KR102593307B1 - Nursing robot system capable of position changing - Google Patents

Abstract

One embodiment of the present invention is a posture change care robot system capable of bedsore prevention monitoring or user safety management, which includes a pressure sensor, a mattress equipped with the pressure sensor and capable of alternate floating, and a bed equipped with the mattress. Transformational care robot; And an agent unit that includes a board and software and is electrically connected to the posture conversion care robot to mediate transmission and reception of data, wherein the pressure sensor collects the user's body pressure data, and the mattress collects body pressure data from the pressure sensor. A posture change care robot system is provided, wherein alternating levitation is performed by adjusting air pressure using data, and the bed performs posture change according to an external control signal.

Description

Posture change care robot system {NURSING ROBOT SYSTEM CAPABLE OF POSITION CHANGING}

The present invention relates to a posture-transforming care robot system, and more specifically, to a posture-transforming care robot system that exerts medical effects, including pressure ulcer prevention and monitoring functions, using a multi-axis driven, responsive care robot.

As we face an era of rapid aging, the disabled population is gradually increasing. In particular, disabled people who use medical beds or wheelchairs or patients with other diseases are exposed to the risk of developing bedsores because they use mattresses or sheets in the same position for long periods of time.

It is known that bedsores mainly occur at specific points where body weight is concentrated. If the skin is subjected to contact pressure between sheets for a long period of time, the capillaries become blocked, preventing smooth blood circulation in fat and muscle tissue, and eventually, tissue cells die, causing bedsores.

Various devices or technologies have been developed to monitor and suppress the occurrence of pressure ulcers.

According to Patent Document 1, a mattress technology that can adjust the posture of a lying patient through air conditioning has been proposed. That is, in order to induce a change in the posture of a patient who has difficulty moving, a pneumatic control unit and a mat unit were installed, and the cushion provided in the mat unit was expanded and contracted using the air generated from the pneumatic control unit.

According to Patent Document 2, a technology for preventing bedsores in patients has been proposed by providing a bedsore prevention unit and an inclined unit with upper and lower divisions. Specifically, the bedsore prevention department and the incline department were divided into upper and lower sections. The bedsore prevention department was responsible for alternate support for bedsore prevention, and the slope department was responsible for alternate support for incline, thereby providing an appropriate environment for the patient's body.

However, although the occurrence of pressure ulcers can be reduced to some extent using conventional technology, difficulties for the user as well as the caregiver (caregiver) are alleviated by customizing the user (patient) to monitor whether or not the user (patient) has developed pressure ulcers or the possibility of developing pressure ulcers and inducing a change in posture. It failed to provide a comprehensive and systematic function to resolve the problem. Therefore, a new care robot system that can solve these problems is required.

Domestic Registered Patent Publication No. 10-1219110 (announced on January 11, 2013) Domestic Patent Publication No. 10-2016-0047351 (published on May 2, 2016)

The technical problem to be achieved by the present invention is to provide a posture change care robot system that exhibits medical effects, including pressure ulcer prevention and monitoring functions, using a multi-axis driven, responsive care robot.

The technical problem to be achieved by the present invention is not limited to the technical problem mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the description below. There will be.

In order to achieve the above technical problem, an embodiment of the present invention is a posture change care robot system capable of monitoring pressure ulcers or managing user safety, including a pressure sensor, a mattress equipped with the pressure sensor and capable of alternate floating, and the mattress. A posture-converting care robot including a bed equipped with a; And an agent unit that includes a board and software and is electrically connected to the posture conversion care robot to mediate transmission and reception of data, wherein the pressure sensor collects the user's body pressure data, and the mattress collects body pressure data from the pressure sensor. A posture change care robot system is provided, wherein alternating levitation is performed by adjusting air pressure using data, and the bed performs posture change according to an external control signal.

In an embodiment of the present invention, the pressure sensor is made of an elastic plate-type pressure sensor cell, and one or more pressure sensors are mounted on the mattress to acquire the user's body pressure as area data.

In an embodiment of the present invention, the pressure sensor cell includes a first sub-pattern portion bent and extended in a first direction, a second sub-pattern portion bent and extended in a second direction that is different from the first direction, and It may include a pattern portion including a contact point provided at a location where the first sub-pattern portion and the second sub-pattern portion contact each other.

In an embodiment of the present invention, the mattress includes a plurality of air cells arranged in a matrix form, and controls the expansion and contraction of the air cells by adjusting the air supplied to the plurality of air cells, thereby providing contact with the user. Parts can be levitated alternately.

In an embodiment of the present invention, the agent unit may transmit data or receive a control signal to the first server or the second server through a wireless or wired connection.

In an embodiment of the present invention, modeling or profiling is performed using data transmitted to the first server through the agent unit, and the agent unit receives a control signal for pressure ulcer prevention monitoring or user safety management from the second server. can be transmitted.

According to an embodiment of the present invention, it is possible to provide a posture change care robot system that exerts medical effects, including a pressure ulcer prevention and monitoring function, using a multi-axis driven responsive care robot.

By using the posture change care robot system according to an embodiment of the present invention, posture change can be induced while customizing the presence or likelihood of pressure ulcers in users such as bedridden patients, the disabled, and the elderly. Additionally, safety management such as fall prevention is possible. This can solve the difficulties of users as well as caregivers.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description or claims of the present invention.

1 is a schematic configuration diagram of a posture change care robot system according to an embodiment of the present invention.
Figure 2 is a diagram showing the data and signal transmission process between the posture change care robot system according to Figure 1 and an external server.
FIG. 3 is an exemplary configuration diagram of a computing device suitable for use in the posture change care robot system according to FIG. 1.
Figure 4 is an exploded perspective view schematically showing the structure of a pressure sensor usable in the posture change care robot system according to Figure 1.
FIG. 5 is a diagram showing a pressure sensor of the posture change care robot system according to FIG. 1.
FIG. 6 is an exemplary diagram showing a pattern portion of the pressure sensor of FIG. 5.
FIG. 7 is a diagram visualizing the calibration process of standard data measured by the pressure sensor of FIG. 5.
Figure 8 is a diagram showing an air cell provided in the mattress of the posture change care robot system according to Figure 1.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention may be implemented in various different forms and, therefore, is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, combined)" with another part, this means not only "directly connected" but also "indirectly connected" with another member in between. "Includes cases where it is. Additionally, when a part is said to “include” a certain component, this does not mean that other components are excluded, but that other components can be added, unless specifically stated to the contrary.

The terms used herein are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

In this specification, “module” includes a unit comprised of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be an integrated part, a minimum unit that performs one or more functions, or a part thereof. For example, the module may be composed of an application-specific integrated circuit (ASIC).

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a schematic configuration diagram of a posture conversion care robot system according to an embodiment of the present invention, Figure 2 is a diagram showing the data and signal transmission process between the posture change care robot system according to Figure 1 and an external server, and Figure 3 is an exemplary configuration diagram of a computing device suitable for use in the posture conversion care robot system according to FIG. 1, and FIG. 4 is an exploded perspective view schematically showing the structure of a pressure sensor usable in the posture conversion care robot system according to FIG. 1. 5 is a diagram showing a pressure sensor of the posture change care robot system according to FIG. 1, FIG. 6 is an exemplary diagram showing a pattern portion of the pressure sensor of FIG. 5, and FIG. 7 is a calibration process of standard data measured by the pressure sensor of FIG. 5. FIG. 8 is a diagram illustrating a visualization of an air cell provided in the mattress of the posture change care robot system according to FIG. 1.

Referring to Figures 1 and 2, the posture change care robot system 10 according to an embodiment of the present invention is capable of monitoring to prevent bedsores or manage user safety. That is, various safety management functions can be performed, including monitoring to prevent pressure ulcers for patients who are bedridden for a long time, the disabled, or the elderly, or preventing users from falling.

The care robot system 10 according to an embodiment of the present invention may include a posture change care robot 100 and an agent unit 200.

The posture change care robot 100 may include a pressure sensor 110, a mattress 120, and a bed 130. Additionally, the agent unit 200 may include a board 210 and software 220.

The pressure sensor 110 may be made of a plate-type pressure sensor cell with elasticity. One or more pressure sensors are mounted on the mattress 120 to acquire the user's body pressure as area data.

Since the pressure sensor 110 has structural elasticity that can be deformed up, down, left, and right, it is possible to acquire body pressure data in real time as planar data in accordance with the curvature or deformation of the user's body while the user is positioned on the mattress. do. The specific structure and function of the pressure sensor 110 will be described later.

The mattress 120 is equipped with a pressure sensor 110 and can be alternately floated. Mattress 120 may be a responsive alternating floating mattress. For example, in order to prevent bedsores in bedridden users, the air pressure of the mattress 120 can be adjusted by a rule-based program. In addition, the user's bedsores can be prevented by adjusting the air pressure of the mattress 120 according to the control signal of the bedsore prevention monitoring system that analyzes the body pressure data of the pressure sensor 110. The specific structure and function of the mattress 120 will be described later.

A mattress 120 may be installed on the bed 130. Bed 130 may be a multi-axis bed. For example, the bed position can be changed according to the control signal from the bedsore prevention monitoring system. Specifically, the posture of the user's body can be changed in multiple directions through multi-axis movement, and for this purpose, the design can be done by taking into account coupling or interference between driving parts. For multi-axis movement, multiple actuators, link structures, or transmission structures may be provided.

The agent unit 200 is electrically connected to the posture change care robot 100 and can mediate transmission and reception of data. The agent unit 200 can collect and purify a large amount of data generated from the pressure sensor 110, mattress 120, and bed 130, and transmit the data to an external server. That is, the agent unit 200 can always check the status of the pressure sensor 110, mattress 120, and bed 130.

According to the posture conversion care robot system 10 according to an embodiment of the present invention, the pressure sensor 110 can collect the user's body pressure data, and the mattress 120 can use the body pressure data collected from the pressure sensor to provide air pressure. Alternate levitation is performed by adjusting , and the bed 130 can perform a posture change according to an external control signal. This function of the posture change care robot 100 may be performed by the agent unit 200, or may be performed by an external server through the agent unit 200.

According to the posture change care robot system 10 according to an embodiment of the present invention, it is possible to care for a user for a long time without the help of a separate nurse, attendant, or medical staff. That is, the system according to the embodiment of the present invention enables user care in a non-face-to-face manner, and thus direct contact between the patient and the medical staff can be fundamentally blocked or minimized. This lowers the risk of infectious diseases such as Ebola, Marburg virus, MERS coronavirus, anthrax, or various infectious diseases caused by the respiratory tract. Another example of such an infectious disease is coronavirus infection (COVID-19).

Referring to FIG. 2, the agent unit 200 may transmit data or receive a control signal to the first server 20 or the second server 40 through a wireless or wired connection.

Modeling or profiling is performed using data transmitted to the first server 20 through the agent unit 200, and the agent unit 200 receives the data from the second server 40 for pressure ulcer prevention monitoring or user safety management. Control signals can be transmitted. Here, modeling or profiling may be performed in the modeling unit 30. Additionally, the second server 40 may transmit an alarm signal or a risk assessment signal to the application unit 50.

Here, an application refers to a program produced for a specific purpose, and here, a program refers to a macroscopic collection of command codes. Programs are divided into system programs and application programs. The system program refers to the operating system, and the remaining application programs are applications. In other words, an application is a newly created program that uses and applies a system program to perform only a specific function, and may be a smartphone application, PC application, or web application, but is not limited to these.

Referring again to FIG. 2, the agent unit 200 can receive sensor data or a device inspection signal from the posture change care robot 100, and can transmit a control signal. The agent unit 200 can collect and purify these signals and transmit data or signals to the first server 20 or the second server 40. The modeling unit 30 can implement functions such as preprocessing, statistical processing, posture tracking, location tracking, and profiling. The second server 40 may implement, for example, a pressure ulcer prevention algorithm, a posture analysis algorithm, and a posture change algorithm. Specifically, to prevent bedsores, a pressure equalization optimal algorithm can be implemented using big data analysis and real-time analysis techniques to optimize body pressure distribution.

3 illustrates a computing environment including example computing devices suitable for use in example embodiments. The example computing environment 400 shown in FIG. 3 includes a computing device 410 . Typically, each configuration may have different functions and capabilities, and may additionally include components appropriate for that configuration, even if not described below.

Computing device 410 includes at least one processor 412, computer-readable storage medium 414, and bus 460. Processor 412 is coupled to bus 460 , which couples various other components of computing device 410 to processor 412 , including computer-readable storage media 414 .

Processor 412 may cause computing device 410 to operate according to the example embodiments mentioned above. For example, the processor 412 may execute computer-executable instructions stored in the computer-readable storage medium 414, and the computer-executable instructions stored in the computer-readable storage medium 414 are executed by the processor 412. Computing device 410 may be configured to perform operations according to certain example embodiments.

Computer-readable storage medium 414 may contain computer-executable instructions or program code (e.g., instructions included in application 430), program data (e.g., data used by application 430), and/or other suitable forms. It is configured to store information. Application 430 stored on computer-readable storage medium 414 includes a predetermined set of instructions executable by processor 412.

Memory 416 and storage device 418 shown in FIG. 3 are examples of computer-readable storage media 414 . Memory 416 may be loaded with computer-executable instructions that can be executed by processor 412. Additionally, program data may be stored in the memory 416. For example, such memory 416 may be volatile memory such as random access memory, non-volatile memory, or a suitable combination thereof. As another example, storage device 418 may include one or more removable or non-removable components for storage of information. For example, storage device 418 may be a hard disk, flash memory, magnetic disk, optical disk, other type of storage medium that can be accessed by computing device 410 and store desired information, or a suitable combination thereof.

Computing device 410 may also include one or more input/output interfaces 420 that provide an interface for one or more input/output devices 470 . Input/output interface 420 is connected to bus 460. Input/output device 470 may be coupled to (other components of) computing device 410 through input/output interface 420 . Input/output devices 470 include input devices such as pointing devices, keyboards, touch input devices, voice input devices, sensor devices, and/or photographing devices, and/or output devices such as display devices, printers, speakers, and/or network cards. can do.

4 to 6 schematically show the structure of a pressure sensor 110 usable in the posture changeable care robot system 10 according to an embodiment of the present invention. As shown, the pressure sensor 110 has a top layer composed of a substrate, electrode, piezoelectric element, and shield from the upper side, and a bottom layer composed of a shield, piezoelectric element, electrode, and substrate from the upper side, and an adhesive layer. It may be composed of sensor layers combined via . The pressure sensor 110 may be made of a plate-type pressure sensor cell with such a layered structure.

As shown in Figures 5 and 6, the pressure sensor 110 may be made of a plate-type pressure sensor cell with elasticity (flexibility), and one or more pressure sensors 110 are mounted on the mattress 120. The user's body pressure can be acquired as area data.

The pressure sensor 110 may be provided in multiple sizes, for example, a 500mm*500mm sensor with 576 sensor units. Alternatively, it can be prepared as a 500mm * 500mm sensel with 176 sensor units, or a 300mm * 400mm sensel with 2304 sensor units. By having such a diverse number of sensor units and specifications, an appropriate design is possible depending on the usage environment of the mattress or sheet.

The target pressure range measurable through the pressure sensor 110 may be 10 kPa to 200 kPa, but is not limited to this numerical range.

As shown in FIGS. 5 and 6 , the pressure sensor cell of the pressure sensor 110 may include a pattern portion 111 . Elasticity may be realized by the physical structure of the pattern portion 111, that is, a structure that has a curve when viewed from a plan view.

The pattern portion 111 includes a first sub-pattern portion bent and extended in a first direction, a second sub-pattern portion bent and extended in a second direction, and a contact point provided where the first sub-pattern portion and the second sub-pattern portion contact each other. may include. The second direction is a direction different from the first direction. For example, the second direction may be a direction substantially perpendicular to the first direction, but is not limited thereto.

An off-loading method can be implemented by using the pressure sensor 110 according to an embodiment of the present invention. In other words, after checking the pressure point and pressure value generated by the user's weight, the pressure in the pressure generating area can be removed by digging the seating surface of the relevant area or lowering the air pressure to distribute the weight load to the surrounding area.

In addition, since the pressure sensor 110 according to an embodiment of the present invention has elasticity, it is possible to measure closely along the uneven and curved surface of the body, and thus, for example, can accurately measure the pressure of an implanted or bedridden patient.

FIG. 7 is a diagram visualizing the calibration process of standard data measured by the pressure sensor 110. The pressure sensor 110 includes a plurality of sensor units, and therefore accurate measurement is possible only after a calibration process. For this purpose, a separate calibration chamber may be provided. As shown, calibration can be performed by calculating the deviation per sensor cell of the large amount of acquired ADC data to derive a correction formula and then deriving a linear calculation value for the entire minimum pressure and maximum pressure section.

Referring to FIG. 8, the mattress 120 may include a plurality of air cells arranged in a matrix form. By controlling the expansion and contraction of the air cells by adjusting the air supplied to the plurality of air cells, the parts in contact with the user can be alternately levitated. Air cells are a key element of the aforementioned offloading implementation, and may require optimized design.

The air cells provided in the mattress 120 may be made of sealed blocks, and it is also possible to form one mattress 120 by gathering multiple modules made of multiple blocks. The air cell can be made of blocks of the same size, that is, the width, length, and height, or it can also be made of blocks of different sizes arranged alternately or sequentially. Pumps, tubes, and valves (not shown) may be provided to control expansion and contraction of the air cell.

As described above, an embodiment of the present invention can provide a posture change care robot system that exhibits medical effects, including pressure ulcer prevention and monitoring functions, using a multi-axis driven responsive care robot.

In addition, by using the posture change care robot system according to an embodiment of the present invention, posture change can be induced while customizing the presence or likelihood of pressure ulcers in users such as bedridden patients, the disabled, and the elderly. Additionally, safety management such as fall prevention is possible. This can solve the difficulties of users as well as caregivers.

The method according to the above-described embodiment of the present invention may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. A computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on a computer-readable recording medium may be specially designed and configured for embodiments of the present invention, or may be known and usable by those skilled in the computer software field. Computer-readable recording media include magnetic recording media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, ROM, RAM, and flash memory. , includes hardware configured to store and execute program instructions. Program instructions include machine language code created by a compiler and high-level language code that can be executed on a computer using an interpreter. The hardware may be configured to operate as one or more software modules for processing the method according to the invention and vice versa.

The method according to an embodiment of the present invention may be executed in an electronic device in the form of program instructions. Electronic devices include portable communication devices such as smartphones and smart pads, computer devices, portable multimedia devices, portable medical devices, cameras, wearable devices, and home appliances.

The method according to an embodiment of the present invention may be provided and included in a computer program product. Computer program products are commodities and can be traded between sellers and buyers. Computer program products may be distributed in the form of machine-readable recording media or online through an application store. In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or created temporarily in a storage medium such as the memory of a manufacturer's server, an application store's server, or a relay server.

Each component, such as a module or program, according to an embodiment of the present invention may be composed of a single or a plurality of sub-components, and some of these sub-components may be omitted or other sub-components may be added. may be included. Some components (modules or programs) may be integrated into one entity and perform the same or similar functions performed by each corresponding component before integration. Operations performed by modules, programs, or other components according to embodiments of the present invention are executed sequentially, in parallel, repeatedly, or heuristically, or at least some operations are executed in a different order, omitted, or other operations are added. It can be.

The description of the present invention described above is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. will be. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive. For example, each component described as unitary may be implemented in a distributed manner, and similarly, components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the patent claims described below, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

10 Posture conversion care robot system
100 posture conversion care robots
110 pressure sensor
111 Pattern Department
120 mattress
130 beds
200 Agent Department

Claims (6)

A posture change care robot system capable of monitoring bedsores or managing user safety,
A posture change care robot including a pressure sensor, a mattress equipped with the pressure sensor and capable of alternately floating, and a bed equipped with the mattress; and
It includes a board and software, and includes an agent unit that is electrically connected to the posture conversion care robot and mediates transmission and reception of data,
The pressure sensor collects the user's body pressure data, the mattress adjusts air pressure using the body pressure data collected by the pressure sensor to perform alternate levitation, and the bed performs a posture change according to an external control signal,
The pressure sensor is made of an elastic plate-type pressure sensor cell, and one or more pressure sensors are mounted on the mattress to acquire the user's body pressure as area data,
The pressure sensor cell includes a first sub-pattern portion bent and extended in a first direction, a second sub-pattern portion bent and extended in a second direction that is different from the first direction, the first sub-pattern portion and the Characterized in that it includes a pattern portion including a contact point provided at a location where the second sub-pattern portion is in contact,
Posture conversion care robot system.
delete delete According to paragraph 1,
The mattress includes a plurality of air cells arranged in a matrix form,
Characterized in that the parts in contact with the user are alternately levitated by controlling the expansion and contraction of the air cells by adjusting the air supplied to the plurality of air cells.
Posture conversion care robot system.
According to paragraph 1,
Characterized in that the agent unit transmits data or receives a control signal to the first server or second server through a wireless or wired connection,
Posture conversion care robot system.
According to clause 5,
Characterized in that modeling or profiling is performed using data transmitted to the first server through the agent unit, and the agent unit receives a control signal for pressure ulcer prevention monitoring or user safety management from the second server,
Posture conversion care robot system.