CN116019479A - Intelligent auscultation system and intelligent auscultation method - Google Patents
Intelligent auscultation system and intelligent auscultation method Download PDFInfo
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- CN116019479A CN116019479A CN202111253173.0A CN202111253173A CN116019479A CN 116019479 A CN116019479 A CN 116019479A CN 202111253173 A CN202111253173 A CN 202111253173A CN 116019479 A CN116019479 A CN 116019479A
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Abstract
The invention relates to an intelligent auscultation system and an intelligent auscultation method. This intelligence auscultation system includes: an autonomous navigation vehicle configured to: performing autonomous navigation and path planning according to the target position, and moving to the target position; an electronic auscultation assembly located on the autonomous navigation vehicle, the electronic auscultation assembly comprising an electronic stethoscope configured to: collecting audio signals of an auscultation area; the multi-degree-of-freedom automation device is connected with the electronic auscultation assembly and is configured to: moving the electronic stethoscope to the auscultation area; an audio analysis system in communication with the electronic auscultation assembly, the audio analysis system configured to: and acquiring an audio signal acquired by the electronic stethoscope, and obtaining a diagnosis result according to the audio signal. By utilizing the intelligent auscultation system to auscultate a patient, the accuracy of auscultation results is improved while the safety of medical staff is ensured.
Description
Technical Field
The invention relates to the field of medical auscultation, in particular to an intelligent auscultation system and an intelligent auscultation method.
Background
Stethoscopes are important tools for medical staff to perform medical work, and users can know the conditions of internal organs of patients requiring diagnosis by means of the sound amplifying function of the stethoscopes. The existing acoustic stethoscope can listen to physiological sounds such as heart sounds, lung sounds, borborygmus sounds and the like of a human body.
Detecting relevant heart symptoms and diagnosing based on sounds heard through a stethoscope is a skill that takes years to build up to gain and become proficient in terms of clinician expertise. Different doctors have inconsistent skill levels, inconsistent experience and inconsistent auscultation capability, and misjudgment on the illness state can occur, so that treatment of patients is delayed.
In addition, new coronaries of recent two years are sudden and increasingly severe, are not well inhibited worldwide, and many medical staff are infected due to too close contact with patients during diagnosis or treatment, and the patients can unfortunately be infected due to cross-walking in public areas.
Disclosure of Invention
Based on the above problems, it is necessary to provide an intelligent auscultation system and an intelligent auscultation method.
An intelligent auscultation system, comprising: an autonomous navigation vehicle configured to: performing autonomous navigation and path planning according to the target position, and moving to the target position; an electronic auscultation assembly located on the autonomous navigation vehicle, the electronic auscultation assembly comprising an electronic stethoscope configured to: collecting audio signals of an auscultation area; the multi-degree-of-freedom automation device is connected with the electronic auscultation assembly and is configured to: moving the electronic stethoscope to the auscultation area; an audio analysis system in communication with the electronic auscultation assembly, the audio analysis system configured to: and acquiring an audio signal acquired by the electronic stethoscope, and obtaining a diagnosis result according to the audio signal.
When the intelligent auscultation system is used for auscultation operation of a patient, medical staff is not required to participate in the auscultation operation, infectious disease infection caused by contact between the medical staff and the patient can be avoided, inaccuracy of diagnosis results caused by difference of experience and auscultation capacity of the medical staff on site can be avoided, safety of the medical staff is guaranteed, and accuracy of auscultation results is improved.
In one embodiment, the multiple degree of freedom automation device comprises a control device and a multi-joint mechanical arm; the control device is configured to: and controlling the multi-joint mechanical arm to move, so that the electronic auscultation assembly realizes the pose movement with six degrees of freedom in space.
The control device can realize the pose movement of the electronic stethoscope with six degrees of freedom in space by adjusting the pose of the multi-joint mechanical arm, and can conveniently adjust the pose of the electronic stethoscope according to the body pose of a patient, thereby achieving the optimal auscultation pose and ensuring the quality of the acquired audio signals.
In one embodiment, an electronic stethoscope includes: the device comprises an audio signal acquisition unit, an analog-to-digital conversion unit and a signal transmission unit; the audio signal acquisition unit is in contact with the auscultation area and is configured to: collecting an audio signal; the analog-to-digital conversion unit is connected with the audio signal acquisition unit and is configured to: converting the audio signal into a digital signal; the signal transmission unit is connected with the analog-to-digital conversion unit and is configured to: the digital signal is transmitted to an audio analysis system.
The electronic stethoscope converts the collected physiological audio signals such as heart and lung and the like into digital signals and transmits the digital signals to the audio analysis system, so that the audio analysis system can conveniently perform later data processing, such as data storage, data analysis and data comparison, and further objective and accurate diagnosis results are obtained.
In one embodiment, the electronic auscultation assembly further comprises: a touch force detection sensor; the touch force detection sensor is configured to: detecting a real-time contact force between the electronic stethoscope and the auscultation area, and transmitting the real-time contact force to the control device; the control device is further configured to: and adjusting the pose of the multi-joint mechanical arm according to the real-time contact force so as to keep the real-time contact force constant.
According to the intelligent auscultation system, the contact force between the electronic stethoscope and the auscultation area is detected, and the contact force is adjusted in real time, so that the constant contact force is maintained, the stability of audio signal acquisition is ensured, and the stability and reliability of the acquired audio data are ensured.
In one embodiment, the electronic auscultation assembly further comprises: an image recognition device; the image recognition device is configured to: identifying auscultation areas, acquiring position information of the auscultation areas, and sending the position information to a control device; the control device is further configured to: and controlling the multi-joint mechanical arm to move the electronic stethoscope to the auscultation area according to the position information.
By adopting the image recognition device to intelligently recognize the auscultation area, not only is the doctor prevented from touching the patient's body in person, but also the possibility of acquisition errors of heart and lung audio signals caused by unreasonable placement of the stethoscope due to lack of parents of medical experience or other non-professional operators is avoided, and the accuracy of audio signal acquisition is improved; meanwhile, the physical privacy of the patient can be protected, and the psychological burden is reduced.
In one embodiment, the audio analysis system is configured to: and comparing the audio signals with an audio database in the network cloud platform to obtain a diagnosis result.
By comparing the collected audio signals with an audio database in the network cloud platform, diagnosis result deviation caused by inconsistent auscultation capacity can be avoided, and objectivity and accuracy of the diagnosis result are ensured.
In one embodiment, an audio analysis system includes: a display device; the display device is configured to: and displaying the audio signal and the diagnosis result.
By arranging the display device in the audio analysis system, the diagnosis result can be displayed in the display device in real time, so that a patient can check the diagnosis result in time and know the health condition of the patient.
In one embodiment, the intelligent auscultation system further comprises: a remote expert diagnostic system configured to: and remotely acquiring an audio signal, and obtaining a diagnosis result according to the audio signal.
When the audio analysis system cannot obtain the diagnosis result, the remote diagnosis can be performed through the remote expert diagnosis system, namely, the collected audio signals are remotely sent to the remote expert diagnosis system, and the remote expert analyzes the audio signals to obtain more accurate and more specialized diagnosis results.
In one embodiment, a remote expert diagnostic system includes: a remote control system and a remote screen display system; wherein the remote control system is communicatively coupled to the control device, the remote control system configured to: transmitting a remote control instruction to a control device so as to move the electronic stethoscope to an auscultation area and collect audio signals; the remote screen system is in communication with the audio analysis system, the remote screen system configured to: an audio signal is received and played/displayed.
Through the remote control system, a remote expert can take over the control right of the intelligent auscultation system, remotely controls the electronic stethoscope to carry out auscultation and audio signal acquisition, and transmits the acquired audio signal to the remote screen display system to be displayed or played, so that the expert can conveniently diagnose according to the audio signal. The method can avoid contact between doctors and patients and solve the problem that the audio analysis system cannot obtain the diagnosis result.
The application also discloses an intelligent auscultation method, which comprises the following steps: receiving a diagnostic request signal; determining a target position according to the diagnosis request signal; moving the electronic stethoscope to a target position based on the autonomous navigation vehicle; autonomously identifying an auscultation area and determining position information of the auscultation area; placing an electronic stethoscope on the auscultation area based on the position information; collecting an audio signal; a diagnostic result is obtained based on the audio signal.
According to the intelligent auscultation method, medical staff is not required to participate in the field, infectious disease infection caused by contact between the medical staff and a patient can be avoided, inaccuracy of diagnosis results caused by difference of experience and auscultation capacity of the medical staff in the field can be avoided, safety of the medical staff is guaranteed, and accuracy of auscultation results is improved.
In one embodiment, capturing an audio signal includes: monitoring a contact force between the electronic stethoscope and the auscultation area; controlling the contact force to be kept in a preset interval; an audio signal is acquired.
In one embodiment, obtaining a diagnostic result based on an audio signal includes: converting the audio signal into a digital signal; the digital signal is sent to an audio analysis system, and the audio analysis system analyzes the digital signal to obtain a diagnosis result; and displaying the diagnosis result.
In one embodiment, when the audio analysis system cannot obtain the diagnosis result, the method further comprises: the digital signal is sent to a remote expert diagnostic system, which analyzes the digital signal based on the remote expert diagnostic system and obtains a diagnostic result.
In one embodiment, when the audio analysis system cannot obtain the diagnosis result, the method further comprises: redetermining the auscultation area by a remote expert diagnostic system; remotely controlling the electronic stethoscope to move to a redetermined auscultation area, and acquiring an audio signal again; a diagnostic result is obtained based on the re-acquired audio signal.
Drawings
Fig. 1 is a schematic diagram of a working scenario of the intelligent auscultation system according to an embodiment of the present application.
Fig. 2 is a schematic structural diagram of the intelligent auscultation system in an embodiment of the present application.
Fig. 3 is a schematic structural diagram of the intelligent auscultation system according to another embodiment of the present application.
Fig. 4 is a schematic structural diagram of a smart auscultation system according to another embodiment of the present application.
Fig. 5 is a schematic diagram of a working scenario of the intelligent auscultation system according to another embodiment of the present application.
Fig. 6 is a flow chart of a method of intelligent auscultation in an embodiment of the present application.
The drawings are marked with the following description: 1. an autonomous navigation vehicle; 2. an audio analysis system; 3. an automated device with multiple degrees of freedom; 4. an electronic auscultation assembly; 41. an electronic stethoscope 42, a touch force detection sensor; 43. an image recognition device; 5. a patient; 6. auscultation area; 10. a remote expert diagnostic system; 11. a remote screen display system; 12. a remote control system.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
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. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Where the terms "comprising," "having," and "including" are used herein, another component may also be added unless explicitly defined as such, e.g., "consisting of … …," etc. Unless mentioned to the contrary, singular terms may include plural and are not to be construed as being one in number.
An embodiment of the present application provides an intelligent auscultation system, and fig. 1 is a schematic diagram of a working scenario of the intelligent auscultation system. This intelligence auscultation system includes: autonomous navigation vehicle 1, autonomous navigation vehicle 1 is configured to: performing autonomous navigation and path planning according to the target position, and moving to the target position; an electronic auscultation assembly 4 located on the autonomous navigation vehicle 1, the electronic auscultation assembly 4 comprising an electronic stethoscope 41, the electronic stethoscope 41 being configured to: collecting audio signals of the auscultation area 6; a multiple degree of freedom automation device 3 connected to the electronic auscultation assembly 4, the multiple degree of freedom automation device 3 being configured to: moving the electronic stethoscope component 4, moving the electronic stethoscope 41 to the auscultation area 6; an audio analysis system 2 in communication with the electronic auscultation assembly 4, the audio analysis system 2 being configured to: an audio signal acquired by the electronic stethoscope 41 is acquired, and a diagnosis result is obtained from the audio signal.
Illustratively, the autonomous navigation vehicle 1 may include, but is not limited to, an AGV (Automated Guided Vehicle). The autonomous navigation vehicle 1 may be equipped with self-driven wheel sets, autonomous navigation devices, and various types of sensors, and may perform autonomous indoor positioning, navigation, space path planning, autonomous obstacle avoidance, movement, and the like. The autonomous navigation device can perform path planning and autonomous navigation according to the position of the patient 5, and is used for providing path information and navigation information for the autonomous navigation vehicle 1. Various types of sensors may be used for autonomous obstacle avoidance, spatial positioning, and the like. As an example, the autonomous navigation vehicle 1 moves to the position of the patient 5 according to the route information and the navigation information provided by the autonomous navigation apparatus by driving the self-driving wheel group.
Illustratively, the autonomous navigation vehicle 1 is mounted with a multi-degree-of-freedom automation device 3 and an electronic auscultation module 4. Wherein the electronic stethoscope component 4 comprises an electronic stethoscope 41, and the electronic stethoscope 41 can be used for collecting audio signals of the auscultation area 6 on a patient. The electronic stethoscope 41 amplifies the body sound by electronic technology, and filters the audio signal by effective signal filtering, thereby overcoming the problem of high noise of the acoustic stethoscope. The auscultation area 6 may be, for example, a heart site, a lung site or other body site. The multiple degree of freedom automation device 3 is connected to the electronic auscultation assembly 4 for moving the electronic auscultation assembly 4 to move the electronic stethoscope 41 to the auscultation area 6.
Illustratively, the autonomous navigation vehicle 1 is further equipped with an audio analysis system 2. The audio analysis system 2 is communicatively coupled to the electronic stethoscope component 4 to acquire audio signals captured by the electronic stethoscope 41. In addition, the audio analysis system 2 may also compare the collected audio signal with a local audio database stored in the audio analysis system 2, or with an audio database in a network cloud platform. A large amount of case information is stored in the local audio database and the audio database in the network cloud platform, and each piece of case information comprises audio data and diagnosis information corresponding to the audio data. By comparing the audio signals collected by the electronic stethoscope 41 with a local audio database or an audio database in a network cloud platform, the diagnosis result of the current patient 5 can be obtained quickly and accurately, and the diagnosis method is more scientific and reasonable, avoids deviation of the diagnosis result caused by inconsistent auscultation capability or insufficient experience of medical staff, and improves objectivity and accuracy of the diagnosis result.
When the intelligent auscultation system is used for auscultation operation of a patient 5, medical staff is not required to participate in the auscultation operation, so that infectious disease infection caused by contact between the medical staff and the patient can be avoided, and the doctor is safer; and the inaccuracy of the diagnosis result caused by the difference of experience and auscultation capability of on-site medical staff can be avoided. Therefore, the intelligent auscultation system improves the accuracy of auscultation results while guaranteeing the safety of medical staff.
In one embodiment, the multiple degree of freedom automation device 3 includes a control device and a multi-joint robotic arm. Optionally, the multiple degree of freedom automation device 3 may further comprise a cooperative mechanical arm. Wherein the control device may be configured to: the multi-joint mechanical arm is controlled to move, so that the electronic auscultation assembly 4 can realize the pose movement with six degrees of freedom in space. Alternatively, the multiple degree of freedom automation device 3 may be any automation device capable of achieving a spatial six-freedom pose movement. According to the multi-degree-of-freedom automatic device 3, the electronic auscultation assembly 4 can realize the spatial six-degree-of-freedom pose movement by adjusting the pose of the mechanical arm, so that the pose of the electronic stethoscope 41 can be conveniently adjusted according to the body pose of a patient, the optimal auscultation pose can be realized, and the quality of the acquired audio signal is improved.
In one embodiment, the electronic stethoscope 41 includes: the device comprises an audio signal acquisition unit, an analog-to-digital conversion unit and a signal transmission unit; the audio signal acquisition unit is contacted with the auscultation area 6 to acquire audio signals of the auscultation area 6; the analog-to-digital conversion unit is connected with the audio signal acquisition unit to convert the audio signal into a digital signal; the signal transmission unit is connected to the analog-to-digital conversion unit for transmitting the digital signal to the audio analysis system 2.
The electronic stethoscope 41 converts the collected physiological audio signals such as heart and lung and the like into digital signals and transmits the digital signals to the audio analysis system 2, so that the audio analysis system 2 can conveniently perform later data processing, such as data storage, data analysis and data comparison, and further objective and accurate diagnosis results can be obtained.
In one embodiment, as shown in fig. 2, the electronic auscultation assembly 4 further comprises: a touch force detection sensor 42; the touch force detection sensor 42 is configured to: detecting a real-time contact force between the electronic stethoscope 41 and the auscultation area 6 and transmitting the real-time contact force to the control device; the control device is further configured to: and adjusting the pose of the multi-joint mechanical arm according to the real-time contact force so as to keep the real-time contact force constant.
For example, the touch force detection sensor 42 may be a pressure sensor. The touch force detection sensor 42 sends the real-time touch force between the electronic stethoscope 41 and the auscultation area 6 to the control device, and the control device actively adjusts the pose of the multi-joint mechanical arm according to the received change condition of the real-time touch force, so as to adjust the pose of the electronic stethoscope 41, thereby ensuring the constant touch force between the electronic stethoscope 41 and the auscultation area 6 in the auscultation process and improving the authenticity and accuracy of the acquired heart-lung audio signals.
For example, a contact force variation threshold is further provided in the control device, and the control device adjusts the pose of the multi-joint mechanical arm only when the real-time contact force variation exceeds the contact force variation threshold, so as to keep the contact force between the electronic stethoscope 41 and the auscultation area 6 constant.
According to the intelligent auscultation system, the contact force between the electronic stethoscope 41 and the auscultation area 6 is detected, and the contact force is adjusted in real time, so that the constant contact force is maintained, the stability of audio signal acquisition is ensured, and the stability and reliability of the acquired audio data are ensured.
In one embodiment, as shown in fig. 3, the electronic auscultation assembly 4 further comprises: an image recognition device 43; the image recognition device 43 is configured to: identifying the auscultation area 6, acquiring the position information of the auscultation area 6, and sending the position information to a control device; the control device is further configured to: the electronic stethoscope 41 is moved to the auscultation area 6 according to the position information.
The image recognition device 43 may include a high definition camera, for example. The body part of the patient 5 is shot by the high-definition camera, the auscultation area 6 is determined after the shot picture is subjected to image recognition, and the phenomenon that the acquisition of heart-lung audio signals is influenced due to the fact that medical staff lack of medical experience causes an error auscultation area 6 can be avoided. Further, after determining the auscultation area 6, the image recognition device 43 sends the position information of the auscultation area 6 to the control device, and the control device adjusts the pose of the multi-joint mechanical arm according to the received position information, so as to move the electronic stethoscope 41 to the auscultation area 6 for auscultation, thereby improving the accuracy of audio signal acquisition.
By adopting the intelligent auscultation system to carry out auscultation, under the condition of improving the identification accuracy of the auscultation area 6, medical staff is prevented from personally contacting the body of the patient 5, the body privacy of the patient 5 can be protected, the psychological burden of the patient 5 is reduced, the transmission of infectious diseases can be prevented, and cross infection between the medical staff and the patient 5 is prevented.
In one embodiment, the audio analysis system 2 comprises a display device. The display device is configured to: and displaying the audio signal and the diagnosis result. The audio analysis system 2 obtains a diagnosis result by comparing and analyzing the acquired audio signal with the audio signal in the case database. In order to intuitively and rapidly display the diagnosis result to the patient 5, a display device may be provided in the audio analysis system 2, so that the audio signal and the diagnosis result are displayed in the display device in real time, so that the patient can check in time and learn about the health condition of the patient. The display device may be an LED display screen, for example.
In one embodiment, as shown in fig. 4, the intelligent auscultation system further comprises: remote expert diagnostic system 10, the remote expert diagnostic system 10 is configured to: and remotely acquiring an audio signal, and obtaining a diagnosis result according to the audio signal.
By way of example, the audio analysis system 2 is equipped with a wireless transmission module, and can send audio signals to the remote expert diagnosis system 10 through a 5G/WIFI wireless network, so that audio signals acquired by the electronic stethoscope 41 are displayed to doctors or specialists in other places for diagnosis, for example, doctors in other cities, doctors in different hospitals in the same city, and doctors in other rooms in the same hospital. Because of the limitation of the audio database, when there is no audio signal similar to or identical to the audio signal currently collected in the audio database, the audio analysis system 2 cannot obtain the diagnosis result, and at this time, the remote expert diagnosis system 10 can perform remote diagnosis, and the real doctor analyzes and diagnoses the collected audio signal to obtain a more accurate and professional diagnosis result.
In one embodiment, with continued reference to FIG. 4, the remote expert diagnostic system 10 includes: a remote control system 12 and a remote screen system 11. Wherein the remote control system 12 is communicatively connected to the control device, the remote control system 12 being configured to: transmitting a remote control instruction to the control device to move the electronic stethoscope 41 to the auscultation area 6, and collecting audio signals; the remote on-screen system 11 is in communication with the audio analysis system 2, the remote on-screen system 11 being configured to: an audio signal is received and played/displayed.
For example, when the audio analysis system 2 is unable to obtain a diagnostic result, the audio signal may be sent to the remote screen system 11 (e.g., in the form of a digital signal) via a wireless network. After the remote screen display system 11 receives the audio signal in the form of a digital signal, the audio signal can be directly displayed on the remote screen display system 11 for a remote expert to observe, analyze or compare, and can also be externally displayed in the form of sound or played through an earphone, so that the remote expert can intuitively hear the audio signal.
Illustratively, the remote expert may also take over control of the intelligent auscultation system via the remote control system 12 when the audio analysis system 2 is unable to obtain the diagnostic result. As an example, the control device is also provided with a wireless communication module, and may receive a remote control command sent by the remote control system 12 through a 5G/WIFI wireless network or the like. As an example, the image recognition means 43 may also transmit the photographed picture to the remote screen system 11 for display via a wireless network, and the remote expert re-determines the auscultation area 6 based on the photographed picture. After the auscultation area 6 is redetermined, the remote expert sends a remote control instruction to the control device through the remote control system 12 to adjust the pose of the multi-joint mechanical arm, moves the electronic stethoscope 41 to the redetermined auscultation area 6, re-collects audio signals, and performs diagnosis according to the newly collected audio signals.
Through the remote control system 12, a remote expert can take over the control right of the intelligent auscultation system, remotely control the electronic stethoscope 41 to perform auscultation and audio signal acquisition, and transmit the acquired audio signal to the remote screen display system 11 to be displayed or played, so that the expert can conveniently diagnose according to the audio signal, doctors and patients are prevented from being in the spot, the time consumed in the processes of on-road and queuing for diagnosis is reduced, and in addition, the problem that the audio analysis system 2 cannot obtain diagnosis results is solved.
One embodiment of the present application also discloses an intelligent auscultation method, as shown in fig. 6. The intelligent auscultation method comprises the following steps:
s11: receiving a diagnostic request signal;
s12: determining a target position according to the diagnosis request signal;
s13: moving the electronic stethoscope 41 to a target position based on the autonomous navigation vehicle 1;
s14: autonomously identifying the auscultation area 6 and determining position information of the auscultation area 6;
s15: based on the position information, placing the electronic stethoscope 41 in the auscultation area 6;
s16: collecting an audio signal;
s17: a diagnostic result is obtained based on the audio signal.
For example, in step S11 and step S12, when the patient 5 needs to perform cardiopulmonary diagnosis or performs routine cardiopulmonary diagnosis according to the daily medical treatment schedule of the doctor, the patient 5 may press the calling board to issue a diagnosis request signal, and after receiving the diagnosis request signal, the intelligent auscultation system determines the position of the patient 5 according to the diagnosis request signal. Optionally, the intelligent auscultation system may also actively set a card reminder according to the appointment information and determine the location of the patient 5 according to the appointment information.
In step S13, the autonomous navigation vehicle 1 may perform route planning and navigation based on the position of the patient 5, moving the electronic stethoscope 41 to the position where the patient is located. Optionally, the autonomous navigation vehicle 1 may be provided with a voice playing function for prompting the patient to expose the approximate area to be auscultated. Illustratively, the autonomous navigation vehicle 1 may include, but is not limited to, an AGV (Automated Guided Vehicle). The autonomous navigation vehicle 1 may be equipped with self-driven wheel sets, autonomous navigation devices, and various types of sensors, and may perform autonomous indoor positioning, navigation, space path planning, autonomous obstacle avoidance, movement, and the like.
In step S14, the image recognition of the exposed area of the patient may be performed by the image recognition device 43 to obtain the position information of the auscultation area 6. For example, the image recognition device 43 may include a high-definition camera, and the high-definition camera may take a picture of the patient, and perform image recognition based on the picture of the patient, so as to determine the accurate auscultation area 6 and the position information thereof.
In step S15, the device for moving the electronic stethoscope 41 may be, for example, the multi-degree-of-freedom automation device 3. The multi-degree-of-freedom automation device 3 includes a control device and a multi-joint mechanical watch. The position information of the auscultation area 6 can be sent to the control device. The control device generates a pose adjustment command of the mechanical arm according to the position information, and adjusts the pose of the multi-joint mechanical arm so as to place the electronic stethoscope 41 in the auscultation area 6. Optionally, the control device can control the multi-joint mechanical arm to realize the pose movement with six degrees of freedom in space.
In step S16, after the electronic stethoscope 41 is placed in the auscultation area 6, a step of collecting audio signals is performed. For example, the step of acquiring the audio signal may comprise:
s161: the contact force between the electronic stethoscope 41 and the auscultation area 6 is monitored.
For example, a touch force monitoring sensor (e.g., a pressure sensor) may be provided at the interface of the electronic stethoscope 41 and the auscultation area 6 to measure the touch force between the electronic stethoscope 41 and the auscultation area 6. The contact force signal is sent to the control device in real time.
S162: the control contact force is maintained at a preset interval.
S163: an audio signal is acquired.
For example, a contact force variation threshold value may be set in the control device. When the variation of the contact force exceeds the contact force variation threshold, the control device actively adjusts the pose of the multi-joint mechanical arm to ensure that the contact force between the electronic stethoscope 41 and the auscultation area 6 is always kept in a preset interval. The stability of the audio signal acquisition process can be ensured by controlling the contact force to be kept in a preset interval, so that the acquired audio data is more stable and reliable.
In step S17, after the audio signal is acquired, a diagnosis result may be acquired based on the audio signal. The method comprises the following specific steps:
s171: the audio signal is converted into a digital signal.
For example, an analog-to-digital conversion module may be employed to convert the acquired audio signal to a digital signal.
S172: the digital signal is transmitted to the audio analysis system 2, and the digital signal is analyzed by the audio analysis system 2 to obtain a diagnosis result.
The electronic stethoscope 41 is illustratively connected to the audio analysis system 2 through an analog-to-digital conversion module. After the audio analysis system 2 receives the audio signal in the form of the digital signal, the audio signal is compared with an audio database in the network cloud, and a large number of case audio data are stored in the audio database. When an audio signal similar to or identical to the collected audio signal is identified, the audio signal is recorded as a diagnostic audio signal, and diagnostic information corresponding to the diagnostic audio signal is acquired as a diagnostic result. Optionally, the audio analysis system 2 may be further provided with a local audio library, in which a certain amount of case audio data is also stored, in order to perform autonomous diagnosis in a broken network state.
S173: and displaying the diagnosis result.
For example, the diagnosis result may be displayed in real time through a display screen, so that the patient 5 can learn about the health condition thereof in time.
According to the intelligent auscultation method, the acquired physiological audio signals such as heart and lung are converted into digital signals and then transmitted to the audio analysis system 2, so that the audio analysis system 2 can perform later data processing, such as data storage, data analysis and data comparison, and more objective and accurate diagnosis results are obtained. And in time, the diagnosis result is displayed to the patient for checking, so that the patient can quickly and conveniently know the health condition of the patient.
In one embodiment, when the audio analysis system 2 cannot obtain the diagnosis result, it further includes: the digital signal is transmitted to the remote expert diagnostic system 10, and the digital signal is analyzed based on the remote expert diagnostic system 10, and a diagnostic result is obtained.
For example, the audio analysis system 2 may transmit digital signals to the remote expert diagnostic system 10 through a 5G/WIFI wireless network, and display audio signals acquired by the electronic stethoscope 41 to doctors or experts in other places for diagnosis via the remote expert diagnostic system 10. Because of the limitation of the audio database, when there is no audio signal similar to or identical to the audio signal currently collected in the audio database, the audio analysis system 2 cannot obtain the diagnosis result, and at this time, the remote expert diagnosis system 10 can perform remote diagnosis, and the real doctor analyzes and diagnoses the collected audio signal to obtain a more accurate and professional diagnosis result.
In one embodiment, when the audio analysis system 2 cannot obtain the diagnosis result, it further includes:
s181: redetermining the auscultation area 6 by the remote expert diagnostic system 10;
s182: remotely controlling the electronic stethoscope 41 to move to the redetermined auscultation area 6, and re-acquiring the audio signal;
s183: a diagnostic result is obtained based on the re-acquired audio signal.
In step S181, the image captured by the image recognition device 43 may be transmitted to the remote screen system 11 through the wireless network to be displayed, and the remote expert re-determines the auscultation area 6 according to the captured image. To further improve the accuracy of the auscultation area 6 and avoid unreasonable placement of the electronic stethoscope 41 due to inaccurate identification of the auscultation area 6.
In step S182, for example, a remote control command may be sent to the control device of the mechanical arm through a wireless network (for example, 5G or WIFI), and the control device adjusts the pose of the mechanical arm according to the remote control command, so as to adjust the pose of the electronic stethoscope 41 at the tail end of the mechanical arm, and move the electronic stethoscope 41 to the redetermined auscultation area 6, so as to perform audio signal acquisition.
In step S183, the audio signal collected by the electronic stethoscope 41 may be converted into a digital signal and transmitted to the remote expert diagnostic system 10 through a wireless network, for example. By way of example, a remote expert diagnostic system 10 is provided with a remote on-screen system 11, through which audio signals in the form of digital signals can be displayed by the remote on-screen system 11 for viewing, comparing and analyzing of the audio signals by a remote expert. Optionally, the audio signal can be played through the external device or the earphone, so that a remote expert can intuitively hear the audio signal, and the specificity and accuracy of the diagnosis result are improved.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (14)
1. An intelligent auscultation system, comprising:
an autonomous navigation vehicle configured to: performing autonomous navigation and path planning according to a target position, and moving to the target position;
an electronic auscultation assembly located on the autonomous navigation vehicle, the electronic auscultation assembly comprising an electronic stethoscope configured to: collecting audio signals of an auscultation area;
a multiple degree of freedom automation device coupled to the electronic auscultation assembly, the multiple degree of freedom automation device configured to: moving the electronic stethoscope component to move the electronic stethoscope to the auscultation area;
an audio analysis system in communication with the electronic auscultation component, the audio analysis system configured to: and acquiring an audio signal acquired by the electronic stethoscope, and obtaining a diagnosis result according to the audio signal.
2. The intelligent auscultation system of claim 1, wherein the multiple degree of freedom automated device comprises: a control device and a multi-joint mechanical arm;
the control device is configured to: and controlling the multi-joint mechanical arm to move, so that the electronic auscultation assembly realizes the pose movement with six degrees of freedom in space.
3. The intelligent auscultation system of claim 1, wherein the electronic stethoscope includes: the device comprises an audio signal acquisition unit, an analog-to-digital conversion unit and a signal transmission unit;
the audio signal acquisition unit is in contact with the auscultation area and is configured to: collecting the audio signal;
the analog-to-digital conversion unit is connected with the audio signal acquisition unit and is configured to: converting the audio signal into a digital signal;
the signal transmission unit is connected with the analog-to-digital conversion unit and is configured to: transmitting the digital signal to the audio analysis system.
4. The intelligent auscultation system of claim 2, wherein the electronic auscultation assembly further comprises: a touch force detection sensor;
the touch force detection sensor is configured to: detecting a real-time contact force between the electronic stethoscope and the auscultation area, and transmitting the real-time contact force to the control device;
the control device is configured to: and adjusting the pose of the multi-joint mechanical arm according to the real-time contact force so that the real-time contact force is kept constant.
5. The intelligent auscultation system of claim 4, wherein the electronic auscultation assembly further comprises: an image recognition device;
the image recognition device is configured to: identifying the auscultation area, acquiring the position information of the auscultation area, and sending the position information to the control device;
the control device is further configured to: and controlling the multi-joint mechanical arm to move the electronic stethoscope to the auscultation area according to the position information.
6. The intelligent auscultation system of claim 1, wherein the audio analysis system is configured to: and comparing the audio signal with an audio database in the network cloud platform to obtain a diagnosis result.
7. The intelligent auscultation system of claim 6, wherein the audio analysis system includes: a display device;
the display device is configured to: and displaying the audio signal and the diagnosis result.
8. The intelligent auscultation system of any of claims 1-7, further comprising: a remote expert diagnostic system configured to: and remotely acquiring the audio signal, and obtaining a diagnosis result according to the audio signal.
9. The intelligent auscultation system of claim 8, wherein the remote expert diagnostic system includes: a remote control system and a remote screen display system;
wherein the remote control system is communicatively connected to the control device, the remote control system configured to: transmitting a remote control instruction to the control device so as to move the electronic stethoscope to the auscultation area and collect the audio signal;
the remote on-screen system is communicatively coupled to the audio analysis system, the remote on-screen system configured to: the audio signal is received and played/displayed.
10. An intelligent auscultation method, comprising:
receiving a diagnostic request signal;
determining a target position according to the diagnosis request signal;
moving the electronic stethoscope to the target position based on the autonomous navigation vehicle;
autonomously identifying auscultation areas and determining location information of the auscultation areas;
placing the electronic stethoscope in the auscultation area based on the location information;
collecting an audio signal;
and obtaining a diagnosis result based on the audio signal.
11. The intelligent auscultation method of claim 10, wherein the acquiring the audio signal includes:
monitoring a contact force between the electronic stethoscope and the auscultation area;
controlling the contact force to be kept in a preset interval;
the audio signal is acquired.
12. The intelligent auscultation method of claim 10, wherein the obtaining a diagnostic result based on the audio signal includes:
converting the audio signal into a digital signal;
the digital signal is sent to an audio analysis system, and the audio analysis system analyzes the digital signal to obtain the diagnosis result;
and displaying the diagnosis result.
13. The intelligent auscultation method of claim 12, further comprising, when the audio analysis system is unable to derive a diagnostic result:
and sending the digital signal to a remote expert diagnosis system, analyzing the digital signal based on the remote expert diagnosis system, and obtaining a diagnosis result.
14. The intelligent auscultation method of claim 12, further comprising, when the audio analysis system is unable to obtain a diagnostic result:
redetermining the auscultation area by a remote expert diagnostic system;
remotely controlling the electronic stethoscope to move to the redetermined auscultation area, and acquiring an audio signal again;
and acquiring a diagnosis result based on the re-acquired audio signal.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117017339A (en) * | 2023-08-02 | 2023-11-10 | 齐鲁工业大学(山东省科学院) | Automatic auscultation method for mechanical arm |
| CN117017339B (en) * | 2023-08-02 | 2024-04-30 | 齐鲁工业大学(山东省科学院) | Automatic auscultation method for mechanical arm |
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2021
- 2021-10-27 CN CN202111253173.0A patent/CN116019479A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117017339A (en) * | 2023-08-02 | 2023-11-10 | 齐鲁工业大学(山东省科学院) | Automatic auscultation method for mechanical arm |
| CN117017339B (en) * | 2023-08-02 | 2024-04-30 | 齐鲁工业大学(山东省科学院) | Automatic auscultation method for mechanical arm |
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