KR20040034164A - Nursing robot and mornitoring system using nursing robot - Google Patents

Abstract

PURPOSE: A nursing robot and a nursing robot monitoring system are provided to install a patient terminal at the section of the patient body to determine the state of the patient so as to send data to a central control center to nurse the patient. CONSTITUTION: A nursing robot monitoring system is composed of a nursing robot(9) for collecting information about the state of a patient, a terminal(30) for communicating with the nursing robot, and a central control center(40) for managing the patient by using the information from the nursing robot connected to the terminal with a network. The robot includes a moving unit, an image detector for avoiding barrier, a body signal measuring unit for detecting the state of the patient, a memory for storing current signals, original signals, dangerous ranges, safety ranges, and robot programs, a comparator for comparing the current body signals with the stored original signals, and a controller for controlling the robot based on results from the comparator.

Description

Nursing Robot Device and Nursing Robot Monitoring System {NURSING ROBOT AND MORNITORING SYSTEM USING NURSING ROBOT}

The present invention relates to a nursing robot and a nursing robot monitoring system, and in more detail, a patient terminal is installed on any part of a patient's body to receive data on a patient's clinical condition as a nursing robot, and a nursing robot. The present invention relates to a caregiver robot and a caregiver monitoring system capable of judging a patient's health situation by comparing the initial value of the patient's health state stored in the system and sending the data to a central control center to manage the patient.

Many patients who use health care are easily exposed to fatal diseases and, in some cases, require constant health checks and action. However, in order to do this, there are limitations such as the need for frequent visits or hospitalizations of medical institutions such as hospitals. In order to receive high-quality medical services, these patients need to establish a 24-hour continuous monitoring system interconnected with homes, hospitals, and emergency departments. Cerebrovascular disease, heart disease, diabetes, obstructive respiratory disease through 24-hour continuous health monitoring Rapid detection and accurate prediction of diseased patients' backs can reduce the costs of preventing and treating complications associated with the development of the disease, as well as help the patient's socially independent life.

Many biosignals reflect human health. The biosignals may be classified into body information such as ECG, EMG, EEG, respiration, blood pressure, and body temperature, behavior information such as gestures and steps, and emotion information such as facial expressions. When a continuous close observation & monitoring system that monitors and measures these various biological signals continuously for 24 hours and detects the abnormal state of the body from the measured biological signals and connects with a medical institution, firstly, Increasing morbidity and prevalence due to complications such as brain and other organ damage due to fatal or severe gastric status can be minimized to reduce additional medical care and costs. It can reduce the time and cost of hospital treatment and treatment up to, and finally, it can prevent the loss of the most important lives in advance. Therefore, the urgent need for the development of this near-surveillance surveillance system is highly desirable not only to prevent the loss of valuable lives, but also to reduce the cost of medical care, which is exploding due to the latest technology and advanced trends.

As mentioned above, the continuous proximity monitoring system should be carried out in the home after discharge as it is always done in hospital inpatients and patients with acute and chronic cardiovascular disease, cerebrovascular disease, pulmonary disease and diabetes, the most common diseases leading to fatal or severe emergency. Patients in need of close monitoring, including dementia and dementia, are expected to benefit the most from the proximity surveillance system. In particular, patients who have repeatedly experienced a fatal condition or are well aware of such risks, or who have difficulty maintaining a stable equilibrium, are considered to be the main targets of the application of the continuous proximity surveillance system.

The following describes the diseases that are subject to continuous proximity monitoring in real time by establishing a continuous proximity surveillance system. Representative diseases of cardiovascular diseases such as acute myocardial infarction, unstable angina and hypertension, and representative cerebrovascular diseases such as cerebral hemorrhage and cerebral infarction have a fatal prognosis, and all of them can significantly reduce the complications by early detection and early treatment. Well known as According to the 2002 death statistics (statistics agency), Korea's 2001 mortality rankings were cancer (1st), cerebrovascular disease (2nd), heart disease (3rd), diabetes (4th) and liver disease (5th). As a result, it should be possible to systematically monitor and manage diseases frequently causing fatal conditions due to sudden seizures such as cerebrovascular, cardiovascular, and diabetes.

The building of a continuous proximity surveillance system for 24-hour observation of patients in hospitals or at home is built by caregivers and families who help patients and understands the patient's condition. Figure out. In case of an emergency, the nurse or doctor can be contacted for diagnosis.

However, this method is not effective for 24 hours because the patient cannot be monitored for 24 hours, caregivers or family members lack professional medical knowledge, and it is very difficult to observe for 24 hours. The system will not work. In addition, the long-term continuous surveillance system in this way is expensive and puts a lot of time and money on patients and their families.

Therefore, the present invention has been created to solve the problems of the prior art, the patient is a real-time continuous proximity monitoring, and stores the general state of the patient to compare the current state of the patient and the general state of the risk of the current state of the patient Of caring robot device and caring robot monitoring system that enables to provide medical services to patients in connection with medical institutions and to provide sufficient medical services to patients by communicating with the central control center that manages patients. .

In order to achieve the above object, the nursing robot device according to the present invention includes a moving device for moving, and a robot device having an image sensing unit for detecting and avoiding an obstacle located in a path moved by the moving means. ,

A biosignal measuring unit for measuring a current biological signal of a patient's current state such as blood pressure, pulse rate, respiratory rate, respiratory pattern, body temperature, skin humidity, physical activity, and blood sugar of the patient; A memory unit for storing the same type of protozoan signal, danger range, and stability range as the current organism signal measured and measured by the doctor directly in advance, and storing a program for the operation of the robot; A comparison determination unit which compares the current-generation signal measured by the bio-signal measuring unit with the original signal stored in the memory unit to determine whether the bio-signal measured by the bio-signal measuring unit belongs to a dangerous range or a stable range; And a control unit for controlling the robot according to the result of the program and the comparison determination unit.

The moving means is characterized in that for moving the robot to be within a certain distance from the patient,

In addition, the nursing robot monitoring system according to the present invention to achieve the above object, the caregiver robot device for collecting information on the patient's condition while observing the patient in close proximity; A repeater for relaying signals transmitted from the caregiver robot device by wireless communication with the caregiver robot device; And a caregiver robot monitoring system comprising a central control device connected to a repeater and a communication network to manage patients using information collected from the caregiver robot device.

The caregiver robot device includes moving means for allowing the care robot device to move; An image detecting unit for detecting and avoiding an obstacle located in a path moved by the moving unit;

A biosignal measuring unit configured to measure a living body signal of a patient's current state such as blood pressure, pulse rate, respiratory rate, respiratory pattern, body temperature, skin humidity, physical activity, blood sugar, Troponin, and electrocardiogram; A memory unit for storing a protozoan signal, a risk range, and a stability range of the same type as the current-generation signal measured by the doctor in advance by directly examining the patient, and storing a program for the operation of the robot; A comparison determination unit which compares the current-generation signal measured by the bio-signal measuring unit with the original signal stored in the memory unit to determine whether the bio-signal measured by the bio-signal measuring unit belongs to a dangerous range or a stable range; And a control unit for controlling the robot according to the result of the program and the comparison judgment unit, wherein the moving unit moves the robot so as to be within a certain distance from the patient, and the central control device includes biometric information of each patient and each patient. Allowances of bioinformation variables for each patient, first aid data for each patient, observed patient health status, location of medical institutions, and medical institutions to determine the extent of the patient's symptoms based on A storage device for storing information on medical devices provided by the medical device; An inference engine that reads and judges the data of each patient stored in the storage device to determine the risk level to determine the health status of the patient, and to find a patient management method corresponding to the identified status of the patient; And a data transmitter for transmitting the data processed by the central control device to the caregiver robot device.

1A is an external perspective view of a caregiver robot according to the present invention.

1B is a perspective view of a patient terminal according to the present invention.

Figure 2a, 2b is a block diagram of a repeater installed in the patient terminal, the caregiver robot and the patient's nursing home according to the present invention.

3 is an overall configuration diagram of a nursing robot monitoring system using a nursing robot according to the present invention.

Figure 4 is a flow chart showing the operation of the caregiver robot according to the present invention.

The present invention will be understood from the following description in comparison with the prior art, with reference to the accompanying drawings.

1A is an external perspective view of a caregiver robot according to the present invention. 1B is a perspective view of a patient terminal according to the present invention. As shown in Figure 1a, the caregiver robot (9) is a patient terminal antenna (1) to communicate with the patient terminal, a repeater antenna to enable the patient robot to communicate with the repeater installed in the patient's nursing place ( 2), the sensor and the caregiver robot to maintain a constant distance during the movement of the patient and the sensor (3) to detect the signal output from the patient terminal, the caregiver robot by grasping the object in the position where the caregiver robot proceeds The image sensor 4 to avoid this object, the display unit 5 to display the instructions for the patient, the information necessary for the patient, the caregiver robot by the output of the signal of the sensor 3 It provides power to the vehicle (7) and the caregiver, which senses the movement of the patient and moves the caregiver robot according to the movement of the patient so that it can always maintain a constant distance from the patient. It is composed of a power supply 6.

Referring to FIG. 1B, FIG. 1B relates to a terminal for a patient. The sensor unit 10 is connected to a sensor that detects an electrocardiogram, a pulse, a breathing water, a body temperature, a cough, a blood sugar, a urine glucose, and the like and detects a signal input from the sensor. The display unit 11 is configured to display the detected result, and a transmission antenna 12 is installed to transmit the detected signal to the caregiver robot according to the present invention. In addition, the patient may wear a wrist-type sensor 15 that detects the patient's blood pressure, pulse rate, respiratory rate and the like. For data that needs to be measured continuously such as the pulse rate, blood pressure, body temperature, etc. of the patient, the patient wears a wrist-type sensor 15 as shown in FIG. 1B so that the patient's condition is always detected. Can also be sent. Then, when the patient wears a vest in the form of a vest 16 in which a sensor unit 10 for detecting a biosignal such as an electrocardiogram, a pulse, a respiratory rate, a body temperature, a cough, a blood sugar, and a urine glucose is built in, It can be used to detect biological signals. The communication means is built in such a vest 16 to transmit a biological signal to the caregiver robot.

Figure 2a shows a block diagram for a patient terminal according to the present invention, Figure 2b is a block diagram of a caregiver robot.

Referring to FIG. 2A, the patient terminal 20 may convert the signal detected by the biosignal sensing unit 21 and the biosignal sensing unit 21 into a digital signal to sense the biosignal input from the sensor unit 10. A / D converter 22 for switching and a biosignal transmitting unit 23 for transmitting the biosignal converted into a digital signal are provided.

The biosignal of the patient is generated by sensing the body of the patient for 24 hours in the sensor unit 10 connected to the biosignal generator attached to the body of the patient's wrist, chest, etc. After measuring the collected by the bio-signal detection unit 21 and converts the bio-signal to a digital signal using the A / D converter 22, the bio-signal transmitting unit 23 encrypts the digital signal and sends it.

Referring to FIG. 2B, the care robot detects a biosignal transmitted from a patient terminal, decodes an encrypted signal, and detects a movement state of the patient and a distance between the robot and the patient according to signal strength. (100), the image sensing device 110 to detect the object in the movement path of the robot to approach the patient while avoiding the object when the robot approaches the patient, the information on the general state of the patient and emergency prescription Memory 120, which stores the program for the operation of the caregiver robot, and compares the general status of the patient with information on the status of the patient as measured in the biosignal detection unit to determine the risk of the patient. Comparing / determining unit 130 for calculating the patient's movement amount according to the moving distance and time of the caregiver robot, the caregiver robot moves according to the movement of the patient After digitizing the data calculated by the driving unit 140, the comparison / determination unit 130 and the biological signal for the current status of the patient to operate the moving means to maintain a constant distance with the ruler is sent to an external device The biosignal output unit 150, the display unit 160 for displaying the patient management method for the current status of the patient, the control unit according to the program related to the operation of the caregiver robot to control the caregiver robot It is composed of a control unit 170 to enable the power distribution unit 180 to supply power to each part of the robot to operate the robot.

3 is an overall configuration diagram of a nursing robot monitoring system using a nursing robot according to the present invention. Referring to Figure 3,

The caregiver robot monitoring system is connected to the caregiver robot 9, the repeater 30 receiving the signal output from the biosignal output part of the caregiver robot 9 wirelessly, the repeater 30, and the like through a communication network. 30) is connected to the central control center 40 and the central control center 40 for receiving a signal transmitted from the caregiver robot 9 to manage the patient to provide professional care to the patient using the patient's biosignal It consists of a medical institution server system 50 to receive.

The central control center 40 has a reasoning engine for inferring a patient's risk by receiving each biometric information through data processing means for processing data for each patient by decoding a signal output from the caregiver robot 9. In addition, a database is established to identify and store the general condition of patients and the value of risk for each patient. The inference engine infers the patient's risk using the information in the database.

The patient's risk is different for each patient by the doctor's diagnosis, and the biometric information built on the inference engine database is as follows.

Cardiovascular disease: Symptoms of chest pain and dyspnea, to understand and analyze these conditions, pulse, blood pressure, body temperature, electrocardiogram, respiratory rate, chest pain, arterial oxygen partial pressure (PaO2) or arterial oxygen saturation (SaO2), Troponin T or I levels (blood myocardial enzymes that increase during myocardial necrosis) are measured.

Cerebrovascular disease: Changes in the pulse, blood pressure, etc., before a fatal condition can be an important indicator of the rise in brain pressure, and identify neurological symptoms such as pulse, blood pressure, body temperature, headache, and dizziness.

Respiratory disease: The following four factors are used to evaluate patients: accurate biomarkers (blood pressure, pulse, respiration, body temperature), changes in respiratory sound (breathing and respiratory patterns), evaluation of oxygen and carbon dioxide in the body, Evaluation is the basis and additional ECG examination is required. Pulse, blood pressure and body temperature Respiratory rate and respiratory pattern Respiratory sound (cough, wheezing, rhonchi, etc.) Arterial oxygen partial pressure (PaO2) or arterial oxygen saturation (SaO2) Complications of respiratory or metabolic acidosis Expiratory flow rate: FEV1 one second) or Peak expiratory flow rate (PEFR)

Diabetes: Monitors hypoglycemia and hyperosmolar coma and continuously monitors pulse rate, blood pressure, body temperature, blood sugar level, respiratory rate and breathing patterns.

Dementia: Dementia treatment itself should be hospitalized, but if the dementia seizures occur due to environmental changes in the elderly population who were not diagnosed with dementia or suddenly become dementia due to dementia seizures, their location In addition to identifying the bioactive indicators such as pulse, blood pressure, body temperature, etc., it will be able to cope more effectively.

Table 1 shows the criteria for determining the risk for the measured biometric information.

Repeater 30 is a means that is installed in one or more facilities within the patient to transmit information about the patient to the central control center 40 regardless of the position of the patient, within a certain distance from the care robot (9) Enable wireless communication.

The medical institution server system 50 is connected to the central control center 40 through a communication network, and provides information on the current medical institution, so that when the patient needs medical treatment, the central control center 40 is suitable for medical treatment of the patient. The patient is transferred to the identified medical institution for easy and convenient medical treatment.

Figure 4 is a flow chart showing the operation of the caregiver robot according to the present invention. Referring to Figure 4,

When the power of the robot is turned on, the system is initialized and it is determined whether a biosignal transmitted from the patient terminal is received (ST100). When the biological signal is detected (ST110), the distance between the patient terminal and the robot is determined based on the strength of the biological signal, and if there is a robot outside a certain distance (ST 120), the robot moves toward the patient and enters within a certain distance from the patient (ST 130). ). Then, the robot compares the biosignal transmitted from the patient terminal with the protozoologic signal of each patient stored in the robot to determine a risk range and a stability range (ST 140).

It is determined whether the patient's current status is dangerous or stable (ST 150). If the status is dangerous, the robot sends a warning signal to notify the patient or the surrounding person that the patient's condition is dangerous. If a patient reaches a dangerous condition during the emergency, prompt first aid is provided so that the patient can be released from the dangerous condition, and the patient stops the excessive activity if the patient performs excessively unsuitable for his / her health condition. ST 160).

The patient's risk and stability ranges are based on the patient's current state of movement (e.g., the respiratory rate and pulse rate are faster than usual while the patient is exercising, but may not be unreasonable to the patient) In this case, if the respiratory rate and pulse rate become faster, the patient's condition may be judged to be in a bad state, which is determined by determining the patient's exercise amount because the robot moves while maintaining a certain distance from the patient. For example, if a patient has a difficult exercise, he or she may send a warning signal to stop the exercise.) Therefore, the patient's risk range and stability range is determined and stored in consideration of the current state of each patient by the doctor in charge of the patient in advance.

In addition, the patient or people around the patient can display the robot's display on the display so that the patient can be easily assisted.

Then, the patient's biometric information and other information measured by the robot are transmitted to the central control center through the repeater to manage the patient (ST 170).

Other information includes the patient's momentum measured as the robot follows the patient.

In addition, in the case of a non-hazardous state, the patient's biometric information and other information measured by the robot are transmitted to the central control center through a repeater for patient management (ST 180).

The central control center manages the patients and arranges for the patients to receive medical treatment by arranging medical institutions suitable for the patient's medical treatment if the patients need to see the doctor or more precise examination.

According to the nursing robot device and the nursing robot monitoring system according to the present invention, a 24-hour continuous proximity monitoring system for monitoring the health status of individual citizens and detecting various diseases in the home or everyday life without going to a hospital is established. By early detection of cerebrovascular disease, heart disease, diabetes and obstructive respiratory disease, various complications due to treatment delays can be prevented, and telemedicine services can be conveniently provided through medical information and communication networks. In addition, since it is possible to comprehensively manage the health information of individual citizens, it can greatly contribute to the improvement of medical welfare of the people in that it can drastically improve the problems of the existing medical environment.

Recent demographics are characterized by an increase in the elderly population and nuclear familyization. Elderly people are more likely to have chronic diseases than younger people, and medical expenditures are increasing exponentially. It is essential to visit medical institutions to manage the health and illness of the elderly. However, the nuclear family and the increase of women's entry into the workplace pose a great difficulty in bringing elderly patients to the hospital. In addition, if not only transport, but also the movement is impossible to receive medical benefits, emergency cases and intensive care unit is often coming to the emergency room. This problem is generally complemented by a patient transfer service center or a home visit nurse management system. The emergency pager, which is called wirelessly at the time of emergency, can be notified to medical institutions and receive emergency measures automatically. We are building and operating the system. Chronic diseases such as heart disease, respiratory disease and diabetes in the elderly age, the condition changes frequently, and proper management can prevent worsening and reduce mortality. In order for this to be achieved, the condition of the disease is observed in real time, judged by the medical staff, and home treatment or proper management is essential. It is not practical to assign this home care or management to a caregiver at home, and by developing an automated monitoring system, a system for observing, evaluating, and taking action on changes in the symptoms and signs of patients in real time, Providing adequate, rapid management and treatment of patients suffering from chronic diseases can prevent the patient's condition from developing from an initial state to a severe state, which reduces the increase in overall medical expenses. Will indicate.

While the preferred embodiments of the present invention have been described using specific terms, such descriptions are for illustrative purposes only, and it is understood that various changes and modifications may be made without departing from the spirit and scope of the following claims. Should be done.

Claims (15)

A robot device having a moving means for moving, an image sensing unit for detecting and avoiding obstacles located in a path moved by the moving means, A biosignal measuring unit for measuring a current biological signal of a patient's current state such as blood pressure, pulse rate, respiratory rate, respiratory pattern, body temperature, skin humidity, physical activity, and blood sugar of the patient; A memory unit for storing the same protozoan signal, a dangerous range, and a stable range of the same type as the current body signal measured by the doctor in advance by directly examining the patient, and storing a program for the operation of the robot; The biosignal measured by the biosignal measuring unit is determined to be within one of the dangerous range and the stable range by comparing the biosignal signal measured by the biosignal measuring unit with the protozoal signal stored in the memory unit. Comparing judging unit; And A control unit for controlling the robot according to a result of the program and the comparison determination unit; The moving unit is a caregiver robot device, characterized in that for moving the robot to be within a certain distance from the patient. The method of claim 1, The bio-signal measuring unit is attached to the body of the patient and the patient terminal for measuring the bio-signal and the patient terminal characterized in that it comprises a receiving means for receiving the bio-signal measured in the patient terminal by wireless communication with the patient terminal. Robotic device. The method of claim 2, The patient terminal is a care robot device, characterized in that the vest form. The method of claim 2, The mobile device is a caregiver robot device, characterized in that for determining the position of the patient using the bio-signal transmitted from the patient terminal to position the robot within a certain distance from the patient. The method of claim 2, The biosignal measuring unit determines a physical activity of the patient by determining the movement of the patient based on the biosignal transmitted from the patient terminal. The method of claim 2, The patient terminal is a caregiver robot device, characterized in that attached to the wrist or waist of the patient. The method of claim 1, The caregiver robot device further comprises a display unit. A caregiver robot device that closely observes a patient and collects information on a patient's condition; A repeater for relaying a signal transmitted from the caregiver robot device by wireless communication with the caregiver robot device; And Is connected to the patient through the communication network and the patient management system consisting of a central control device for managing the patient by using the information collected from the care robot device, The caregiver robot device includes moving means for allowing the caregiver robot device to move; An image detecting unit for detecting and avoiding an obstacle located in a path moved by the moving unit; A biosignal measuring unit configured to measure a living body signal of the patient's current state such as blood pressure, pulse rate, respiratory rate, respiration pattern, body temperature, skin humidity, physical activity, and blood sugar of the patient; A memory unit for storing the same protozoan signal, a dangerous range, and a stable range of the same type as the current body signal measured by the doctor in advance by directly examining the patient, and storing a program for the operation of the robot; A comparison is made to compare which biosignal measured by the biosignal measuring unit belongs to a range of danger and stability by comparing the current signal measured by the biosignal measuring unit with the original signal stored in the memory unit. Determination unit; And And a control unit for controlling the caregiver robot device according to the result of the program and the comparison determination unit. The moving means is characterized in that for moving the caregiver robot device to be within a certain distance from the patient, The central control device may include biometric information of each patient, allowances of biometric parameters for each patient to determine the extent of the patient's symptoms based on the biometric information of each patient, and for each of the patients. A storage device that stores data on first aid, observed health status of the patient, location of medical institutions, and medical devices provided by the medical institutions; An inference engine that reads and judges the data of each patient stored in the storage device to classify the severity, determine the health status of the patient, and find a patient management method corresponding to the determined health status; And Care robot monitoring system comprising a data transmitter for transmitting the data processed by the central control device to the care robot device. The method of claim 8, Nursing robot monitoring system, characterized in that connected to the central control device and the medical institution server system for storing information about the medical institution through a communication network. The method of claim 8, The bio-signal measuring unit is attached to the body of the patient and the patient terminal for measuring the bio-signal and the patient care robot comprising a receiving means for receiving the bio-signal measured by the patient terminal by wireless communication with the patient terminal. Monitoring system. The method of claim 10, The means for moving the caregiver robot monitoring system, characterized in that by using the bio-signal transmitted from the patient terminal to determine the location of the patient within the predetermined distance to the patient. The method of claim 10, The bio-signal measuring unit determines the physical activity of the patient by determining the movement of the patient based on the bio-signal transmitted from the patient terminal, characterized in that the care robot monitoring system. The method of claim 10, The patient terminal is a caregiver monitoring system, characterized in that attached to the wrist or waist of the patient. The method of claim 8, The care robot device is a care robot monitoring system, characterized in that further comprising a display. The method of claim 10, And a medical institution server system for storing information about a medical institution through the central control device and a communication network.