WO2022057774A1 - 一种医疗远端控制及自主控制采集、检查装置 - Google Patents
一种医疗远端控制及自主控制采集、检查装置 Download PDFInfo
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- WO2022057774A1 WO2022057774A1 PCT/CN2021/118080 CN2021118080W WO2022057774A1 WO 2022057774 A1 WO2022057774 A1 WO 2022057774A1 CN 2021118080 W CN2021118080 W CN 2021118080W WO 2022057774 A1 WO2022057774 A1 WO 2022057774A1
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- 238000007689 inspection Methods 0.000 title claims abstract description 80
- 210000001508 eye Anatomy 0.000 claims abstract description 56
- 230000000007 visual effect Effects 0.000 claims abstract description 32
- 210000005069 ears Anatomy 0.000 claims abstract description 18
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 238000004891 communication Methods 0.000 claims description 46
- 210000003800 pharynx Anatomy 0.000 claims description 40
- 230000001815 facial effect Effects 0.000 claims description 38
- 210000000214 mouth Anatomy 0.000 claims description 32
- 230000004438 eyesight Effects 0.000 claims description 24
- 210000001331 nose Anatomy 0.000 claims description 18
- 238000001514 detection method Methods 0.000 claims description 14
- 230000028327 secretion Effects 0.000 claims description 14
- 238000000034 method Methods 0.000 claims description 7
- 238000012216 screening Methods 0.000 claims description 7
- 208000006992 Color Vision Defects Diseases 0.000 claims description 6
- 201000007254 color blindness Diseases 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 6
- 150000007523 nucleic acids Chemical class 0.000 claims description 6
- 102000039446 nucleic acids Human genes 0.000 claims description 6
- 108020004707 nucleic acids Proteins 0.000 claims description 6
- 210000003296 saliva Anatomy 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000007726 management method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000003786 synthesis reaction Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 238000002583 angiography Methods 0.000 claims description 2
- GNBHRKFJIUUOQI-UHFFFAOYSA-N fluorescein Chemical compound O1C(=O)C2=CC=CC=C2C21C1=CC=C(O)C=C1OC1=CC(O)=CC=C21 GNBHRKFJIUUOQI-UHFFFAOYSA-N 0.000 claims description 2
- 238000012014 optical coherence tomography Methods 0.000 claims description 2
- 238000003325 tomography Methods 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- 238000011330 nucleic acid test Methods 0.000 claims 1
- 210000000056 organ Anatomy 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 230000001681 protective effect Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 6
- 238000013473 artificial intelligence Methods 0.000 description 4
- 208000015181 infectious disease Diseases 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 208000035473 Communicable disease Diseases 0.000 description 2
- 206010035148 Plague Diseases 0.000 description 2
- 241000607479 Yersinia pestis Species 0.000 description 2
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- 230000002458 infectious effect Effects 0.000 description 2
- 241000700605 Viruses Species 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000013461 design Methods 0.000 description 1
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000030533 eye disease Diseases 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 210000000867 larynx Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004304 visual acuity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
Definitions
- the present invention belongs to the fields of medical engineering and automation technology, and relates to the field of robotics, intelligent image recognition technology, and medical technology.
- the purpose of the present invention is to overcome the above-mentioned shortcomings and deficiencies of the prior art, and to provide a medical machine device, which uses a machine to replace a human, and remotely and autonomously collects physical examination of facial features and surgery, and data of stomatology, otolaryngology, and ophthalmology. Administrators and doctors are remotely controlled, using the machine devices that communicate with them, involving robot theory and artificial intelligence practice technology, to solve problems such as human error and inaccurate collection.
- the present invention also provides a voice device for human-computer interaction, remote voice commands, and autonomous positioning.
- mobile device Provides an endoscopic device for remote control and autonomous acquisition of images of teeth, tongue, oral wall, and ENT images in the oral cavity, and a device for remote control and autonomous inspection of eyes, ears, nose, throat, and oral cavity.
- a medical remote control and autonomous control acquisition and inspection device includes:
- Machine main control device and machine main system said machine main control device and machine main system module are used to realize machine main control, and visual device acquisition module, medical ear, eye, nose, mouth, throat biological feature acquisition device , facial inspection device, facial endoscope acquisition device connection, used to control the lifting rod, moving rod, distance measuring device, control machine acquisition, inspection, lifting movement action, connected with voice device and voice module, used for voice commands, voice Synthesis, voice and text conversion, remote communication; connected with the radar mobile module, used to remotely control the movement of the base, create a map, autonomously locate, navigate, and connect with the display screen to display the vision chart and colorblind screening chart;
- a voice device and a voice module are used for interaction and voice guidance between the main control system and the user;
- a radar mobile device and an autonomous positioning, navigation, and movement module are used for creating a map, autonomously positioning, navigating, and assisting the autonomous movement of the mobile base;
- a visual device and a visual module are used to collect images of the facial features of ears, eyes, throat, mouth, and nose, and face images, and locate the facial features according to the positions of the facial features of the ears, eyes, throat, mouth, and nose.
- visual device ;
- An endoscopic image acquisition visual device including an oral pharyngeal endoscope and an otorhinal endoscope, the oral pharyngeal endoscope is used for collecting medical images of the oral and pharynx, and the ear and nose endoscope is used for collecting medical images of the ear and nose;
- a biological feature collection device includes an oral and throat biological feature collection device, an ear and nose secretion collection device, and the ear and nose secretion collection device is used for ear and nose secretion collection and detection;
- Oral and throat biometrics collection device is used for biometrics (DNA, saliva) collection, for DNA monitoring, nucleic acid detection;
- a display screen which is used to demonstrate the vision chart and colorblindness screening chart, and assist other inspection items;
- Remote control and autonomous lifting rods, moving rods, positioning and ranging devices, the lifting rods, moving rods, positioning and ranging devices are used for remote control and autonomous lifting, moving rods A, moving rods B, and moving rods C , ranging, positioning, moving to the collection position;
- Eye, ear and nose inspection module the eye, ear and nose inspection module is used for moving a rod to carry an ear and nose inspection device, an eye inspection device, and is used for ear, nose, and eye inspection;
- Eye examination devices including: video ophthalmoscope, fundus camera, fluorescein fundus angiography, optical coherence tomography imaging device, confocal laser tomography imaging device, eye imaging diagnostic devices such as eye ultrasound, and eye optometry device , Refractive examination device, eye examination device, ENT examination device, electronic ENT mirror for ENT examination.
- Communication module remote control and autonomous control module
- the communication module is connected with the main system of the machine and the remote client, the communication module includes a wireless communication module, a Bluetooth communication module, a wired Internet communication module, a radio frequency communication module, a radio communication module
- the remote control and autonomous control module is a client device of a doctor, an administrator, and a management user, which is used for remote control of the machine, and through the communication mode of the communication module, The machine communicates with the client device, controls the machine remotely and controls the machine autonomously.
- the main control device of the machine is connected with a voice device, and the voice device includes: a sound collection device, a microphone device, a speaker device, and a sound pickup device.
- the main control device of the machine is connected with the vision device, and the vision device is used to collect the ear, nose, throat, eye, mouth, facial features, and face images for facial recognition and facial positioning.
- the main control device of the machine is connected with the display screen and the lifting rod, and the display screen and the lifting rod are connected to display the physical examination items, the vision chart and the color blindness screening items.
- the main control device of the machine is connected with the radar and the mobile device to create a scene map, path planning, autonomous navigation, and movement.
- the main control device of the machine is connected with the lifting rod, the distance meter, and the moving rod A, and with the oral and pharyngeal biometrics acquisition device, and with the oral and pharyngeal endoscopic image vision device, which is used for the oral and pharyngeal biometrics (DNA, saliva) to collect DNA Samples, nucleic acid detection samples, oral and throat detection samples, endoscopic images of the oral and throat, and the main control device of the machine is connected to the oral and throat inspection devices for remote and autonomous oral and throat inspections.
- the main control device of the machine is connected with the lifting rod, the distance meter, and the moving rod B and the visual device for image acquisition of the ear and nose endoscope, which is used for the image acquisition of the ear and nose endoscope.
- the main control device of the machine is connected with the ear,
- the nose biometrics collection device is connected to the ear and nose secretion collection device, which is used for remote control and autonomous collection of ear biometrics, nasal biometrics and ear and nose secretions.
- the main control device of the machine is connected with the ear and nose inspection device. For distal and autonomous ear and nose examinations.
- the main control device of the machine is connected with the collection lifting rod, the distance meter, the collection moving rod C and the eye inspection device for eye inspection.
- the remote control module is connected to the communication module, and communicates through the communication module.
- the communication module includes one or more of a wireless communication module, a Bluetooth communication module, a wired Internet communication module, a radio frequency communication module, and a radio communication module.
- the present invention can solve remote control machine remote isolation collection, autonomous collection, inspection of facial features, autonomous positioning, movement, and navigation through medical machine devices, and realize unmanned collection, isolated collection, and autonomous inspection of facial features, as well as to improve doctors, At the same time, the data and images collected by the machine are acquired in real time, which greatly improves the work efficiency.
- efficient and high-precision collection, remote autonomous image collection, and autonomous facial features can be realized.
- Fig. 1 is a schematic diagram of a medical machine device module in the specification of this application, and Fig. 1 is marked:
- 101-machine main control device 101-machine main control device; 102-voice device and voice module; 103-radar mobile device and autonomous positioning, navigation, mobile module; 104-endoscope image acquisition visual device and acquisition module; 105-visual device and visual module; 106-Oral collection device and inspection module;
- 107-display screen 108-lifting rod, moving rod, rangefinder; 109-eye collection and inspection device and inspection module; 110-ear nose and throat collection device and inspection module; 111-remote control module;
- FIG. 2 is a schematic diagram of the composition of the medical machine device in the description of the application, and the accompanying drawing 2 is marked:
- the purpose of the present invention is to design a remote-controllable machine that replaces human work, realize remote-controlled machine collection, facial features inspection, and effectively solve autonomous collection, autonomous facial features inspection, collection of oral test samples for nucleic acid detection, biometric detection, collection Ear, nose, intraoral images, using artificial intelligence robotics, remote control, autonomous control of the machine to move the rod, move, action, collect face, mouth, ear, nose, throat images.
- Administrators and doctors can remotely control, use the machine devices that communicate with them to remotely and autonomously collect data on physical examinations of facial features, internal medicine and surgery, stomatology, otolaryngology, and ophthalmology, and apply artificial intelligence practice technology to solve problems such as human error and inaccurate collection. .
- Remotely control the machine through the client autonomously collect the images of the teeth, tongue, oral wall, and ENT images in the oral cavity, and independently inspect the ears, nose, eyes, and oral cavity, solve the problems of high work pressure and busy work for medical staff, and improve the distance of experts. End-to-end consultation, physical examination, and inspection, improve the flexibility of collection, and achieve high-efficiency and high-precision collection.
- the present invention provides an autonomous positioning and moving device through a voice device, human-computer interaction, and remote voice commands, and provides an endoscope device for remote control and autonomous acquisition of images of teeth, tongue, oral wall, and ENT images in the oral cavity.
- a medical remote control and autonomous control acquisition and inspection device includes:
- the structural modules of the machine include: the main control device 101 of the machine, a voice device and a voice module 102, a radar mobile device and an autonomous positioning, navigation, and movement module 103, an ENT image acquisition module 104, a vision device and a vision module 105 , oral collection device and inspection module 106 , display screen 107 , lift rod, moving rod ranging device 108 , eye collection inspection device and inspection module 109 , ENT collection device and inspection module 110 , remote control module 111 .
- the machine device includes: moving rod A 201, moving rod B 202, moving rod C 203, moving rod A protective cover and outer ring lighting device 204, moving rod A oral biometrics collector (pharynx/oral wall) and mobile rod A oral inspection device 205, mobile rod A oral endoscope 206, mobile rod B protective cover and outer ring lighting device 207, mobile rod B ear collection device inspection device 208, mobile rod B ear and nose endoscope 209, Move stick B biometric collector (ear and nose secretions) 210 , move stick C focal length/refractive meter 211 .
- Management users such as doctors and administrators use the remote control module 111 to communicate with the machine main control device 101, and the remote end sends out control commands.
- the visual device and the visual module 105 are used to collect the images of the ears, eyes, mouth, and nose by using the visual device and the visual module 105, collect the face images, return the position, and locate the facial features according to the images of the ears, eyes, mouth, and nose.
- the voice device includes a sound collection device, a microphone device and a speaker
- the voice pickup device can obtain voice information, input user voice through the microphone device and human-machine interaction through the speaker device, voice guidance, text and voice exchange, Speech synthesis, voice wake-up.
- the radar mobile device and the autonomous positioning, navigation, and moving module 103 communicates with the mobile chassis 103, and the information collected by the radar is sent to the machine main control device through messages and service communication methods to realize the scene self-built map, and The created map information is published to the mobile chassis node, and the mobile chassis accepts the map information to realize autonomous navigation.
- Lifting rod, moving rod, rangefinder 108, the main control device 101 of the machine is connected with the vision device, the facial features image information collected by the vision device and the vision module 105 and the information measured by the lifter rangefinder, positioning and returning mouth image position information , the lift rod range finder 108 moves the rod A201 to the outside of the lips according to the voice guidance of the voice device and the voice module 102 .
- the facial features image information collected by the vision device and the vision module 105 and the information measured by the lift rod rangefinder, locate and return the ear, nose, image position information, and the lift rod rangefinder 108 is guided by the voice device and the voice module 102. , move the rod B202 to the outside of the ear and nose.
- the facial features image information collected by the vision device and the visual module 105 is located and returned to the facial features image position information, and is sent to the machine main control device 101 and the collection moving rod A201 through the oral information and the communication method of the service.
- Biometric collection samples are used for DNA monitoring, nucleic acid detection, and they are sealed and stored in the storage compartment.
- the facial features image information collected by the vision device and the visual module 105 is located and returned to the facial features image position information, and is sent to the main control device of the machine and collected by the communication method of the service through the ear and nose information.
- the protective cover 207 is attached to the ear and nose, the outer ring light device 207 is turned on, and the rod B202 endoscope 209 is moved, moved to the edge of the ear and nose organ, the endoscope is rotated at an angle, and the ear and nose images, throat images, ears, and nose are collected from different angles. image.
- Collect the moving rod B202 move the rod B202 to the outside of the ear and nose, stick the protective cover 207 of the moving rod B202 to the outside of the ear and nose, turn on the outer ring lighting device 207, move the rod B202 to the biometric collector (ear and nose secretions) 210, move it to the inside of the ear and nose, collect Ear and nose secretions, biometrics of ear and nose secretions Collect samples for ear and nose detection, infection detection, etc., and store them in a sealed storage compartment.
- biometric collector ear and nose secretions
- the ear and nose collection device inspection device 208 is moved to the ear, nose, and the protective cover 207 is attached to the ear and nose.
- the main control device 101 of the machine follows the voice device and voice module
- the voice prompt of 102 plays different sounds of the sound shell, and the examinee answers "heard", "can't hear” and other voices.
- the facial features image information collected by the vision device and the visual module 105 is positioned and returned to the facial features image position information, and is sent to the main control device of the machine and collected by the communication method of the service through the eye information and the moving rod C203.
- the rod C203 protective cover 211 is attached to the eye to collect eye images, and to check eye diseases, vision, and refractive problems.
- the machine main control device 101 displays the visual acuity record symbol of the eye chart according to the voice prompt of the voice device and the voice module 102, and according to the instruction of the display screen 107, and the examinee answers the voice such as "up, down, left, right".
- the machine main control device 101 plays the color numbers on the color blindness screening table according to the voice prompts of the voice device and the voice module 102, and according to the instructions of the display screen 107, and the examinee answers the voices such as "numbers".
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Abstract
一种医疗远端控制及自主控制采集、检查装置，包括：机器主控制装置（101）；语音装置及语音模块（102）；雷达移动装置及自主定位、导航、移动模块（103）；内窥镜图像采集视觉装置及采集模块（104）；视觉装置及视觉模块（105）；口腔采集装置及检查模块（106）；显示屏（107）；升降杆，移动杆，测距器（108）；眼部采集检查装置及检查模块（109）；耳鼻喉部采集装置及检查模块（110）；远端控制模块（111）。本装置利用自动化控制方式提高了眼，鼻，口，耳等器官特征物的采集精度；采用远程交互方式提高了诊断的安全性和便捷性。
Description
在此处本发明属于医疗工程，自动化技术领域，涉及机器人技术领域，图像智能识别技术，医疗技术领域。
在五官科，外科，内科检查过程，由于各种人为因素，眼、鼻、咽喉、口、耳五官采集难，精准度低，特别是疫情蔓延时期，近距离采集感染性强，通过口腔，鼻腔易传播各种传染病。为解决疫情时期，病毒蔓延状态下的防感染，隔离式采集问题，采用机器代替人，远端及自主采集成为体检及口腔专科，耳鼻喉科，眼科在医疗领域的重要课题，管理员，医生远端控制，利用与其通信的机器装置，涉及机器人理论，及人工智能实践技术，疫情感染性高，效率低下，人工采集不精准，瘟疫传播等问题严重，利用机器采集杆、耳鼻部采集装置检查装置、眼部检查装置、耳鼻咽喉内窥镜，远端及自主采集口腔检测样本，口腔内牙齿、舌、口腔壁图像、咽喉图像，耳部图像、鼻部图像，耳鼻部检查装置，眼部检查装置，远端及自主采集五官图像数据及体检测试。
利用客户端与机器远端通信，实现远端控制，自主检查耳部，鼻部，眼部，口腔，采集口腔内牙齿、舌、口腔壁图像、耳鼻喉图像、特别是对于感染性检测（核酸检测），智能化，有效防止传染病，瘟疫等重大疾病蔓延。
本发明的目的就在于克服上述现有技术的缺点和不足，提供一种医疗用机器装置，利用机器代替人，远端及自主采集五官内外科体检及口腔专科、耳鼻喉科、眼科数据。 管理员，医生远端控制，利用与其通信的机器装置，涉及机器人理论，及人工智能实践技术，解决人为失误，采集不精准等问题。
通过客户端远端控制机器，自主采集口腔内牙齿、舌、口腔壁图像、耳鼻喉图像，自主检查耳部鼻部，眼部，口腔，解决医护人员作业压力大，作业繁忙问题。提高专家远端问诊、体检、检查，提高采集的灵活性，实现高效率，高精准的采集，本发明还提供了语音装置，用于人机交互，远端语音命令，提供了自主定位，移动装置。提供了远端控制及自主采集口腔内牙齿、舌、口腔壁图像、耳鼻喉图像的内窥镜装置，提供了远端控制及自主检查眼部，耳部，鼻部，咽喉，口腔的装置。
一种医疗远端控制及自主控制采集、检查装置包括：
机器主控制的装置及机器主系统， 所述的机器主控制装置及机器主系统模块用于实现机器主控制，与视觉装置采集模块，医疗耳、眼、鼻、口、咽喉生物特征物采集装置，五官检查装置，五官内窥镜采集装置连接，用于控制升降杆、移动杆、测距装置、控制机器采集，检查，升降移动动作，与语音装置及语音模块连接，用于语音指令，语音合成，语音文字互转，远端沟通；与雷达移动模块连接，用于远端控制底座移动，创建地图，自主定位，导航，与显示屏连接，用于显示视力表及色盲筛查图；
语音装置及语音模块，所述语音装置及语音模块用于主控制系统与用户间交互和语音引导；
雷达移动装置及自主定位、导航、移动模块，所述雷达移动装置及自主定位、导航、移动模块用于创建地图，自主定位，导航，辅助移动底座自主移动；
视觉装置及视觉模块，所述视觉装置及视觉模块是用于采集耳、眼、咽喉、口、鼻五官图像，人脸图像，依据耳、眼、咽喉、口、鼻五官图像位置，定位五官的视觉装置；
内窥镜图像采集视觉装置，包括口腔咽喉内窥镜，耳鼻内窥镜，所述口腔咽喉内窥镜用于采集口腔咽喉医疗图像，所述耳鼻内窥镜，用于采集耳鼻医疗图像；
生物特征采集装置，所述生物特征采集装置包括口腔咽喉生物特征物采集装置，耳鼻分泌物采集装置，所述耳鼻分泌物采集装置用于耳鼻分泌物采集，检测；
口腔咽喉生物特征物采集装置用于生物特征(DNA,唾液)采集，用于DNA监测，核酸检测；
显示屏，所述显示屏用于演示视力表及色盲筛查图，辅助其他检查项目；
远端控制及自主升降杆、移动杆、定位、测距装置，所述升降杆、移动杆、定位、测距装置用于远端控制及自主升降，移动杆A、移动杆B、移动杆C、测距，定位，移动至采集位置；
眼部，耳鼻部检查模块，所述眼部耳鼻部检查模块用于移动杆搭载耳鼻部检查装置，眼部检查装置，用于耳鼻部，眼部检查；
眼部检查装置，包括：视频检眼镜，眼底照相机，荧光素眼底血管造影，光相干断层扫描成像装置，共焦激光断层扫描成像装置，眼部超声等眼部影像诊察装置，以及眼部验光装置，屈光检查装置，眼部检查装置，耳鼻部咽喉检查装置，电子耳鼻喉镜用于耳鼻部咽喉检查。
通信模块，远端控制及自主控制模块，所述的通信模块与机器主系统，远端客户端连接，通信模块包括，无线通信模块，蓝牙通信模块，有线互联网通信模块，射频通信模块，无线电通信模块中的一种及多种通信方式；所述远端控制及自主控制模块为医生，管理员，管理用户的客户端装置，用于远端控制机器，通过所述的通信模块的通信方式，机器与客户端装置通信，远端控制机器及自主控制机器。
机器主控制装置与语音装置连接，所述语音装置包括：声音采集装置、麦克装置、扬声装置、拾音装置。
机器主控制装置与视觉装置连接，所述视觉装置是用于采集耳部、鼻部、咽喉部，眼部、口部，五官图像，人脸图像，用于五官位置识别，五官定位。
机器主控制装置与显示屏、升降杆连接，显示屏、升降杆连接展示体检项目，视力表及色盲筛查项目。
机器主控制装置与雷达，与移动装置连接，自主创建场景地图，路径规划，自主导航，移动。
机器主控制装置与升降杆、测距仪、移动杆A，与口腔咽喉部生物特征采集装置，与口腔咽喉部内窥镜图像视觉装置连接，用于口腔咽喉部生物特征(DNA,唾液)采集DNA样本、核酸检测样本、口腔咽喉部检测样本，口腔咽喉部内窥镜图像，机器主控制装置与口腔，咽喉检查装置连接，用于远端及自主的口腔，咽喉检查。
机器主控制装置与升降杆、测距仪、移动杆B与耳部、鼻部内窥镜图像采集的视觉装置连接，用于耳部、鼻部内窥镜图像采集，机器主控制装置与耳部、鼻部生物特征物采集装置，耳鼻分泌物采集装置连接，用于远端控制及自主采集耳部生物特征物、鼻部生物特征物及耳鼻分泌物，机器主控制装置与耳鼻部检查装置连接，用于远端及自主的耳鼻部检查。
机器主控制装置与采集升降杆、测距仪、采集移动杆C与眼部检查装置连接，用于眼部检查。
远端控制模块，机器主控制装置，与通信模块连接，通过通信模块通信，通信模块包括，无线通信模块，蓝牙通信模块，有线互联网通信模块，射频通信模块，无线电通信模块中的一种及多种通信方式；远端控制及自主控制升降杆、移动杆、测距装置及移动杆A、移动杆B、移动杆C、耳部、鼻部、喉部、口腔部内窥镜图像采集装置、耳鼻生物采集装置、远端采集耳鼻图片及耳鼻检查，控制口腔耳部、鼻部、喉部、口部内窥镜图像采集的视觉装置与口腔生物特征采集装置，自主及远端控制采集口腔图片，口腔检查，远端控制及自主控制眼部检查装置，耳鼻部检查装置，口腔检查装置，远端及自主的眼部检查，耳鼻部检查，口腔检查。
本发明能够通过医疗用机器装置，解决远端控制机器远端隔离采集，自主采集，检查五官，自主定位，移动，导航，实现无人采集，隔离采集，自主检查五官，以及为改善了医生，护士工作压力大等问题，同时，实时获取机器采集的数据及图像，大幅度提高工作效率，通过本发明，能够实现高效，高精准采集，远端自主采集图像，自主五官检查。
图1是本申请说明书中医疗用机器装置模块示意图，附图1标记：
101-机器主控制装置；102-语音装置及语音模块；103-雷达移动装置及自主定位、导航、移动模块；104-内窥镜图像采集视觉装置及采集模块；105-视觉装置及视觉模块；106-口腔采集装置及检查模块；
107-显示屏；108-升降杆，移动杆，测距器；109-眼部采集检查装置及检查模块；110-耳鼻喉部采集装置及检查模块；111-远端控制模块；
图2是本申请说明书中医疗用机器装置组成结构示意图，附图2标记：
101-机器主控制装置；
102-语音装置及语音模块；
103-雷达移动装置及自主定位、导航、移动模块；
105-视觉装置及视觉模块；
107-显示屏；
201-升降，移动杆A；
202-升降，移动杆B；
203-升降，移动杆C；
204-升降，移动杆A保护罩及外圈灯光装置；
205-升降，移动杆A口腔生物特征采集器（咽喉/口腔壁），
移动杆A口腔检查装置；
206-升降，移动杆A口腔内窥镜；
207-升降，移动杆B 保护罩及外圈灯光装置；
208-升降，移动杆B 耳部，鼻部检查装置；
209-升降，移动杆B 耳鼻内窥镜 ；
210-升降，移动杆B 生物特征采集装置（耳鼻分泌物）；
211-升降，移动杆C 眼部检查装置；
本发明的目的是设计取代人类工作的可远端控制机器，实现远端控制机器采集，五官检查，同时有效解决自主采集，自主五官检查，采集口腔检测样本用于核酸检测，生物特征检测，采集耳部，鼻部，口腔内图像，利用人工智能机器人技术，远端控制，自主控制机器移动杆，移动，动作，采集人脸，口腔，耳部，鼻部，喉部图像。
实现自主控制，远端控制采集眼部，耳部，鼻部，口腔内，喉部图像，远端语音命令，医生与患者通过检查采集设备语音交互。
实现远端控制机器及自主采集，远端控制，自主控制机器移动杆，移动，动作，采集人脸，口腔，耳部，眼部，鼻部图像，采集口腔内唾液及其他生理特征物图像，采集口腔，耳部，鼻部，喉部图像，解决了人为的诊断治疗失误，实现机器远端及自主采集，自主检查医疗设备，提高了智能采集的精准度。解决了异常采集，检查等问题。为了更好的理解上述技术方案，下面结合实施例及附图，对本发明作进一步地的详细说明，但本发明的实施方式不限于此。
本申请实施中的技术方案为解决上述技术问题的总体思路
管理员，医生远端控制，利用与其通信的机器装置，远端及自主采集五官内外科体检及口腔专科、耳鼻喉科、眼科数据,应用人工智能实践技术，解决人为失误，采集不精准等问题。
通过客户端远端控制机器，自主采集口腔内牙齿、舌、口腔壁图像、耳鼻喉图像，自主检查耳部鼻部，眼部，口腔，解决医护人员作业压力大，作业繁忙问题，提高专家远端问诊、体检、检查，提高采集的灵活性，实现高效率，高精准的采集。
本发明通过语音装置，人机交互，远端语音命令，提供了自主定位，移动装置，提供了远端控制及自主采集口腔内牙齿、舌、口腔壁图像、耳鼻喉图像的内窥镜装置，提供了远端控制及自主检查眼部，耳部，鼻部，咽喉，口腔的装置。
一种医疗远端控制及自主控制采集、检查装置包括：
图1所示，机器的结构模块包括：机器主控制装置101，语音装置及语音模块102，雷达移动装置及自主定位、导航、移动模块103，耳鼻喉部图像采集模块104，视觉装置及视觉模块105，口腔采集装置及检查模块106，显示屏107，升降杆，移动杆测距装置108，眼部采集检查装置及检查模块109，耳鼻喉部采集装置及检查模块110，远端控制模块111。
图2所示，机器装置包括：移动杆A 201，移动杆B 202，移动杆C 203，移动杆A保护罩及外圈灯光装置204，移动杆A口腔生物特征采集器（咽喉/口腔壁）及移动杆A口腔检查装置205，移动杆A口腔内窥镜206，移动杆B 保护罩及外圈灯光装置207，移动杆B 耳部采集装置检查装置208，移动杆B 耳鼻内窥镜209，移动杆B 生物特征采集器（耳鼻分泌物）210，移动杆C 焦距/屈光测量仪211。
医生，管理员等管理用户利用远端控制模块111与机器主控制装置101通信，远端发出控制命令，机器主控制装置101与升降杆移动杆测距器108通信，远端控制模块111远端控制升降杆测距器108及移动杆A201,B202,C203，移动至五官位置，采集五官图片及五官检查。
视觉装置及视觉模块105，应用视觉装置及视觉模块105采集耳，眼，口，鼻五官图像采集，采集人脸图像，依据耳，眼，口，鼻五官图像，返回位置，定位五官。
语音装置及语音模块102，语音装置包括声音采集装置，麦克装置及扬声器，拾音装置可以获得语音信息，通过麦克风装置输入用户语音及通过扬声器装置人机间交互，语音引导，文字语音互换，语音合成，语音唤醒。
雷达移动装置及自主定位、导航、移动模块103，机器主控制装置101与移动底盘103通信，雷达采集的信息通过消息，服务的通信方式，发送至机器主控制装置，实现场景自建地图，将创建的地图信息发布至移动底盘节点，移动底盘接受地图信息，实现自主导航。
升降杆，移动杆，测距器108，机器主控制装置101与视觉装置连接，视觉装置及视觉模块105采集的五官图像信息及升降杆测距器测量的信息，定位及返回口部图像位置信息，升降杆测距器108按照语音装置及语音模块102的语音引导，移动杆A201至嘴唇外部。视觉装置及视觉模块105采集的五官图像信息及升降杆测距器测量的信息，定位及返回耳部，鼻部，图像位置信息，升降杆测距器108按照语音装置及语音模块102的语音引导，移动杆B202至耳鼻外部。视觉装置及视觉模块105采集的五官图像信息及升降杆测距器测量的信息，定位及返回眼部信息，升降杆测距器108按照语音装置及语音模块102的语音引导，移动杆C203至眼部。
视觉装置及视觉模块105采集的五官图像信息，定位及返回五官图像位置信息，通过口腔信息，服务的通信方式，发送至机器主控制装置101及采集移动杆A201,移动杆A201至嘴唇外部，移动杆A201保护罩204贴至嘴，开启外圈灯光装置204，移动杆A201口腔生物特征采集器（咽喉/口腔壁)205，移动至口腔内部，采集咽喉/口腔壁的唾液及其他采集物，口腔生物特征采集样本用于DNA监测，核酸检测，将其密封保存至储物格。
移动杆A201至嘴唇外部，移动杆A201保护罩贴至嘴，开启外圈灯光装置204，移动杆A201内窥镜206移动到口腔内，应用转动角度，采集不同角度牙齿图像，舌头图像，口腔壁图像，咽喉图像。
视觉装置及视觉模块105采集的五官图像信息，定位及返回五官图像位置信息，通过耳鼻信息，服务的通信方式，发送至机器主控制装置及采集移动杆B202,移动杆B202至耳鼻外部，移动杆B202保护罩207贴至耳鼻，开启外圈灯光装置207，移动杆B202内窥镜209，移动至到耳鼻器官边缘，内窥镜转动角度，采集不同角度耳鼻图像，咽喉图像，耳部，鼻部图像。
采集移动杆B202,移动杆B202至耳鼻外部，移动杆B202保护罩207贴至耳鼻外部，开启外圈灯光装置207，移动杆B202生物特征采集器（耳鼻分泌物）210，移动至耳鼻内部，采集耳鼻分泌物，耳鼻分泌物生物特征采集样本用于耳鼻部检测，感染检测等，将其密封保存至储物格。
移动杆B202至耳鼻器官外部，移动杆B202移动杆B耳鼻采集装置检查装置208移动至耳部，鼻部，保护罩207贴至耳部，鼻部，机器主控制装置101按照语音装置及语音模块102的语音提示，播放声贝不同声音，被检查者回答“听到”，“听不到”等语音。
视觉装置及视觉模块105采集的五官图像信息，定位及返回五官图像位置信息，通过眼部信息，服务的通信方式，发送至机器主控制装置及采集移动杆C203,移动杆C203至眼部，移动杆C203保护罩211贴至眼部，采集眼部图像，并检查眼部疾病视力，屈光问题。
机器主控制装置101按照语音装置及语音模块102的语音提示，按照显示屏107指示，展示视力表视力记载符号，被检查者回答“上，下，左，右”等语音。
机器主控制装置101按照语音装置及语音模块102的语音提示，按照显示屏107指示，播放色盲筛查表上颜色数字，被检查者回答“数字”等语音。
Claims (9)
- 一种医疗远端控制及自主控制采集、检查装置，其特征在于，一种医疗远端控制及自主控制采集、检查装置，装置包括：机器主系统模块， 所述机器主系统模块是实现机器主控制的装置为机器主控制装置，与视觉装置采集模块，医疗耳、眼、鼻、口、咽喉生物特征物采集装置，五官检查装置，五官内窥镜采集装置连接，用于控制升降杆、移动杆、测距装置、控制机器采集，检查，升降移动动作，与语音模块连接，用于语音指令，语音合成，语音文字互转，远端沟通；与雷达移动模块连接，用于远端控制底座移动，创建地图，自主定位，导航，与显示屏连接，用于显示视力表及色盲筛查图；语音装置及语音模块，所述语音装置及语音模块用于主控制系统与用户间交互和语音引导；雷达移动装置及自主定位、导航、移动模块，所述雷达移动装置及自主定位、导航、移动模块用于创建地图，自主定位，导航，辅助移动底座自主移动；视觉装置及视觉模块，所述视觉装置及视觉模块是用于采集耳、眼、口、鼻五官图像，人脸图像，依据耳、眼、口、鼻五官图像位置，定位五官的视觉装置；内窥镜图像采集视觉装置，包括口腔咽喉内窥镜，耳鼻内窥镜，所述口腔咽喉内窥镜用于采集口腔咽喉医疗图像，所述耳鼻内窥镜，用于采集耳鼻医疗图像；生物特征采集装置，所述生物特征采集装置包括口腔咽喉生物特征物采集装置，耳鼻分泌物采集装置，所述耳鼻分泌物采集装置用于耳鼻分泌物采集，检测；口腔咽喉生物特征物采集装置用于生物特征(DNA,唾液)采集，用于DNA监测，核酸检测；显示屏，所述显示屏用于演示视力表及色盲筛查图，辅助其他检查项目；远端控制及自主升降杆、移动杆、定位、测距装置，所述升降杆、移动杆、定位、测距装置用于远端控制及自主升降，移动杆A、移动杆B、移动杆C、测距，定位，移动至采集位置；眼部，耳部检查模块，所述眼部耳部检查模块用于移动杆搭载耳部检查装置，眼部检查装置，用于耳部，眼部检查；眼部检查装置，包括：视频检眼镜，眼底照相机，荧光素眼底血管造影，光相干断层扫描成像装置，共焦激光断层扫描成像装置，眼部超声等眼部影像诊察装置，以及眼部验光装置，屈光检查装置，眼部检查装置，耳部鼻部咽喉检查装置，电子耳鼻喉镜用于耳部鼻部咽喉检查；通信模块，远端控制及自主控制模块，所述的通信模块与机器主系统，远端客户端连接，通信模块包括，无线通信模块，蓝牙通信模块，有线互联网通信模块，射频通信模块，无线电通信模块中的一种及多种通信方式；所述远端控制及自主控制模块为医生，管理员，管理用户的客户端装置，用于远端控制机器，通过所述的通信模块的通信方式，机器与客户端装置通信，远端控制机器及自主控制机器。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与语音装置连接，所述语音装置包括：声音采集装置、麦克装置、扬声装置、拾音装置。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与视觉装置连接，所述视觉装置是用于采集耳部、鼻部、咽喉部、眼部、口部，五官图像，人脸图像，用于五官位置识别，五官定位。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与显示屏、升降杆连接，显示屏、升降杆连接展示医学检查项目，视力表及色盲筛查项目辅助检查。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与雷达，与移动装置连接，自主创建场景地图，路径规划，自主导航，移动。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与升降杆、测距仪、移动杆A，与口腔咽喉部生物特征采集装置，与口腔咽喉部内窥镜图像视觉装置连接，用于口腔咽喉部生物特征(DNA,唾液)采集DNA样本、核酸检测样本、口腔咽喉检测样本，口腔咽喉内窥镜图像，机器主控制装置与口腔，咽喉检查装置连接，用于远端及自主的口腔，咽喉检查。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与升降杆、测距仪、移动杆B与耳部、鼻部内窥镜图像采集的视觉装置连接，用于耳部、鼻部内窥镜图像采集，机器主控制装置与耳部、鼻部生物特征物采集装置，耳鼻分泌物采集装置连接，用于远端控制及自主采集耳部生物特征物、鼻部生物特征物及耳鼻分泌物，机器主控制装置与耳鼻部检查装置连接，用于远端及自主的耳鼻部检查。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，机器主控制装置与采集升降杆、测距仪、采集移动杆C与眼部检查装置连接，用于眼部检查。
- 根据权利要求1，所述的一种医疗远端控制及自主控制采集、检查装置，其特征在于，远端控制模块，机器主控制装置，与通信模块连接，通过通信模块通信，通信模块包括，无线通信模块，蓝牙通信模块，有线互联网通信模块，射频通信模块，无线电通信模块中的一种及多种通信方式；远端控制及自主控制升降杆、移动杆、测距装置及移动杆A、移动杆B、移动杆C、耳部、鼻部、喉部、口腔部内窥镜图像采集装置、耳鼻生物采集装置、远端采集耳鼻图片及耳鼻检查，控制口腔耳部、鼻部、喉部、口部内窥镜图像采集的视觉装置与口腔生物特征采集装置，自主及远端控制采集口腔图片，口腔检查，远端控制及自主控制眼部检查装置，耳鼻部检查装置，口腔检查装置，远端及自主的眼部检查，耳鼻部检查，口腔检查。
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| US20150051461A1 (en) * | 2013-08-16 | 2015-02-19 | Xerox Corporation | System and method for performing a remote medical diagnosis |
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| CN206780416U (zh) * | 2017-05-23 | 2017-12-22 | 周葛 | 一种智能医疗助理机器人 |
| CN107530065A (zh) * | 2015-03-06 | 2018-01-02 | 英国质谱公司 | 活体内内窥镜下组织识别工具 |
| CN111067496A (zh) * | 2020-01-06 | 2020-04-28 | 张力 | 一种具有望闻问切的中医诊断机器人及其工作方法 |
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| US20150018622A1 (en) * | 2013-03-13 | 2015-01-15 | Camplex, Inc. | Surgical visualization systems |
| US20150051461A1 (en) * | 2013-08-16 | 2015-02-19 | Xerox Corporation | System and method for performing a remote medical diagnosis |
| CN107530065A (zh) * | 2015-03-06 | 2018-01-02 | 英国质谱公司 | 活体内内窥镜下组织识别工具 |
| CN106725295A (zh) * | 2016-11-29 | 2017-05-31 | 瑞达昇科技(大连)有限公司 | 一种微型体检设备、装置及其使用方法 |
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| CN111067496A (zh) * | 2020-01-06 | 2020-04-28 | 张力 | 一种具有望闻问切的中医诊断机器人及其工作方法 |
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