CN111531555A - Intelligent remote medical robot system - Google Patents
Intelligent remote medical robot system Download PDFInfo
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- CN111531555A CN111531555A CN202010309152.5A CN202010309152A CN111531555A CN 111531555 A CN111531555 A CN 111531555A CN 202010309152 A CN202010309152 A CN 202010309152A CN 111531555 A CN111531555 A CN 111531555A
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- 238000004659 sterilization and disinfection Methods 0.000 claims description 29
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 21
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an intelligent remote medical robot system which comprises an intelligent remote medical robot, a charging pile and a remote medical management information system, wherein the intelligent remote medical robot comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone, a loudspeaker, a detector and a medicine box cover opening and closing stepping motor, a detector and a medicine box lifting stepping motor, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a battery power supply module, a charging power plug, a communication interface module and a data processing and control module, the charging pile comprises a direct current stabilized voltage power supply and a charging power socket, and the remote medical management information system comprises a server and a client. The system has the characteristics of multiple functions, high cost performance, simplicity and convenience in use, patient privacy protection, capability of effectively reducing the risk of doctor-patient cross infection and the consumption of medical resources, improvement of working efficiency, elimination of contact propagation risk and the like.
Description
Technical Field
The invention belongs to the technical field of medical robots and artificial intelligence, and particularly relates to an intelligent remote medical robot system.
Background
The medical robot is a professional service robot that works semi-autonomously or fully autonomously and is applied to medical treatment or auxiliary medical treatment in hospitals and clinics. It can complete the service work beneficial to human health, and specifically includes four types: surgical robots (e.g., orthopedic, thoracic, abdominal, dental, neurosurgical, etc., capsule robots), rehabilitation robots (e.g., exoskeleton, prosthetic, etc., nursing robots), auxiliary robots (e.g., telemedicine, pharmaceutical, dispensing, diagnostic, etc.), and medical service robots (e.g., disinfection, medication, patient transport, referral, etc.).
The remote medical robot can be operated in a special medical environment such as an infectious disease isolation ward, an infectious source is cut off from the source to be in contact with medical staff, cross infection of doctors and patients is avoided, the infection rate of the medical staff is reduced, and a medical safety defense line is constructed; on the other hand, the medical staff configuration can be reduced, the consultation efficiency of experts inside and outside a hospital or clinic can be improved, the medical resources can be saved or optimized, and the medical staff configuration is deeply welcomed by various medical institutions.
However, how to make the intelligent remote medical robot system have the characteristics of multiple functions, high cost performance, simple and convenient use, patient confusion prevention, patient privacy protection, effective reduction of risks of doctor-patient cross infection and medical resource consumption, work efficiency improvement, risk elimination of contact propagation and the like through an effective technical scheme is still a huge challenge.
The existing telemedicine robot system has the following problems:
(1) the four auxiliary medical functions of remote medical diagnosis, vital sign measurement, medicine delivery, disinfection and epidemic prevention and the like cannot be integrated at the same time. Low integration level, low cost performance, and complex and inconvenient use.
(2) Face recognition cannot be performed on the patient. The risk of confusing the patient cannot be fundamentally eliminated.
(3) Patient privacy cannot be protected. The camera aims at the patient, and the privacy of the patient is exposed all the time, so that the patient cannot be effectively protected.
(4) Patient vital signs cannot be measured remotely. Medical care personnel are required to enter a ward to measure vital signs of a patient, such as body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like, so that the risk of cross infection of doctors and patients and the consumption of medical resources can not be effectively reduced.
(5) The drug delivery was not possible. Medical care personnel are required to enter a ward to deliver medicine to patients, and the risk of doctor-patient cross infection and the consumption of medical resources cannot be effectively reduced.
(6) The detector, the detector box and the medicine box which can not automatically disinfect and prevent the patient from touching. Manual disinfection and epidemic prevention are required, so that the working efficiency is influenced, and the risk of pathogen contact and transmission exists.
(7) The automatic walking cannot be performed or reliable automatic walking cannot be realized. Some products cannot automatically walk, a nurse is required to enter a ward to move the medical robot to a patient, a doctor can perform remote diagnosis outside the ward, and the risk of doctor-patient cross infection and the consumption of medical resources cannot be effectively reduced. Some products cannot accurately and automatically position, navigate and avoid barriers, cannot realize reliable automatic walking, require medical personnel to operate and finish manual walking, and cannot effectively reduce the consumption of medical resources.
(8) Automatic charging is not possible. Manual operations are required, which not only affect the efficiency of the work, but also risk exposure to the transmitted pathogens.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an intelligent remote medical robot system, which solves the technical problems that the existing remote medical robot system cannot simultaneously integrate four auxiliary medical functions of remote medical diagnosis, vital sign measurement, medicine delivery, disinfection and epidemic prevention and the like, cannot identify the face of a patient, cannot protect the privacy of the patient, cannot remotely measure the vital signs of the patient, cannot deliver medicine, cannot automatically disinfect and prevent the detector, a detector box and a medicine box touched by the patient, cannot automatically walk or cannot reliably and automatically walk and cannot be automatically charged.
In order to achieve the purpose, the invention provides an intelligent remote medical robot system which comprises an intelligent remote medical robot, a charging pile and a remote medical management information system, wherein the intelligent remote medical robot comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone, a loudspeaker, a detector and a medicine box cover opening and closing stepping motor, a detector and a medicine box lifting stepping motor, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a battery power supply module, a charging power supply plug, a communication interface module and a data processing and control module; the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module respectively supplies power to the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, and the charging power supply plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent remote medical robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent remote medical robot is connected with the server, and data interaction is carried out between the intelligent remote medical robot and the server.
In the technical scheme, a doctor does not need to enter a ward, observes and listens to a patient through the electric zoom camera and the microphone, and transmits the head image and the sound of the doctor to the patient through the display screen and the loudspeaker, so that the remote medical diagnosis of the patient is realized.
More preferably, the electric zoom camera collects a face image of a patient on site, the data processing and control module reads portrait information stored in advance by the patient from the server, similarity comparison is carried out on the two images, and if the similarity of the two images is lower than a set threshold value, face verification fails; if the similarity of the two is higher than or equal to the set threshold value, the face verification passes. The risk of confusing the patient is fundamentally eliminated by carrying out face recognition on the patient.
By adopting the technical scheme, four auxiliary medical functions of remote medical diagnosis, vital sign measurement, medicine delivery, disinfection and epidemic prevention and the like are integrated, and the multifunctional medical device is multifunctional, high in cost performance and simple and convenient to use. Medical personnel need not to get into the ward, through remote guidance, by patient's operation the detector accomplishes vital sign such as body temperature, pulse, breathing, blood pressure, oxyhemoglobin saturation to oneself and measures, and reaches patient with the medicine through the medicine case, effectively reduces doctor-patient cross infection's risk and the consumption of medical resources. The intelligent remote medical robot can accurately and automatically position, navigate and avoid obstacles without manual operation, realize reliable automatic walking and effectively reduce the consumption of medical resources.
As a further improvement of the present invention, an imaging lens used by the electric zoom camera is an electric zoom lens, the electric zoom lens is connected to the data processing and control module, the battery power supply module supplies power to the electric zoom lens, the data processing and control module adjusts an imaging focal length of the electric zoom camera through the electric zoom lens, and the data processing and control module adjusts a pitch angle of the electric zoom camera through the camera pitch stepping motor.
In the technical scheme, a doctor does not need to enter a ward, and the imaging focal length of the electric zoom camera can be adjusted by clicking a 'push lens' or 'pull lens' button on a display screen of the client. The imaging focal length is shortened, the imaging field angle is enlarged, and a doctor can conveniently observe the whole situation; the imaging focal length is lengthened, the imaging field angle is reduced, and the doctor can conveniently zoom in the target and magnify and observe details. The zooming process is stable, and the doctor can use the device conveniently.
As a further improvement of the present invention, the intelligent telemedicine robot further includes a lens cover and a lens cover opening and closing stepping motor, the lens cover is installed in front of the electric zoom camera, when the lens cover is opened, the electric zoom camera is not shielded by the lens cover and can take a picture of a patient, when the lens cover is closed, the electric zoom camera is shielded by the lens cover and cannot take a picture of the patient; the lens cap opening and closing stepping motor is connected with the data processing and control module, the battery power supply module supplies power to the lens cap opening and closing stepping motor, and the data processing and control module controls the opening and closing of the lens cap through the lens cap opening and closing stepping motor.
By adopting the technical scheme, when the lens cover is opened, a patient is shot; when the lens cap is closed, the patient cannot be shot, and privacy of the patient is protected.
As a further improvement of the invention, the data processing and control module adjusts the pitch angle of the display screen through the display screen pitch stepping motor.
As a further improvement of the present invention, the intelligent telemedicine robot further comprises one or more detector boxes, one or more medicine boxes, one or more detectors and medicine box covers, and a guide rail, wherein the detector boxes are used for accommodating the detectors, the medicine boxes are used for accommodating medicines taken by patients, the detectors and the medicine box covers are installed in front of the detector boxes and the medicine boxes, when the detectors and the medicine box covers are opened, the patients can take out the detectors and the medicines from the detector boxes and the medicine boxes, when the detectors and the medicine box covers are closed, the patients cannot take out the detectors and the medicines from the detector boxes and the medicine boxes, and the detector boxes and the medicine boxes can move up and down along the guide rail; the data processing and control module controls the opening and closing of the detector and the medicine box cover through the opening and closing stepping motor of the detector and the medicine box cover, and the data processing and control module controls the up-and-down movement of the detector box and the medicine box through the lifting stepping motor of the detector and the medicine box.
As a further improvement of the invention, the intelligent remote medical robot further comprises one or more ultraviolet disinfection lamps, the ultraviolet disinfection lamps are connected with the data processing and control module, and the battery power supply module supplies power to the ultraviolet disinfection lamps; the ultraviolet disinfection lamp is installed in the detector box and the medicine box, when the detector and the medicine box cover are closed, the data processing and control module lights the ultraviolet disinfection lamp to carry out ultraviolet irradiation disinfection on the detector in the detector box and the medicines in the medicine box.
As a further improvement of the present invention, the intelligent remote medical robot further comprises one or more infrared heating tubes or heating wires, the infrared heating tubes or heating wires are connected to the data processing and control module, and the battery power supply module supplies power to the infrared heating tubes or heating wires; the infrared heating pipe or the heating wire is arranged in the detector box and the medicine box, when the detector and the medicine box cover are closed, the data processing and control module starts the power supply of the infrared heating pipe or the heating wire to heat and disinfect the detector accommodated in the detector box and the medicines in the medicine box.
As a further improvement of the invention, the detector comprises one or more detectors which can perform clinical measurement on vital signs of a patient or clinical diagnosis on the patient, such as an electronic thermometer, an electronic pulsograph, a respiratory rate sensor, an electronic sphygmomanometer, a blood oxygen saturation probe, an electronic stethoscope and the like.
By adopting the technical scheme, medical staff do not need to enter a ward, the detector is operated by a patient through remote guidance, the vital signs of body temperature, pulse, respiration, blood pressure, oxyhemoglobin saturation and the like of the medical staff are measured, and the medicine is delivered to the patient through the medicine box, so that the risk of cross infection of doctors and patients and the consumption of medical resources are effectively reduced. The ultraviolet disinfection lamp, the infrared heating tube or the heating wire are turned on, the detector box and the medicine box which are touched by the patient are automatically disinfected and epidemic-proof, the disinfection and epidemic-proof are not required to be implemented manually, the working efficiency is improved, and the contact transmission risk is eliminated.
As a further improvement of the present invention, the number of the laser radars is one or more, and the laser radars are respectively installed at different heights of the intelligent remote medical robot, and are used for measuring horizontal distances between 360-degree omnibearing objects, people and animals around the intelligent remote medical robot and the laser radars in different azimuth angles in real time, and outputting the measured distances to the data processing and control module, and the data processing and control module performs real-time positioning, map construction and walking path planning according to the measured distances, and controls the walking direction of the mobile platform; the ultrasonic sensors are respectively arranged in front of, behind, on the left side or/and on the right side of the intelligent remote medical robot at different heights, the distances between objects, people and animals on the front, behind, on the left side or/and on the right side in the advancing direction of the intelligent remote medical robot and the ultrasonic sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distances according to the distances and controls the mobile platform to avoid obstacles or stop walking; the human body infrared sensors are one or more than one, are respectively installed on the front, the back, the left or/and the right of the intelligent remote medical robot at different heights, respectively measure the distances between the front, the back, the left or/and the right of the intelligent remote medical robot in the advancing direction and the human body infrared sensors, output the distances to the data processing and control module, and accordingly the data processing and control module judges the distances and controls the mobile platform to avoid obstacles or stop walking.
As a further improvement of the invention, the mobile platform is a wheeled mobile platform adopting four or more wheels or a crawler-type mobile platform adopting two rows of crawler tracks, and the data processing and control module controls the mobile platform to move forwards, backwards, turn and rotate on site.
By adopting the technical scheme, manual operation is not needed, the intelligent remote medical robot accurately and automatically positions, navigates and avoids obstacles, reliable automatic walking is realized, and the consumption of medical resources is effectively reduced.
As a further improvement of the invention, the intelligent remote medical robot further comprises a power cover and a power cover opening and closing stepping motor, wherein the power cover is installed in front of the charging power plug, when the power cover is opened, the charging power plug is not shielded by the power cover, the charging power plug is connected with the charging power socket to realize that the direct current voltage-stabilizing power supply charges the battery power supply module, when the power cover is closed, the charging power plug is shielded by the power cover, the charging power plug cannot be connected with the charging power socket, and the direct current voltage-stabilizing power supply cannot charge the battery power supply module; the power cover opening and closing stepping motor is connected with the data processing and control module, the battery power supply module is right for supplying power to the power cover opening and closing stepping motor, and the data processing and control module is right for controlling the power cover to be opened and closed through the power cover opening and closing stepping motor.
As a further improvement of the invention, the intelligent remote medical robot further comprises an automatic charging positioning camera, the charging pile further comprises an automatic charging positioning light source, the automatic charging positioning camera is connected with the data processing and control module, the battery power supply module supplies power to the automatic charging positioning camera, and the direct-current voltage stabilizing power supply supplies power to the automatic charging positioning light source; when the intelligent remote medical robot is charged, the automatic charging positioning camera images the lighted automatic charging positioning light source, the data processing and control module controls the intelligent remote medical robot to advance, retreat, turn and rotate in place through the mobile platform, so that the charging power supply plug is aligned with the charging power supply socket, then advances and is inserted into the charging power supply socket, and the direct-current voltage stabilizing power supply charges the battery power supply module.
As a further improvement of the invention, the automatic charging positioning light source is three or more near-infrared LEDs, and when the intelligent remote medical robot works, the near-infrared LEDs are in a normally-on state, so that the intelligent remote medical robot can automatically charge at any time.
As a further improvement of the invention, the battery power supply module comprises a constant-current constant-voltage charging circuit, a lithium battery pack, a direct-current voltage stabilizer and an electric quantity detection circuit, when the intelligent remote medical robot is charged, the input end of the constant-current constant-voltage charging circuit is connected with the direct-current voltage stabilizer through the charging power plug and the charging power socket to obtain the power supply of the direct-current voltage stabilizer; the output end of the constant-current constant-voltage charging circuit is connected with the output end of the lithium battery pack, the lithium battery pack is subjected to constant-current charging at a set constant charging current, and when the voltage of the output end of the lithium battery pack reaches a set constant-voltage charging voltage, the constant-current constant-voltage charging circuit is automatically switched to perform constant-voltage charging at the set constant-voltage charging voltage; the input end of the direct current voltage stabilizer is respectively connected with the charging power supply plug and the output end of the lithium battery pack, when the charging power supply plug is connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is powered by the direct current voltage stabilizer, and when the charging power supply plug is not connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is automatically powered by the output end of the lithium battery pack; the output end of the direct current voltage stabilizer supplies power to the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module, the data processing and control module, the electric zoom lens, the lens cover opening and closing stepping motor, the ultraviolet disinfection lamp, the infrared heating tube or the electric heating wire, the power supply cover opening and closing stepping motor, the automatic charging positioning camera and the electric quantity detection circuit; the electric quantity detection circuit is connected with the data processing and control module, the electric quantity detection circuit detects the voltage of the output end of the lithium battery pack in real time, and if the voltage is lower than a set voltage value, the data processing and control module controls the intelligent remote medical robot to automatically walk to the charging pile for charging; the input end of the direct current stabilized power supply is connected with alternating current voltage of a power grid, and the output end of the direct current stabilized power supply outputs stable direct current voltage.
By adopting the technical scheme, when the electric quantity is insufficient, the intelligent remote medical robot automatically walks to charge before the charging pile, manual operation is not needed, the working efficiency is improved, and the contact propagation risk is eliminated.
As a further improvement of the present invention, the communication interface module includes at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, RJ45 network port wired communication, USB, RS232, and RS485, the data processing and control module performs data connection with the server and the client through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, and the like, of the communication interface module, and the data processing and control module performs data connection with other external devices through at least one of RJ45 network port wired communication, USB, RS232, and RS485, and the like, of the communication interface module.
As a further improvement of the present invention, the intelligent telemedicine robot is of a vertical structure, and further comprises an upright column and a circuit box, wherein the upright column is installed on the mobile platform, the upright column is respectively installed with the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the speaker, the detector box, the medicine box, the detector and medicine box lifting stepping motor, the guide rail and the circuit box from top to bottom, the laser radar, the ultrasonic sensor and the human body infrared sensor are installed at different heights of the upright column, and the battery power supply module, the charging power plug, the communication interface module and the data processing and control module are installed in the circuit box.
In general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
(1) meanwhile, four auxiliary medical functions of remote medical diagnosis, vital sign measurement, medicine delivery, disinfection and epidemic prevention and the like are integrated. Multiple functions, high cost performance and convenient use.
(2) The patient is prevented from being confused. The face recognition is carried out on the patient, so that the risk of confusing the patient is fundamentally eliminated.
(3) Protecting the privacy of the patient. When the lens cover is opened, shooting a patient; when the lens cap is closed, the patient can not be shot, and the privacy of the patient is protected.
(4) Patient vital signs are measured remotely. Medical personnel do not need to enter a ward, and the patient operates the detector through remote guidance to measure the vital signs of the patient such as body temperature, pulse, respiration, blood pressure, blood oxygen saturation and the like, so that the risk of cross infection of the patient and the consumption of medical resources are effectively reduced.
(5) And (5) delivering the medicine. Medical care personnel need not to get into the ward, reaches patient with the medicine through the medicine case, effectively reduces doctor-patient cross infection's risk and the consumption of medical resources.
(6) Automatically disinfecting and epidemic-preventing the detector, the detector box and the medicine box touched by the patient. The ultraviolet disinfection lamp, the infrared heating tube or the electric heating wire are started for disinfection, manual disinfection and epidemic prevention are not needed, the working efficiency is improved, and the contact transmission risk is eliminated.
(7) And (5) automatically walking. The intelligent remote medical robot can accurately and automatically position, navigate and avoid obstacles without manual operation, realize reliable automatic walking and effectively reduce the consumption of medical resources.
(8) And (4) automatic charging. When the electric quantity is not enough, the intelligent remote medical robot automatically walks to charge before charging the electric pile, manual operation is not needed, the working efficiency is improved, and the contact propagation risk is eliminated.
Drawings
Fig. 1 is a schematic block diagram of an intelligent telemedicine robotic system according to an embodiment of the present invention.
Fig. 2 is a schematic block diagram of a battery-powered module according to an embodiment of the present invention.
Fig. 3 is a schematic block diagram of a communication interface module according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of a structure provided by an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The invention relates to an intelligent remote medical robot system, which comprises an intelligent remote medical robot, a charging pile and a remote medical management information system, wherein the intelligent remote medical robot comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone, a loudspeaker, a detector, a medicine box cover opening and closing stepping motor, a detector and a medicine box lifting stepping motor, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a battery power supply module, a charging power plug, a communication interface module and a data processing and control module; the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module respectively supplies power to the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, and the charging power supply plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent remote medical robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent remote medical robot is connected with the server, and data interaction is carried out between the intelligent remote medical robot and the server.
By adopting the technical scheme, the intelligent remote medical robot system simultaneously integrates four auxiliary medical functions of remote medical diagnosis, vital sign measurement, medicine delivery, disinfection and epidemic prevention and the like; the patient is prevented from being confused; the privacy of the patient is protected; remotely measuring patient vital signs; delivering the medicine; automatically disinfecting and epidemic-preventing the detector, the detector box and the medicine box touched by the patient; automatically walking; and (4) automatic charging.
Fig. 1 is a schematic block diagram of an intelligent telemedicine robot system according to an embodiment of the present invention. In the system shown in fig. 1, the system comprises an intelligent telemedicine robot 1, a charging pile 2 and a telemedicine management information system 3, wherein the intelligent telemedicine robot 1 comprises a power-driven zoom camera 101, a power-driven zoom lens 102, a camera pitching stepping motor 103, a lens cover opening and closing stepping motor 104, a display screen 105, a display screen pitching stepping motor 106, a microphone 107, a loudspeaker 108, a detector 109, a detector and medicine cover opening and closing stepping motor 110, a detector and medicine cover lifting stepping motor 111, an ultraviolet disinfection lamp 112, an infrared heating tube or heating wire 113, a laser radar 114, an ultrasonic sensor 115, a human body infrared sensor 116, a power cover opening and closing stepping motor 117, an automatic charging positioning camera 118, a mobile platform 119, a communication interface module 120, a battery power supply module 121, a charging power plug 122, a data processing and control module 123, the charging pile 2 comprises a direct current stabilized voltage power supply 21, a charging power supply socket 22 and an automatic charging positioning light source 23, and the remote medical management information system 3 comprises a server 31 and a client 32; the electric zoom camera 101, the electric zoom lens 102, the camera pitching stepping motor 103, the lens cover opening and closing stepping motor 104, the display screen 105, the display screen pitching stepping motor 106, the microphone 107, the loudspeaker 108, the detector 109, the detector and medicine box cover opening and closing stepping motor 110, the detector and medicine box lifting stepping motor 111, the ultraviolet disinfection lamp 112, the infrared heating tube or heating wire 113, the laser radar 114, the ultrasonic sensor 115, the human body infrared sensor 116, the power cover opening and closing stepping motor 117, the automatic charging positioning camera 118, the mobile platform 119 and the communication interface module 120 are respectively connected with the data processing and control module 123, and the battery power supply module 121 is respectively connected with the electric zoom camera 101, the electric zoom lens 102, the camera pitching stepping motor 103, the lens cover opening and closing stepping motor 104, the display screen 105, the mobile platform 119 and the communication interface module 120, A display screen pitching stepping motor 106, a microphone 107, a loudspeaker 108, a detector 109, a detector and medicine box cover opening and closing stepping motor 110, a detector and medicine box lifting stepping motor 111, an ultraviolet disinfection lamp 112, an infrared heating pipe or heating wire 113, a laser radar 114, an ultrasonic sensor 115, a human body infrared sensor 116, a power cover opening and closing stepping motor 117, an automatic charging positioning camera 118, a mobile platform 119, a communication interface module 120 and a data processing and control module 123, wherein a charging power plug 122 is connected with the battery power supply module 121, a charging power socket 22 is connected with the direct current stabilized voltage power supply 21, and a client 32 is connected with the server 31; when the intelligent telemedicine robot 1 is charged, the charging power plug 122 is connected to the charging power socket 22, and the dc voltage-stabilized power supply 21 charges the battery power supply module 121; the intelligent remote medical robot 1 is connected with the server 31, and data interaction is carried out between the intelligent remote medical robot and the server 31.
In an alternative embodiment, as shown in fig. 2, the battery power supply module 121 includes a constant-current constant-voltage charging circuit 1211, a lithium battery pack 1212, a dc regulator 1213, and a power detection circuit 1214, when the intelligent remote medical robot 1 is charged, an input end of the constant-current constant-voltage charging circuit 1211 is connected to the dc regulated power supply 21 through the charging power plug 122 and the charging power socket 22 to obtain power supplied by the dc regulated power supply 21; the output end of the constant current and constant voltage charging circuit 1211 is connected with the output end of the lithium battery pack 1212, and performs constant current charging on the lithium battery pack 1212 at a set constant charging current, and when the voltage at the output end of the lithium battery pack 1212 reaches a set constant voltage charging voltage, automatically converts the voltage into a set constant voltage charging voltage to perform constant voltage charging; the input end of the dc voltage stabilizer 1213 is connected to the output ends of the charging power plug 122 and the lithium battery pack 1212, respectively, when the charging power plug 122 is connected to the output end of the dc voltage stabilized power supply 21 through the charging power socket 22, the input end of the dc voltage stabilizer 1213 is powered by the dc voltage stabilized power supply 21, and when the charging power plug 122 is not connected to the output end of the dc voltage stabilized power supply 21 through the charging power socket 22, the input end of the dc voltage stabilizer 1213 automatically switches to be powered by the output end of the lithium battery pack 1212; the output end of the direct current voltage stabilizer 1213 supplies power to the electric zoom camera 101, the camera pitching stepping motor 103, the display screen 105, the display screen pitching stepping motor 106, the microphone 107, the speaker 108, the detector 109, the detector and medicine box cover opening and closing stepping motor 110, the detector and medicine box lifting stepping motor 111, the laser radar 114, the ultrasonic sensor 115, the human body infrared sensor 116, the mobile platform 119, the communication interface module 120, the data processing and control module 123, the electric zoom lens 102, the lens cover opening and closing stepping motor 104, the ultraviolet disinfection lamp 112, the infrared heating tube or heating wire 113, the power cover opening and closing stepping motor 117, the automatic charging positioning camera 118 and the electric quantity detection circuit 1214; the electric quantity detection circuit 1214 is connected to the data processing and control module 123, the electric quantity detection circuit 1214 detects the voltage at the output end of the lithium battery pack 1212 in real time, and if the voltage is lower than a set voltage value, the data processing and control module 123 controls the intelligent telemedicine robot 1 to automatically walk to the charging pile 2 for charging; the input end of the direct current stabilized power supply 21 is connected with the alternating current voltage of the power grid, and the output end outputs stable direct current voltage.
In an optional embodiment, as shown in fig. 3, the communication interface module 120 includes at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, RJ45 network port wired communication, USB, RS232, and RS485, the data processing and control module 123 performs data connection with the server 31 and the client 32 through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, and the data processing and control module 123 performs data connection with other external devices 4 through at least one of RJ45 network port wired communication, USB, RS232, and RS485 of the communication interface module 120.
In an optional embodiment, as shown in fig. 4, the intelligent telemedicine robot 1 adopts a vertical structure, and further includes a column 128 and a circuit box 127, the column 128 is installed on the moving platform 119, the column 128 is installed with the electric zoom camera 101, the camera pitching stepping motor 103, the display screen 105, the display screen pitching stepping motor 106, the microphone 107, the speaker 108, the detector box 124, the medicine box 125, the detector and medicine box lifting stepping motor 111, the guide rail 126 and the circuit box 127 from top to bottom, respectively, the laser radar 114, the ultrasonic sensor 115 and the human body infrared sensor 116 are installed at different heights of the column 128, and the battery power supply module 121, the charging power plug 122, the communication interface module 120 and the data processing and control module 123 are installed in the circuit box 127.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (16)
1. An intelligent remote medical robot system is characterized by comprising an intelligent remote medical robot, a charging pile and a remote medical management information system, wherein the intelligent remote medical robot comprises an electric zoom camera, a camera pitching stepping motor, a display screen pitching stepping motor, a microphone, a loudspeaker, a detector and a medicine box cover opening and closing stepping motor, a detector and medicine box lifting stepping motor, a laser radar, an ultrasonic sensor, a human body infrared sensor, a mobile platform, a battery power supply module, a charging power plug, a communication interface module and a data processing and control module; the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform and the communication interface module are respectively connected with the data processing and control module, the battery power supply module respectively supplies power to the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module and the data processing and control module, and the charging power supply plug is connected with the battery power supply module, the charging power socket is connected with the direct current stabilized power supply, and the client is connected with the server; when the intelligent remote medical robot is charged, the charging power supply plug is connected with the charging power supply socket, and the direct-current voltage-stabilizing power supply charges the battery power supply module; the intelligent remote medical robot is connected with the server, and data interaction is carried out between the intelligent remote medical robot and the server.
2. The intelligent telemedicine robotic system of claim 1, wherein the imaging lens of the motorized zoom camera is a motorized zoom lens, the motorized zoom lens is connected to the data processing and control module, the battery power module supplies power to the motorized zoom lens, the data processing and control module adjusts the imaging focal length of the motorized zoom camera through the motorized zoom lens, and the data processing and control module adjusts the tilt angle of the motorized zoom camera through the camera tilt stepper motor.
3. The intelligent telemedicine robot system of claim 1 or 2, further comprising a lens cover and a lens cover opening and closing stepping motor, wherein the lens cover is installed in front of the electric zoom camera, when the lens cover is opened, the electric zoom camera is not shielded by the lens cover and can take a picture of a patient, and when the lens cover is closed, the electric zoom camera is shielded by the lens cover and cannot take a picture of the patient; the lens cap opening and closing stepping motor is connected with the data processing and control module, the battery power supply module supplies power to the lens cap opening and closing stepping motor, and the data processing and control module controls the opening and closing of the lens cap through the lens cap opening and closing stepping motor.
4. The intelligent telemedicine robotic system of claim 1, wherein the data processing and control module adjusts a pitch angle of the display screen via the display screen pitch stepper motor.
5. The intelligent telemedicine robot system of claim 1, further comprising one or more detector boxes, one or more drug boxes, one or more detector and drug box covers, and a track, wherein the detector boxes are configured to receive the detectors, the drug boxes are configured to receive drugs to be administered to the patient, the detector and drug box covers are mounted in front of the detector boxes and drug boxes, the detector and drug box covers are opened to allow the patient to take out the detector and the drugs from the detector boxes and the drug boxes, and when the detector and drug box covers are closed, the patient cannot take out the detector and the drugs from the detector boxes and the drug boxes, and the detector boxes and the drug boxes can move up and down along the track; the data processing and control module controls the opening and closing of the detector and the medicine box cover through the opening and closing stepping motor of the detector and the medicine box cover, and the data processing and control module controls the up-and-down movement of the detector box and the medicine box through the lifting stepping motor of the detector and the medicine box.
6. The intelligent telemedicine robot system of claim 5, further comprising one or more UV disinfection lamps connected to the data processing and control module, the battery power module powering the UV disinfection lamps; the ultraviolet disinfection lamp is installed in the detector box and the medicine box, when the detector and the medicine box cover are closed, the data processing and control module lights the ultraviolet disinfection lamp to carry out ultraviolet irradiation disinfection on the detector in the detector box and the medicines in the medicine box.
7. The intelligent telemedicine robot system of claim 1, 5 or 6, further comprising one or more infrared heating tubes or wires connected to the data processing and control module, the battery power module supplying power to the infrared heating tubes or wires; the infrared heating pipe or the heating wire is arranged in the detector box and the medicine box, when the detector and the medicine box cover are closed, the data processing and control module starts the power supply of the infrared heating pipe or the heating wire to heat and disinfect the detector accommodated in the detector box and the medicines in the medicine box.
8. The intelligent telemedicine robotic system of claim 7, wherein the detector comprises one or more of an electronic thermometer, an electronic pulsometer, a respiratory rate sensor, an electronic sphygmomanometer, a blood oxygen saturation probe, an electronic stethoscope, etc. that can be used for clinical measurements of vital signs of a patient or clinical diagnoses of a patient.
9. The intelligent remote medical robot system according to claim 1, wherein the laser radar is one or more than one, and is respectively installed at different heights of the intelligent remote medical robot, and the horizontal distances between the laser radar and 360-degree omnibearing objects, people and animals around the intelligent remote medical robot are measured in real time and output to the data processing and control module, and the data processing and control module performs instant positioning, map construction and walking path planning according to the measurement, and controls the walking direction of the mobile platform; the ultrasonic sensors are respectively arranged in front of, behind, on the left side or/and on the right side of the intelligent remote medical robot at different heights, the distances between objects, people and animals on the front, behind, on the left side or/and on the right side in the advancing direction of the intelligent remote medical robot and the ultrasonic sensors are respectively measured in real time and output to the data processing and control module, and the data processing and control module judges the distances according to the distances and controls the mobile platform to avoid obstacles or stop walking; the human body infrared sensors are one or more than one, are respectively installed on the front, the back, the left or/and the right of the intelligent remote medical robot at different heights, respectively measure the distances between the front, the back, the left or/and the right of the intelligent remote medical robot in the advancing direction and the human body infrared sensors, output the distances to the data processing and control module, and accordingly the data processing and control module judges the distances and controls the mobile platform to avoid obstacles or stop walking.
10. The intelligent telemedicine robotic system of claim 1, wherein the mobile platform is a wheeled mobile platform employing four or more wheels or a tracked mobile platform employing two rows of tracks, the data processing and control module controlling the mobile platform to advance, retreat, turn, rotate in place.
11. The intelligent telemedicine robot system of claim 1, further comprising a power cover and a power cover opening and closing stepper motor, wherein the power cover is installed in front of the charging power plug, when the power cover is opened, the charging power plug is not shielded by the power cover, the charging power plug is connected with the charging power socket to charge the battery power module with the dc voltage-stabilizing power, when the power cover is closed, the charging power plug is shielded by the power cover, the charging power plug cannot be connected with the charging power socket, and the charging of the battery power module with the dc voltage-stabilizing power cannot be realized; the power cover opening and closing stepping motor is connected with the data processing and control module, the battery power supply module is right for supplying power to the power cover opening and closing stepping motor, and the data processing and control module is right for controlling the power cover to be opened and closed through the power cover opening and closing stepping motor.
12. The intelligent telemedicine robot system of claim 11, wherein the intelligent telemedicine robot further comprises an automatic charging positioning camera, the charging post further comprises an automatic charging positioning light source, the automatic charging positioning camera is connected with the data processing and control module, the battery power supply module supplies power to the automatic charging positioning camera, and the direct current voltage stabilization power supply supplies power to the automatic charging positioning light source; when the intelligent remote medical robot is charged, the automatic charging positioning camera images the lighted automatic charging positioning light source, the data processing and control module controls the intelligent remote medical robot to advance, retreat, turn and rotate in place through the mobile platform, so that the charging power supply plug is aligned with the charging power supply socket, then advances and is inserted into the charging power supply socket, and the direct-current voltage stabilizing power supply charges the battery power supply module.
13. The intelligent telemedicine robot system of claim 12, wherein the automatic charging positioning light source is three or more near infrared LEDs, and the near infrared LEDs are normally on when the intelligent telemedicine robot is in operation, so that the intelligent telemedicine robot can automatically charge at any time.
14. The intelligent telemedicine robotic system of claim 1, wherein the
The battery power supply module comprises a constant-current constant-voltage charging circuit, a lithium battery pack, a direct-current voltage stabilizer and an electric quantity detection circuit, wherein when the intelligent remote medical robot is charged, the input end of the constant-current constant-voltage charging circuit is connected with the direct-current voltage stabilizer through the charging power supply plug and the charging power supply socket to obtain the power supply of the direct-current voltage stabilizer; the output end of the constant-current constant-voltage charging circuit is connected with the output end of the lithium battery pack, the lithium battery pack is subjected to constant-current charging at a set constant charging current, and when the voltage of the output end of the lithium battery pack reaches a set constant-voltage charging voltage, the constant-current constant-voltage charging circuit is automatically switched to perform constant-voltage charging at the set constant-voltage charging voltage; the input end of the direct current voltage stabilizer is respectively connected with the charging power supply plug and the output end of the lithium battery pack, when the charging power supply plug is connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is powered by the direct current voltage stabilizer, and when the charging power supply plug is not connected with the output end of the direct current voltage stabilizer through the charging power supply socket, the input end of the direct current voltage stabilizer is automatically powered by the output end of the lithium battery pack; the output end of the direct current voltage stabilizer supplies power to the electric zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the loudspeaker, the detector and the medicine box cover opening and closing stepping motor, the detector and the medicine box lifting stepping motor, the laser radar, the ultrasonic sensor, the human body infrared sensor, the mobile platform, the communication interface module, the data processing and control module, the electric zoom lens, the lens cover opening and closing stepping motor, the ultraviolet disinfection lamp, the infrared heating tube or the electric heating wire, the power supply cover opening and closing stepping motor, the automatic charging positioning camera and the electric quantity detection circuit; the electric quantity detection circuit is connected with the data processing and control module, the electric quantity detection circuit detects the voltage of the output end of the lithium battery pack in real time, and if the voltage is lower than a set voltage value, the data processing and control module controls the intelligent remote medical robot to automatically walk to the charging pile for charging; the input end of the direct current stabilized power supply is connected with alternating current voltage of a power grid, and the output end of the direct current stabilized power supply outputs stable direct current voltage.
15. The intelligent telemedicine robotic system of claim 1, wherein the communication interface module comprises at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, RJ45 network port wired communication, USB, RS232, and RS485 interfaces, the data processing and control module is in data connection with the server and the client through at least one of WiFi, GSM, GPRS, EDGE, 3G, 4G, and 5G wireless communication, and the data processing and control module is in data connection with other external devices through at least one of RJ45 network port wired communication, USB, RS232, and RS485 interfaces of the communication interface module.
16. The intelligent telemedicine robot system of claim 1, wherein the intelligent telemedicine robot adopts a vertical structure, and further comprises a column and a circuit box, wherein the column is installed on the mobile platform, the column is installed with the power zoom camera, the camera pitching stepping motor, the display screen pitching stepping motor, the microphone, the speaker, the detector box, the medicine box, the detector, the medicine box lifting stepping motor, the guide rail and the circuit box from top to bottom, the laser radar, the ultrasonic sensor and the human infrared sensor are installed at different heights of the column, and the battery power supply module, the charging power supply plug, the communication interface module, the data processing and the control module are installed in the circuit box.
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