CN115640921B - Method and system for planning transportation path of critical patient in hospital - Google Patents
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Abstract
The invention discloses a method and a system for planning a transfer path of a critical patient in a hospital, wherein the method comprises the following steps: evaluating and grading the condition of the patient; acquiring coordinates of a starting point and an ending point; acquiring the passing efficiency of each area and channel in the hospital; planning a transportation path of the critical patient by combining a plurality of algorithms; and adjusting the transit route according to the critical patient assessment grade. The invention adopts a multistage path planning strategy, performs different functional area division on the whole area, performs preliminary path planning on the whole area, further selects different path planning algorithms to perform internal path planning on the different attributes of the areas which are performed in each passing area, and determines the path planning in each area; the improvement of the efficiency and the precision of the path planning is realized, the transfer path of the critical patient is quantitatively planned, the actual passing efficiency and other conditions are combined, the transfer path is planned, the improvement of the transfer efficiency of the patient is realized, and the transfer time is reduced.
Description
Technical Field
The invention relates to the field of path planning, in particular to a method and a system for planning a transfer path of a critical patient in a hospital.
Background
The emergency department is a place for emergency treatment of hospitals, the patient to be treated is critical, urgent and complex in illness state, life danger possibly occurs at any time, and after preliminary first-aid treatment is given, most patients need to be transferred to a professional department to receive further diagnosis and treatment. The critical patients in the emergency department are important in daily work of the emergency department, the patients are in a movable state, various potential safety hazards easily occur in the process, the conditions are easy to change, the adverse events such as dyspnea are induced, and the patients die in severe cases, and the hazard is extremely high. How to transfer the patient at the fastest speed plays a vital role in the treatment of critical patients.
The existing hospital generally transfers critical patients according to a fixed route according to manual experience, and the transferring mode is mechanized, and the problem of transferring speed in different occasions is not considered, so that the transferring speed is influenced, and the optimization of the transferring speed cannot be realized.
Disclosure of Invention
(one) solving the technical problems
In order to solve the technical problems, the invention provides a method and a system for planning a transfer path of a critical patient in a hospital, which realize the transfer of the critical patient with different condition grades and improve the transfer speed by organically combining a plurality of path planning algorithms.
(II) technical scheme
In order to solve the technical problems and achieve the aim of the invention, the invention is realized by the following technical scheme:
an intra-hospital critical patient transfer path planning method comprises the following steps:
evaluating and grading the condition of the patient;
acquiring coordinates of a starting point and an ending point, wherein the starting point is the position of a patient, the ending point is the position of a patient transfer destination, and the position is determined by medical staff;
obtaining the traffic conditions of each area and the passage people stream in the hospital, the operation busyness of the elevator, the fixed barrier and the movable barrier, and obtaining the passing efficiency of the minimum unit path;
planning a transportation path of the critical patient by combining a plurality of algorithms;
and adjusting the transit route according to the critical patient assessment grade.
Further, the assessment grade is classified into 1-3 grades according to the criticality, and corresponding transportation personnel and equipment are provided according to the grading standard.
Further, the criticality is as follows:
the patients of level 1 are chronic, the vital signs are stable, and no artificial airway support and vasoactive drug treatment exist;
level 2 patients have clinical problems that may be life threatening, and vital signs are relatively stable after corresponding medical support is adopted;
patients of grade 3 have clinical problems endangering life at any time, and vital signs remain still after corresponding medical support.
Further, the path planning step includes:
dividing areas; dividing different functional areas of the hospital based on a map of the whole hospital area of the hospital, and determining a plurality of different functional areas;
performing preliminary path planning according to the starting point and the ending point, and confirming the area where the optimal path passes;
and selecting different path planning algorithms to carry out internal path planning according to different attributes of different areas, and determining the path planning in each area.
Further, the preliminary path planning is performed based on an a-algorithm.
Further, for areas with fewer obstacles, an improved ant colony algorithm is adopted to conduct internal path planning, and for areas with more obstacles, an improved RRT algorithm is adopted to conduct internal path planning.
Further, the improved ant colony algorithm realizes a planning scheme for the transportation requirement of critical patients according to the competition relationship of the transportation requirements of different departments; the positive feedback is carried out between the transportation demands of critical patients belonging to the same department through pheromones, and the mutual inhibition is carried out between the transportation demands of critical patients belonging to different departments through pheromones.
Further, the improved ant colony algorithm includes:
setting n relevant departments of the target hospital as k respectively 1 、k 2 …k n The pheromone concentration corresponding to the time t is r (t, 1), r (t, 2), r (t, 3) … r (t, m), wherein m is more than or equal to 1 and less than or equal to n, and the pheromone belongs to the ant colony k i The transition probability of ant a of (a) moving from position a to position B is expressed as:
wherein ,rij (t, m) is the pheromone of ant colony m on path i, j at time t, q ij (t, m) is the degree of excavation of the ant colony m on the paths i, j at the moment t, which is determined by the transportation requirement; alpha and beta are respectively the change factors,
for other purposesThe sum of the inhibition factors of the ant colony on the ant colony selection path is calculated as follows:
further, the step length adjustment mode of the improved RRT algorithm expansion is as follows:
when the search fails at the next point, the step size is adjusted to:
otherwise, the step size is unchanged.
The invention also provides a system for planning the transfer path of the critical patient in the hospital, which is characterized by comprising the following steps:
the terminal equipment is used for acquiring the positions of the starting point and the ending point of the patient;
a grade assessment module for grading the criticality of the patient condition;
the traffic efficiency acquisition module is used for acquiring traffic efficiency of each area and the condition of the traffic of a channel, the operation busyness of an elevator, fixed obstacles and movable obstacles in the hospital and acquiring the minimum unit path;
the path planning module is used for planning the transportation path of the critical patient by combining different algorithms;
and the real-time adjustment module is used for adjusting the transfer route in real time according to the state of the patient.
(III) beneficial effects
The beneficial effects of the invention are as follows:
(1) According to the invention, the transfer path of the critical patient is quantitatively planned, and the transfer path is planned in combination with the actual passing efficiency and other conditions, so that the improvement of the transfer efficiency of the patient is realized, and the transfer time is reduced.
(2) The invention adopts a multistage path planning strategy, performs different functional area division on the whole area, performs preliminary path planning on the whole area, further selects different path planning algorithms to perform internal path planning on the different attributes of the areas which are performed in each passing area, and determines the path planning in each area; the efficiency and the precision of path planning are improved.
(3) According to the method, for the areas with fewer obstacles and the areas with more obstacles, different algorithms are adopted to conduct internal path planning, so that the comprehensive calculation speed and accuracy of the algorithm are improved, and the waste of calculation resources is avoided.
(4) According to the method, an ant colony algorithm is improved, a planning scheme for transferring requirements of critical patients is realized according to competition relation of transferring requirements of different departments, forward feedback is carried out between transferring requirements of critical patients belonging to the same department through pheromones, and mutual inhibition is carried out between transferring requirements of critical patients belonging to different departments through pheromones.
(5) The invention improves the RRT algorithm, adopts the modes of changing step length and increasing sampling points, and improves the searching efficiency of the algorithm.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute an undue limitation to the application. In the drawings:
fig. 1 is a flow chart of a method for planning a transfer path of a critical patient in a hospital according to an embodiment of the present application.
Detailed Description
Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present disclosure will become readily apparent to those skilled in the art from the following disclosure, which describes embodiments of the present disclosure by way of specific examples. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. The disclosure may be embodied or practiced in other different specific embodiments, and details within the subject specification may be modified or changed from various points of view and applications without departing from the spirit of the disclosure. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concepts of the disclosure by way of illustration, and only the components related to the disclosure are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
Referring to fig. 1, a method for planning a transfer path of a critical patient in a hospital comprises the following steps:
s1: evaluating and grading the condition of the patient;
the uncertainty of the transfer quantity and the illness critical degree of emergency patients determines the difficulty of emergency resource allocation and the importance of resource optimization, and the emergency resources in the dynamic environment are rapidly and effectively allocated by graded transfer.
The invention carries out comprehensive classification according to the vital signs, respiratory cycle support and other contents of the patient, is classified into 1-3 grades according to the critical degree, and is provided with corresponding transportation personnel and equipment according to the classification standard.
The patients of level 1 are chronic, the vital signs are stable, and no artificial airway support and vasoactive drug treatment exist;
level 2 patients have clinical problems that may be life threatening, and vital signs are relatively stable after corresponding medical support is adopted;
patients of grade 3 have clinical problems endangering life at any time, and vital signs remain still after corresponding medical support.
Further, patients with grade 1 GCS scores >12 points; grade 2 patients score GCS 9-12; grade 3 patients had GCS scores < 9.
S2: acquiring coordinates of a starting point and an ending point, wherein the starting point is the position of a patient, the ending point is the position of a patient transfer destination, and the position is determined by medical staff;
s3: and obtaining the traffic conditions of each area and the passage people flow in the hospital, the operation busyness of the elevator, the fixed obstacle and the movable obstacle, and obtaining the passing efficiency of the minimum unit path.
The traffic efficiency is calculated as follows:
wherein ,Te For passing efficiency, z 0 Is an obstacle influence coefficient, which is related to a fixed obstacle and a moving obstacle; d, d l Is the busyness of the elevator.
S4: and planning the transportation path of the critical patient by combining different algorithms.
The functions of all areas of the hospital are different, and the passing efficiency, the number of obstacles and the working time are different correspondingly, so that different path planning modes are selected based on all areas of the hospital. The specific planning mode comprises the following steps:
s41: dividing areas; dividing different functional areas of the hospital based on a map of the whole hospital area of the hospital, and determining a plurality of different functional areas;
s42: performing preliminary path planning according to the starting point and the ending point, and confirming the area where the optimal path passes;
further, the import and export positions of each region are obtained, and preliminary path planning is conducted based on an A-algorithm.
The algorithm A can quickly obtain global path information, can well cope with simple environments with static obstacles only, is suitable for preliminary path planning of the invention, has lower requirements for obstacle avoidance in the preliminary path planning based on the invention, and has higher real-time requirements for the algorithm, so that the invention improves the traditional algorithm A, improves the searching speed, and has the following specific planning modes:
considering the actual path dissipation from the starting point to the current node, the expression is:
f(n)＝g(n)+μh(n)
wherein g (n) is the path dissipation actually paid from the starting point to the intermediate node, h (n) is the path dissipation actually paid from the intermediate node to the end point, namely, a heuristic function, and mu is a dynamic parameter for adjusting the search speed. Wherein path dissipation is determined in combination with the traffic efficiency of the respective zones.
The searching speed is regulated through dynamic parameters, so that the algorithm can be dynamically regulated, the searching speed is accelerated and the calculating speed and accuracy of the algorithm are improved under a simpler environment.
S43: selecting different path planning algorithms to carry out internal path planning according to different attributes of different areas, and determining path planning in each area;
specifically, for a region with fewer obstacles, an improved ant colony algorithm is adopted to conduct internal path planning, and for a region with more obstacles, an improved RRT algorithm is adopted to conduct internal path planning.
The method belongs to the optimization problem for patient transfer in hospitals, improves the patient transfer speed under the condition of limited transportation resources, and plays an important role in saving the lives of patients.
The need to consider the demand of transfer equipment in various areas of a hospital for transferring critical patients, so as to reasonably and effectively allocate equipment resources to the areas; for example, the demand for transfer equipment and the demand equipment for critical patients may be different for different areas of a hospital, such as a hospital department and an outpatient department, different departments.
Meanwhile, the inherent peer-to-peer characteristics of different areas of each hospital are different, and the road resistances passing through the areas are different due to the different flow rates of people in the different areas;
furthermore, the need for transporting critical patients at different times is also significantly different, for example during the night, the need for transport in emergency departments is significantly higher than in other departments. The probability of transitioning from position a to position B at different times can thus be determined based on the change in time t.
The ant colony algorithm is improved according to the influence factors, and the improved ant colony algorithm is obtained:
s431: improved ant colony algorithm
The invention improves the ant colony algorithm by the following ideas: according to the competition relationship of the transportation demands of different departments, a planning scheme for the transportation demands of critical patients is realized. The positive feedback is carried out between the transportation demands of critical patients belonging to the same department through pheromones, and the mutual inhibition is carried out between the transportation demands of critical patients belonging to different departments through pheromones.
Setting n relevant departments of the target hospital as k respectively 1 、k 2 …k n The pheromone concentration corresponding to the time t is r (t, 1), r (t, 2), r (t, 3) … r (t, m), wherein m is more than or equal to 1 and less than or equal to n, and the pheromone belongs to the ant colony k i The transition probability of ant a of (a) moving from position a to position B is expressed as:
wherein ,rij (t, m) is the pheromone of ant colony m on path i, j at time t, q ij (t, m) is the degree of excavation of the ant colony m on the paths i, j at the moment t, which is determined by the transportation requirement; alpha and beta are respectively the change factors,
the sum of the inhibition factors of other ant colony pairs on the selected path of the ant colony is calculated as follows:
therefore, the plurality of transfer demands can be restrained on the same path, so that the congestion of the path caused by the plurality of transfer demands on the same path can be effectively prevented.
S432: improved RRT algorithm
The conventional RRT algorithm includes the following steps:
a. in the space map, a random tree T is initialized, and a starting point X is a starting point s Order ofPunctuation X e Initial bias probability p, initial step size lambda 0 ；
b. Random sampling point X is generated by adopting uniform sampling mode rand ；
c. Traversing the random tree to find the random sampling point X rand Point X nearest to near ；
d. Calculating random sampling points X rana With the nearest point X near A distance therebetween; determining random sampling point X rand With the nearest point X near A direction vector therebetween;
e. along the nearest point X near To random sampling point X rand Direction expansion to obtain a new point X new The expanded step length is lambda;
f. detection of X new And X is near If there is an obstacle, discarding the point, returning to step b, otherwise, taking X new Adding a random tree, adding X near Set as X new Is a parent node of (a);
g. if the target point is X new And (3) if the distance between the target point and the target point meets the requirement and no collision occurs, completing planning, otherwise, returning to the step b to continue searching. If the iteration number is exceeded, the search is ended.
Conventional RRT algorithms can cause difficulty in node tree growth if encountering many obstacles near the starting point, and the resulting paths tend to be only feasible paths rather than optimal paths due to the randomness of the RRT algorithm sampling. Thus, the present invention improves upon conventional RRT algorithms. The improvement mode is as follows:
1) In order to accelerate the jump of the exploration tree out of the local minimum area and improve the path planning efficiency, the invention adopts a self-adaptive step length adjusting mode, and the expanded step length adjusting mode is as follows:
when the search fails at the next point, the step size is adjusted to:
otherwise, the step size is unchanged.
2) In step b, when the node is extended, the conventional RRT algorithm only randomly generates one sampling point each time, and determines the relationship between the distance from the new sampling point to the target point and the step length each time, so as to determine whether the target point is reached.
Based on the traditional RRT algorithm, the invention is improved to generate k sampling points in a mode of growing a plurality of nodes, wherein the number k of the generated sampling points is selected as follows:
k＝int(k 0 d(X rand1 ,X s ))
wherein ,Xrand1 For the position, k, of the first sample point generated randomly 0 To adjust the coefficients.
By adopting the sampling mode, the number of the sampling points is determined according to the first sampling point position, and the larger the distance between the first sampling point and the starting point is, the more the number of the sampling points is.
S5: real-time adjustment of a transit route based on patient status
Judging whether other transfer plans exist on the transfer path selected in the step S4, if so, comparing the critical patient evaluation level of the transfer requirement with the evaluation level of the patient of the other transfer plans, and if the critical patient evaluation level of the transfer requirement is higher than the patient of the other transfer plans, occupying the transfer path and notifying other transfer terminals; if the critical patient assessment level of the transfer requirement is lower than that of other transfer planning patients, marking the path as an unoccupied path, and re-planning; if the critical patient assessment level of the diversion need is the same as the patient level of other diversion plans, the diversion path is occupied at the same time.
In the embodiment, the transportation path of the critical patient is quantitatively planned, and the transportation path is planned in combination with the actual passing efficiency and other conditions, so that the transportation efficiency of the patient is improved, and the transportation time is reduced. The method comprises the steps of dividing the whole area into different functional areas, carrying out preliminary path planning on the whole area, further carrying out internal path planning on the areas which are carried out in each passing area by according to different attributes, and determining the path planning in each area; the efficiency and the precision of path planning are improved. For areas with fewer obstacles and areas with more obstacles, different algorithms are adopted to conduct internal path planning, so that the comprehensive calculation speed and accuracy of the algorithm are improved, and the waste of calculation resources is avoided. The ant colony algorithm is improved, a planning scheme for transferring requirements of critical patients is realized according to competition relation of transferring requirements of different departments, forward feedback is carried out between transferring requirements of critical patients belonging to the same department through pheromones, and mutual inhibition is carried out between transferring requirements of critical patients belonging to different departments through pheromones. The RRT algorithm is improved, and the searching efficiency of the algorithm is improved by adopting a mode of changing step length and increasing sampling points.
The embodiment of the invention also provides a system for planning the transfer path of the critical patient in the hospital, which comprises the following steps:
the terminal equipment is used for acquiring the positions of the starting point and the ending point of the patient;
a grade assessment module for grading the criticality of the patient condition;
the traffic efficiency acquisition module is used for acquiring traffic efficiency of each area and the condition of the traffic of a channel, the operation busyness of an elevator, fixed obstacles and movable obstacles in the hospital and acquiring the minimum unit path;
the path planning module is used for planning the transportation path of the critical patient by combining different algorithms;
and the real-time adjustment module is used for adjusting the transfer route in real time according to the state of the patient.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (6)
1. A method for planning a transfer path of a critical patient in a hospital, comprising the steps of:
s1: evaluating and grading the condition of the patient;
s2: acquiring coordinates of a starting point and an ending point, wherein the starting point is the position of a patient, the ending point is the position of a patient transfer destination, and the position is determined by medical staff;
s3: obtaining the traffic conditions of each area and the passage people stream in the hospital, the operation busyness of the elevator, the fixed barrier and the movable barrier, and obtaining the passing efficiency of the minimum unit path;
s4: planning a transportation path of the critical patient by combining a plurality of algorithms;
the step S4 further includes:
s41: dividing areas; dividing different functional areas of the hospital based on a map of the whole hospital area of the hospital, and determining a plurality of different functional areas;
s42: performing preliminary path planning according to the starting point and the ending point, and confirming the area where the optimal path passes;
s43: selecting different path planning algorithms to carry out internal path planning according to different attributes of different areas, and determining path planning in each area;
the step S43 further includes: for areas with fewer obstacles, adopting an improved ant colony algorithm to conduct internal path planning, and for areas with more obstacles, adopting an improved RRT algorithm to conduct internal path planning;
the improved ant colony algorithm realizes a planning scheme for the transportation requirements of critical patients according to the mutual competition relationship of the transportation requirements of different departments; positive feedback is carried out between the transportation demands of critical patients belonging to the same department through pheromones, and mutual inhibition is carried out between the transportation demands of critical patients belonging to different departments through pheromones;
the improved ant colony algorithm comprises:
setting n relevant departments of the target hospital as k respectively 1 、k 2 …k n Pheromone corresponding to time tThe concentrations are r (t, 1), r (t, 2), r (t, 3) … r (t, m), respectively, where
Then belongs to the ant colony k i The transition probability of ant a of (a) moving from position a to position B is expressed as:
wherein ,
for the pheromone of the ant colony m on the paths i, j at the moment t,/>
The excavation degree of the ant colony m on the paths i and j at the moment t is determined by the transfer requirement; />
、/>
Respectively, change factors>
The sum of the inhibition factors of other ant colony pairs on the selected path of the ant colony is calculated as follows:
s5: and adjusting the transit route according to the critical patient assessment grade.
2. The method for planning a transportation path for critical patients in hospital according to claim 1, wherein in step S1, the transportation personnel and equipment are classified into 1-3 stages according to the critical degree, and the transportation personnel and equipment are provided according to the classification standard.
3. The method of planning a patient transfer path in hospital according to claim 2, wherein the patient is a patient
The patients of level 1 are chronic, the vital signs are stable, and no artificial airway support and vasoactive drug treatment exist;
level 2 patients have clinical problems that may be life threatening, and vital signs are relatively stable after corresponding medical support is adopted;
patients of grade 3 have clinical problems endangering life at any time, and vital signs remain still after corresponding medical support.
4. The method of planning a transportation path for a critical patient in a hospital according to claim 3, wherein the step S42 further comprises: and carrying out the preliminary path planning based on an A-algorithm.
5. The method of claim 4, wherein the step size adjustment of the modified RRT algorithm extension is:
when the search fails at the next point, the step size is adjusted to:
otherwise, the step length is unchanged;
wherein , 
for random sampling points, +.>
For +.>
The nearest point>
Is the nearest point along the line->
To random sampling point->
Direction expansion, the new point obtained; d (x 1, x 2) is the distance between points x1 and x 2.
6. A system employing the method of planning a transfer path for a critical patient in a hospital as claimed in any of claims 1 to 5, comprising:
the terminal equipment is used for acquiring the positions of the starting point and the ending point of the patient;
a grade assessment module for grading the criticality of the patient condition;
the traffic efficiency acquisition module is used for acquiring traffic efficiency of each area and the condition of the traffic of a channel, the operation busyness of an elevator, fixed obstacles and movable obstacles in the hospital and acquiring the minimum unit path;
the path planning module is used for planning the transportation path of the critical patient by combining different algorithms;
and the real-time adjustment module is used for adjusting the transfer route in real time according to the state of the patient.
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| WO2021189720A1 (en) * | 2020-03-23 | 2021-09-30 | 南京理工大学 | Parking agv route planning method based on improved ant colony algorithm |
| CN114253215A (en) * | 2021-11-30 | 2022-03-29 | 电子科技大学 | Automatic drilling and riveting path planning method for civil aircraft door based on improved ant colony algorithm |
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