CN212553873U

CN212553873U - Medical robot based on real-time VR and somatosensory control

Info

Publication number: CN212553873U
Application number: CN202022542376.9U
Authority: CN
Inventors: 梁涛; 杨凯; 武滨; 刘佳希; 苏士鹏; 杨淏宇
Original assignee: Hebei University of Technology
Current assignee: Hebei University of Technology
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-02-19
Anticipated expiration: 2030-11-06

Abstract

The utility model discloses a medical robot based on control is felt with body to real-time VR, including medical robot, body sense controlgear, host computer, system's power, wireless communication module, embedded controller, two mesh cameras, head cloud platform, six degree of freedom arms, running gear, body temperature measurement module, voice communication module, smart mobile phone, VR glasses, body sense control gloves, computer, body sense equipment power module, medical robot power module, body sense equipment host system and pulley. This medical care robot based on control is felt with body to real-time VR adopts wearable body to feel equipment and carries out remote control, through the motion of feeling walking and the arm of controlling the walking of medical care robot of two kinds of mode control of control gloves, through the synchronous rotation of built-in gyroscope control head cloud platform of smart mobile phone, compares the interactivity that other non-remote control robots have improved, remote control such as other handles of contrast simultaneously, visual sensing, the operation is simpler, the design is humanized.

Description

Medical robot based on real-time VR and somatosensory control

Technical Field

The utility model relates to a medical care device specifically is a medical care robot based on control is felt with body to real-time VR.

Background

In 2020, the novel coronavirus is spread in a large area in the global scope, medical and health appliances are in short supply in a medical system, the quantity of medical workers is in short supply, the infection risk of the medical workers is high, the medical workers are inconvenient to move when wearing thick protective clothing, and the working efficiency is reduced. Meanwhile, the medical care and living care of the ordinary infectious disease patients are always a difficult problem, and most of the patients in the infectious disease wards have pathogenic bacteria, so that the danger coefficient is increased for the medical staff to visit the wards, deliver the medicines and observe the conditions of the patients in real time.

The medical care work can be completed by the remote-controlled intelligent robot. However, the existing multifunctional robot can only simply execute the existing program, cannot be remotely controlled, and lacks the interactivity and control flexibility of medical care personnel and patients. Although some intelligent robots can realize good interaction, the operation mode is complex, and the control mode is not humanized. Moreover, most of the current medical robots acquire two-dimensional video pictures, which cannot show the real effect of three-dimensional pictures, so that medical staff have errors when looking over wards or patients.

Therefore, based on the problems, a medical robot based on real-time VR and somatosensory control is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a medical robot based on control is felt with body in real time VR for solving above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose: a medical robot based on real-time VR and somatosensory control comprises a medical robot, somatosensory control equipment, an upper computer and a system power supply, wherein the medical robot comprises an embedded controller, a binocular camera, a head holder, a six-degree-of-freedom mechanical arm, a walking mechanism, a body temperature detection module and a voice communication module;

the host computer includes computer, smart mobile phone and VR glasses, during the smart mobile phone packed into the VR glasses, the system power includes body sensing equipment power module and medical care robot power module, medical care robot's bottom is provided with the pulley.

Preferably, the computer is used for receiving and displaying the body temperature information of the patient collected by the body temperature detection module, and the body temperature detection module is an infrared temperature sensor.

Preferably, the embedded controller is arranged inside the medical robot and connected to the wireless communication module, the embedded controller is connected with the head holder, the six-degree-of-freedom mechanical arm and the walking mechanism, and the embedded controller is set as an STM32 single chip microcomputer.

Preferably, the voice communication module comprises a VS1053MP3 module, a speaker and a 24L01 wireless communication module, and the voice communication module is arranged inside the medical robot.

Preferably, the somatosensory control glove is connected to the somatosensory equipment main control module, and the somatosensory equipment main control module is connected with the wireless communication module.

Preferably, the smart phone is connected to the VR glasses, and the smart phone is connected with the head holder through the wireless communication module.

Compared with the prior art, the utility model discloses possess following beneficial effect:

1. this medical robot based on control is felt with body to real-time VR, medical robot adopts wearable body to feel equipment and carries out remote control, through the motion of feeling walking and the arm of controlling the walking of medical robot of two kinds of mode control of control gloves, through the synchronous rotation of built-in gyroscope control head cloud platform of smart mobile phone, compare the interactivity that other non-remote control robots have improved, remote control such as other handles of contrast simultaneously, visual sensing, the operation is simpler, the design is humanized.

2. This medical care robot based on control is felt with body to real-time VR, use real-time VR technique, medical care robot is equipped with two mesh cameras gather two mesh video streams and show it in the smart mobile phone, places the smart mobile phone and watches the effect of realizing the three-dimensional picture in VR glasses, and two-dimensional picture for other robot transmission is more true, have the third dimension, simultaneously, for panoramic VR image, the cost is lower, and the device is more succinct.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic diagram of the overall system structure of the present invention.

Fig. 3 is the utility model discloses a body sense controlgear schematic diagram.

In the figure: 1. a medical robot; 2. a somatosensory control device; 3. an upper computer; 4. a system power supply; 5. a wireless communication module; 6. an embedded controller; 7. a binocular camera; 8. a head pan-tilt; 9. a six-degree-of-freedom mechanical arm; 10. a traveling mechanism; 11. a body temperature measuring module; 12. a voice communication module; 13. a smart phone; 14. VR glasses; 15. a somatosensory control glove; 16. a computer; 17. a power supply module of the motion sensing device; 18. a medical robot power module; 19. the motion sensing device comprises a motion sensing device main control module; 20. a pulley.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 3, a medical robot based on real-time VR and somatosensory control comprises a medical robot 1, a somatosensory control device 2, an upper computer 3 and a system power supply 4, wherein the computer 16 is used for receiving and displaying patient temperature information acquired by a body temperature detection module 11, the body temperature detection module 11 is provided as an infrared temperature sensor, the medical robot 1 comprises an embedded controller 6, a binocular camera 7, a head holder 8, a six-degree-of-freedom mechanical arm 9, a walking mechanism 10, the body temperature detection module 11 and a voice communication module 12, the embedded controller 6 is arranged inside the medical robot 1 and connected to a wireless communication module 5, the embedded controller 6 is connected with the head holder 8, the six-degree-of-freedom mechanical arm 9 and the walking mechanism 10, the embedded controller 6 is provided as an STM32 single chip microcomputer, the somatosensory control device 2 comprises a smart phone 13, VR glasses 14 and somatosensory control gloves 15, the voice communication module 12 comprises a VS1053MP3 module, a loudspeaker and a 24L01 wireless communication module, the voice communication module 12 is arranged inside the medical robot 1, the somatosensory control glove 15 controls the six-degree-of-freedom mechanical arm 9, the head holder 8 is controlled to rotate by the smart phone 13, the upper computer 3 comprises a computer 16, the smart phone 13 and VR glasses 14, the somatosensory control glove 15 is connected with a somatosensory device main control module 19, the somatosensory device main control module 19 is connected with the wireless communication module 5, the smart phone 13 is arranged in VR glasses 14, the system power supply 4 comprises a body sensing device power supply module 17 and a medical robot power supply module 18, smart mobile phone 13 is connected in VR glasses 14, smart mobile phone 13 passes through wireless communication module 5 and connects head cloud platform 8, medical robot 1's bottom is provided with pulley 20.

The working principle is as follows: when the medical robot based on real-time VR and somatosensory control is used, a power switch of the medical robot 1 is turned on, the smart phone 13 and the medical robot 1 are connected to the same local area network, VR APP is downloaded in the smart phone 13, VR APP is turned on after installation is completed to wait for completion of matching, the smart phone 13 is placed into VR glasses 14 after a binocular video appears on a UI interface, medical personnel can obtain the visual angle of the robot by wearing the VR glasses 14, the head of the medical robot can be controlled by rotating the head to synchronously rotate, the medical personnel can wear left and right hand body sensation control gloves 15, the power switch is turned on, after connection is completed, the movement of the medical robot 1 and the movement of a six-degree-of-freedom mechanical arm 9 can be controlled, five fingers open corresponding walking modes, the medical robot can be controlled by front and back and left and right deflection of the arm, and five fingers close corresponding mechanical, the deflection of the mechanical arm can be controlled through the deflection of the arm, and the grabbing and releasing of the mechanical claw in the mechanical arm can be controlled through the opening and closing of the thumb.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a medical robot based on control is felt with body to real-time VR, includes medical robot (1), body and feels controlgear (2), host computer (3) and system power supply (4), its characterized in that: the medical robot (1) comprises an embedded controller (6), a binocular camera (7), a head holder (8), a six-degree-of-freedom mechanical arm (9), a walking mechanism (10), a body temperature detection module (11) and a voice communication module (12), the somatosensory control equipment (2) comprises a smart phone (13), VR glasses (14) and somatosensory control gloves (15), the somatosensory control gloves (15) control the six-degree-of-freedom mechanical arm (9), and the smart phone (13) controls the head holder (8) to rotate;

host computer (3) include computer (16), smart mobile phone (13) and VR glasses (14), during smart mobile phone (13) packed into VR glasses (14), system power (4) are including body sensing equipment power module (17) and medical care robot power module (18), the bottom of medical care robot (1) is provided with pulley (20).

2. The medical robot of claim 1, wherein the robot is configured to perform VR and somatosensory control in real time, and further configured to: the computer (16) is used for receiving and displaying the body temperature information of the patient collected by the body temperature detection module (11), and the body temperature detection module (11) is an infrared temperature sensor.

3. The medical robot of claim 1, wherein the robot is configured to perform VR and somatosensory control in real time, and further configured to: the embedded controller (6) is arranged inside the medical robot (1) and connected to the wireless communication module (5), the embedded controller (6) is connected with the head holder (8), the six-degree-of-freedom mechanical arm (9) and the walking mechanism (10), and the embedded controller (6) is set to be an STM32 single chip microcomputer.

4. The medical robot of claim 1, wherein the robot is configured to perform VR and somatosensory control in real time, and further configured to: the voice communication module (12) comprises a VS1053MP3 module, a loudspeaker and a 24L01 wireless communication module, and the voice communication module (12) is arranged inside the medical robot (1).

5. The medical robot of claim 1, wherein the robot is configured to perform VR and somatosensory control in real time, and further configured to: somatosensory control gloves (15) are connected to somatosensory equipment main control module (19), and somatosensory equipment main control module (19) is connected with wireless communication module (5).

6. The medical robot of claim 1, wherein the robot is configured to perform VR and somatosensory control in real time, and further configured to: smart mobile phone (13) are connected in VR glasses (14), smart mobile phone (13) connect head cloud platform (8) through wireless communication module (5).