院 Cardiopulmonary resuscitation pressing detection evaluation method and system based on millimeter wave radar
CN116643268B (en) * 2023-04-23 2024-03-22 中国医学科学院北京协和医院 Cardiopulmonary resuscitation pressing detection evaluation method and system based on millimeter wave radar

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