NL2031874B1

NL2031874B1 - Intelligent robot for back-slap sputum excretion

Info

Publication number: NL2031874B1
Application number: NL2031874A
Authority: NL
Inventors: Chen Diansheng; Huang Yuanhai; Wang Min; Pan Yue
Original assignee: Univ Beihang
Priority date: 2022-05-16
Filing date: 2022-05-16
Publication date: 2023-11-24

Abstract

UITTREKSEL The present invention relates to the technical field of robotics, and is an intelligent robot capable of performing back—slap sputum excretion nursing for patients with severe respiratory diseases in place of medical workers. The invention mainly includes a mobile 5 chassis, a robot control cabinet, a laser radar, a depth camera, a mechanical arm, a vibrating percussion head, a pressure sensor, etc. When working, the robot moves autonomously to a side of the patient who needs sputum excretion nursing, the depth camera gathers characteristic information of the back of the patient and 10 plans a motion path of the mechanical arm based on the characteristic information, and then the mechanical arm conducts back—slap sputum excretion nursing operation on the back of the patient with the vibrating percussion head, and after completing the operation, the robot autonomously returns to its initial 15 position. (+ Fig. )

Description

P1335/NLpd

INTELLIGENT ROBOT FOR BACK-SLAP SPUTUM EXCRETION

TECHNICAL FIELD

The present invention relates to the technical field of ro- botics, and is particularly an intelligent robot capable of per- forming back-slap sputum excretion nursing for patients with se- vere respiratory diseases in place of medical workers. The tech- nology can reduce labor intensity of medical workers as well as risk of cross-infection between doctors and patients.

BACKGROUND ART

According to statistics, respiratory diseases (excluding lung cancer) account for the fourth cause of death in cities. Most res- piratory diseases lead to production of sputum in lungs. Many critically ill patients with respiratory diseases are prone to respiratory obstruction if they cannot get timely sputum excre- tion, causing dyspnea or hardness in breathing, which is not con- ducive to rehabilitation of pulmonary diseases. Therefore, there is a great market demand for related equipment designed for sputum excretion demand of critically ill patients.

At present, manually back-slap assisted sputum excretion still occupies a large proportion in main methods of sputum excre- tion. However, there are some problems such as great labor inten- sity of medical workers as well as high risk of cross-infection between doctors and patients in manually back-slap assisted sputum excretion for patients in wards. The present invention designs a specialized intelligent robot for back-slap sputum excretion to replace the manually back-slap sputum excretion method by recog- nizing the characteristics of the backs of the patients combined with autonomously mobile robot technology, mechanical arm control technology, computer vision technology, etc.

SUMMARY

The present invention designs an intelligent robot for back- slap sputum excretion, which is capable of performing back-slap sputum excretion nursing for patients by autonomously recognizing the characteristics of the backs of the patients and using a vi- brating percussion head carried on a mechanical arm, so as to solve the problems mentioned in the above background art, such as great labor intensity of related medical workers as well as high risk of cross-infection between doctors and patients.

An intelligent robot for back-slap sputum excretion, charac- terized by including a mobile chassis, a mechanical arm, a depth camera, a vibrating percussion head, a mechanical arm end clamp, a mechanical arm support, a pressure sensor, a transmission flexible shaft, a depth camera support, a robot control cabinet, a robot driver, a robot communication module, a laser radar, and a bat- tery.

Further, the mobile chassis uses Mecanum wheels, which may ensure free movement of the entire robot in a narrow ward. The la- ser radar is mounted on the mobile chassis to sense and map the ward environment.

Further, the mechanical arm is a six-degree-of-freedom me- chanical arm, which may meet complex working demands of back-slap sputum excretion, and it is mounted on the mechanical arm support with the pressure sensor being carried at the end thereof to real- ize force/position control of the mechanical arm, which can meet the demands of back-slap sputum excretion for patients.

Further, the depth camera is used for feature recognition of backs of the patients, and the camera is mounted on the mobile chassis via the depth camera support with a shock-absorbing struc- ture to ensure stability of camera image acquisition.

Further, the vibrating percussion head is a vibrating sputum excretion machine percussion head, which is mounted at the end of the mechanical arm via the mechanical arm end clamp, and the robot control cabinet transmits motion to the percussion head via the transmission flexible shaft. It enables back-slap sputum excretion nursing for patients by continuous vibrating percussions.

Further, the robot communication module is mounted on the mo- bile chassis, and an operator can control the intelligent robot for back-slap sputum excretion through remote communication.

Further, the robot control cabinet is mounted on the mobile chassis to control the motion of the robot and various motion mod- ules thereon.

Further, the robot driver is mounted on the mobile chassis for driving the mobile chassis of the robot and respective motion components.

Further, the battery is mounted on the mobile chassis to pro- vide power to the mobile chassis and the mechanical arm as well as various sensors and actuators thereon, so as to ensure that the robot can move independently and complete its corresponding tasks.

Compared with the prior art, the present invention has ad- vantages as follows: 1. Compared with a wearable vibrating sputum excretion ma- chine, it is more convenient and flexible to use, and it can re- duce risk of patient cross-infection. 2. Compared with a manually back-percussion sputum excretion method, the present invention can reduce burden on medical workers as well as risk of cross-infection between doctors and patients. 3. The present invention enables flexible motion in a complex environment of an intensive care unit, and it has a compact over- all structure, aesthetic design, and ease of use.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the overall robot according to the present invention.

FIG. 2 is a detailed view of the rear structure of the robot according to the present invention.

FIG. 3 is a detailed view of an end structure of the mechani- cal arm according to the present invention.

In the drawings, 1-mobile chassis, 2-mechanical arm, 3-depth camera, 4-vibrating percussion head, 5-mechanical arm end clamp, 6-mechanical arm support, 7-pressure sensor, 8-transmission flexi- ble shaft, 9-depth camera support, 1l0-robot control cabinet, 11- robot driver, 12-robot communication module, 13-laser radar, 14- battery.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The technical solution of the present invention will be clearly and completely described below with reference to the ac- companying drawings and embodiments. Obviously, the described em- bodiments are only a part of the embodiments of the present inven- tion, rather than all of the embodiments. Based on embodiments in the present utility model, all the other embodiments obtained by a person skilled in the art without creative effort shall fall with- in the scope of protection of the present invention.

The present invention provides a technical solution: an in- telligent robot for back-slap sputum excretion, including a 1- mobile chassis, a 2-mechanical arm, a 3-depth camera, a 4- vibrating percussion head, a 5-mechanical arm end clamp, a 6- mechanical arm support, a 7-pressure sensor, an 8-transmission flexible shaft, a 9-depth camera support, a 10-robot control cabi- net, an ll-robot driver, a 12-robot communication module, a 13- laser radar, a 14-battery, etc.

Working processes of the intelligent robot for back-slap spu- tum excretion are as follows: firstly, the robot moves autonomous- ly to a side of the patient who needs back-slap sputum excretion, and the depth camera gathers information of the back of the pa- tient and analyzes characteristics of the back of the patient. The gathered characteristics of the back are used to plan a motion trajectory of the mechanical arm. Then, the mechanical arm con- ducts effective percussion sputum excretion on the back of the pa- tient with the vibrating percussion head. The mechanical arm is controlled based on the data of the pressure sensor to ensure the safety of man-machine interaction. After repeatedly executing the percussion path for many times, the mechanical arm returns to its initial position. And the robot moves autonomously to its initial position to end the sputum excretion nursing.

In the solution of the present invention, the mobile chassis of the robot uses Mecanum wheels, which may move flexibly in a complex and narrow ward environment. The robot controller is di- rectly carried on the mobile chassis, so as to enable control of the mobile chassis, the mechanical arm and the vibrating sputum excretion terminal. The battery provides power for the entire ro- bot to ensure that the robot can move independently and perform back-slap sputum excretion nursing operations for the patient.

In the solution of the present invention, the robot mainly simulates a nursing process of a medical worker performing manual- ly back-slap sputum excretion; the vibrating percussion head car- ried by the mechanical arm is used to simulate a percussion action 5 of the hand of the medical worker; and the mechanical arm is used to simulate the action of the medical worker on the back of the patient, namely, the path of the medical worker’s percussion on the back of the patient is simulated through the planning of the motion trajectory of the mechanical arm. At the same time, the depth camera is used to effectively recognize characteristics of the back of the patient and divide the back of the patient, so as to avoid key organs while performing percussions on the lung re- gion to prevent secondary injury to the patient.

Compared with traditional manually back-slap sputum excre- tion, the robot can effectively simulate operations of medical workers, and reduce working intensity of medical workers as well as probability of cross-infection between doctors and patients.

Claims

1. Intelligent robot for the discharge of sputum upon back blow, characterized by a mobile chassis, a mechanical arm, a depth camera, a vibrating percussion head, an end clamp on the mechanical arm, a support for the mechanical arm, a pressure sensor, a flexible transmission shaft, a support for the depth camera, a robot control box, a robot driver, a robot communication module, a laser radar and a battery.

An intelligent robot for the discharge of sputum in case of a blow to the back according to claim 1, characterized in that the mobile chassis uses Mecanum wheels, so that the robot has omnidirectional mobility.

An intelligent robot for the discharge of sputum upon a blow to the back according to claim 1, characterized in that the depth camera can collect color images and depth images to realize recognition positioning and the generation of robot movement trajectories; Furthermore, multiple depth cameras can be used to achieve greater accuracy.

An intelligent robot for the discharge of sputum upon a back blow according to claim 1, characterized in that the mechanical arm is a mechanical arm with six degrees of freedom, to ensure the flexibility of the movement of the tip; Furthermore, mechanical arms with more than six degrees of freedom can be used to achieve greater flexibility.

An intelligent sputum discharge robot according to claim 1, characterized in that the pressure sensor can collect contact force at the end of the mechanical arm, and the mechanical arm can control the mechanical arm according to the collected force data , in order to control the magnitude of the contact force and ensure the safety of human-machine interaction.