Robot-assisted diagnosis and treatment system for nuclear medicine ward and application method

Abstract

The invention discloses a robot assisted diagnosis and treatment system for a nuclear medicine ward and an application method. The robot assisted diagnosis and treatment system comprises an AI robot for non-contact assisted diagnosis and treatment; the robot library is arranged on the same layer of the nuclear medicine ward; the remote interaction platform is used for issuing related instructions and man-machine interaction to the AI robot; a radiation protection and monitoring module, an identity recognition module, a health propaganda and education module, a ferry module, a visual doctor-patient communication module, a communication module, an RFID access control module and an environment disinfection module are integrated on the AI robot; the AI robot is connected with an external subcutaneous injection module, an external intravenous injection module, an external medicine distribution module and an external living goods conveying module through corresponding switching assemblies. According to the robot-assisted diagnosis and treatment system for the nuclear medicine ward and the application method, a semi-autonomous and remote interaction mode is used for replacing medical staff to execute face-to-face diagnosis and treatment behaviors with patients, and non-contact diagnosis and treatment are achieved through human-machine-patient high cooperation in the whole diagnosis and treatment process.

Description

Technical Field

[0001] The present invention relates to the field of nuclear medicine ward diagnosis and treatment, and more specifically, to a robot-assisted diagnosis and treatment system and an application method for a nuclear medicine ward. Background Art

[0002] Due to the potential harm of radiation, nuclear medicine medical staff consider the three elements of radiation protection to improve radiation safety when conducting nuclear medicine diagnosis and treatment: 1) Minimize the time of contact with patients. 2) Increase the distance from patients as much as possible. 3) Wear necessary radiation protection equipment. Even so, nuclear medicine medical staff cannot escape the radiation environment of nuclear medicine wards. As a result, some medical staff may have some thoughts of inaction due to fear of radiation, which has an adverse impact on nuclear medicine diagnosis and treatment activities.

[0003] The rapid development of AI robot technology, using it to replace nuclear medicine hospital staff to complete tasks with radiation risks, can provide a very good way to reduce this impact and ensure the radiation safety of medical staff. Based on the principle of life safety first, AI robots completely replace medical staff to independently perform even the most basic medical diagnosis and treatment behaviors. Under the current national legal framework, it is not legally binding, because AI robots are not natural persons and are not responsible for the behavior. Therefore, today's AI robots are more of an auxiliary role in medical diagnosis and treatment activities. For any medical diagnosis and treatment behaviors that require medical staff to confirm and sign (with legal effect), such as prescription writing, vital signs measurement, etc., AI robots cannot be completed completely independently and must be supervised, guided and confirmed by medical staff.

[0004] It can be seen that for AI robots to replace medical staff in performing diagnosis and treatment tasks, they must meet the following requirements: 1) They cannot be completely autonomous. Medical staff are the decision-makers and the main actors in process supervision of diagnosis and treatment. They must follow the principle of "letting go but not letting go". AI robots are only the auxiliary extension of medical staff in performing diagnosis and treatment. 2) They are not the subject of legal liability. Medical staff bear legal responsibility for all diagnosis and treatment behaviors of patients. Summary of the invention

[0005] An object of the present invention is to solve at least the above problems and / or disadvantages and to provide at least the advantages which will be described hereinafter.

[0006] In order to achieve these purposes and other advantages of the present invention, a robot-assisted diagnosis and treatment system for a nuclear medicine ward is provided, comprising:

[0007] AI robots for contactless assisted diagnosis and treatment;

[0008] A robot library is located on the same floor as the nuclear medicine ward;

[0009] A remote interactive platform for issuing relevant instructions to AI robots and human-machine interaction;

[0010] The AI ​​robot is integrated with a radiation protection and monitoring module, an identity recognition module, a health education module, a ferry module, a visual doctor-patient communication module, a communication module, an RFID access control module, and an environmental disinfection module;

[0011] The AI ​​robot is connected to an external subcutaneous injection module, an intravenous injection module, a drug distribution module, and a daily necessities delivery module through corresponding adapter components;

[0012] The robot library is integrated with multiple positions for parking and / or maintaining AI robots, and also includes: a self-decontamination and disinfection module that cooperates with each position to disinfect the AI ​​robots on each position, and a waste recycling temporary storage bucket;

[0013] The remote interaction platform includes a control center server connected to the AI ​​robot for communication, and an input / output terminal module for accepting user input and data output.

[0014] Preferably, the radiation protection and monitoring module comprises:

[0015] A radiation detector installed on the AI ​​robot body;

[0016] A layer of radiation protection material is set on the surface of the AI ​​robot;

[0017] The environmental disinfection module comprises:

[0018] An ultraviolet disinfector and / or disinfectant sprayer is provided on the AI ​​robot body.

[0019] Preferably, the health education module includes: an audio and / or video player and a health knowledge base provided on the diagnosis and treatment AI robot body;

[0020] The visual doctor-patient communication module mainly includes: a camera, a microphone, and a display mechanism set on the AI ​​robot body and the control center server;

[0021] The communication module mainly includes: a wireless transmission mechanism set up on the AI ​​robot and the control center server for transmitting audio and video data and control information;

[0022] The RFID access control module includes: an electronic tag set on the AI ​​robot body, a ward shielding door lock controller, a reader, and a door lock driver.

[0023] Preferably, the adapter assembly is configured to include:

[0024] A mounting plate that matches the AI ​​robot's manipulator;

[0025] A locking mechanism is arranged on the mounting plate and is used to limit the position of the subcutaneous injection module, the intravenous injection module, the drug distribution module, and the daily necessities delivery module. The mounting plate is in a U-shaped structure and can be arranged horizontally or vertically according to the application requirements of different modules.

[0026] Preferably, the subcutaneous injection module and the intravenous injection module both include:

[0027] A robotic arm for holding the corresponding syringe;

[0028] A radiation protection sleeve which is put on the corresponding syringe to shield the radiation generated by the drug release;

[0029] A camera installed on the robotic arm to guide the nurse on duty to control the robotic arm to perform corresponding operations;

[0030] Wherein, the subcutaneous injection module further comprises: a pressure gas source for generating instantaneous high pressure so that the medicine in the syringe forms a high-speed, high-pressure jet flow through the nozzle;

[0031] The intravenous injection module also includes:

[0032] A mounting mechanism for limiting the syringe;

[0033] It is arranged on the other side of the mounting bracket, and is used to limit the end cap of the indwelling needle on the patient's wrist, and to make the end cap of the indwelling needle fit into the slot corresponding to the injection needle on the syringe in space;

[0034] A telescopic assembly is arranged on the mounting bracket and is used to push the syringe toward the direction where the indwelling needle end cap is located.

[0035] Preferably, the medicine dispensing module comprises:

[0036] Multiple independent medicine temporary storage boxes are set up according to the beds in the ward, and each medicine temporary storage box is provided with an independent box cover lock control mechanism;

[0037] A medicine carrying tray for placing medicine temporary storage boxes separately;

[0038] The daily necessities delivery module comprises a daily necessities carrying tray;

[0039] Wherein, the daily necessities carrying tray and the medicine carrying tray are arranged on the adapter assembly at a predetermined distance.

[0040] A method for applying a robot-assisted diagnosis and treatment system, which is applied to a robot-assisted diagnosis and treatment system in a nuclear medicine ward. The presiding doctor of the ward rounds conducts ward rounds, asks questions and issues medical orders through an AI robot system, and the on-duty nurse executes and completes the medical orders with the assistance of the AI ​​robot.

[0041] Among them, during the whole process of diagnosis and treatment, the AI ​​robot serves as the execution terminal and communication intermediary of the medical staff. After the AI ​​robot is ferried to the designated location, the medical staff can interact with the patient through video and / or voice based on wireless communication on the remote exchange platform, complete the real-time supervision and guidance of the medical staff on the whole process of diagnosis and treatment, and realize contactless diagnosis and treatment in the nuclear medicine ward;

[0042] After completing diagnosis and treatment, the AI ​​robot returns to the robot library to place the medical waste into the corresponding waste recycling bin, and then arrives at the corresponding machine position for decontamination, disinfection and / or maintenance.

[0043] Preferably, the workflow of the AI ​​robot as an execution terminal for subcutaneous injection includes:

[0044] Step 1: Identity creation: The AI ​​robot establishes an identity database for both doctors and patients by entering the nurse’s ID number and scanning the patient’s wristband barcode / QR code;

[0045] Step 2: Identity update: when the nurses and patients on duty in the nuclear medicine inpatient ward area change, repeat step 1 to update the existing identity database, otherwise jump to step 3;

[0046] Step 3. Create a subcutaneous injection project. Based on the predetermined technical parameters and operating specifications for subcutaneous injection, enter the corresponding project information, injection process, precautions during the injection process and subcutaneous injection record form to establish a subcutaneous injection project database.

[0047] Step 4: Initialize the robot. Confirm the on-duty AI robot based on the current subcutaneous injection task, and perform initialization and module function self-check on the on-duty AI robot. The on-duty AI robot can perform the corresponding subcutaneous injection task only after passing the self-check. Otherwise, the on-duty AI robot needs to be repaired or replaced.

[0048] Step 5: Loading the injection solution. Based on the current subcutaneous injection task, the nurse on duty places the injection solution in the needle-free syringe and places it in the predetermined position in order so that the needle-free syringe can be connected to the pressure gas source after being picked up by the AI ​​robot on duty;

[0049] Step 6: Ferrying: The AI ​​robot on duty autonomously confirms the starting point and end point of the ferrying according to the current subcutaneous injection task, and then performs the ferrying operation;

[0050] Step 5: Identification of the subcutaneous injection target. After the on-duty robot reaches the designated bed, the on-duty nurse instructs the patient to use the wristband to approach the identification module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform. The nurse also confirms the patient's identity again through voice inquiry. If the identity of the subcutaneous injection target is consistent with that of the patient, the nurse issues an execution instruction to the AI ​​robot to proceed to step 6. Otherwise, repeat step 5 until the identities are consistent.

[0051] Step 6: Preparation for subcutaneous injection. After the nurse on duty determines the subcutaneous injection project and injection process according to the doctor's order, the nurse guides and supervises the patient to prepare for the subcutaneous injection of the designated project through the visual doctor-patient communication module of the remote interactive platform. At the same time, the health education module is activated to explain to the patient the information, process and precautions related to the designated subcutaneous injection project in a targeted manner.

[0052] Step 7: Subcutaneous injection. After completing the preparation for subcutaneous injection, the nurse on duty guides and supervises the patient, controls the mechanical arm to drive the needle-free syringe to aim at the patient's injection position, and controls the force applied by the needle-free syringe to the patient's injection position, triggering the drug release switch to complete the injection;

[0053] Step 8: Reset. After the subcutaneous injection is completed, the machine on duty returns to the robot library to shut down the function module and wait for the next call, and the used needle-free syringe is temporarily stored in the waste recycling bin.

[0054] Preferably, the process of the AI ​​robot serving as an execution terminal for drug distribution and daily necessities delivery includes:

[0055] Step 1: Address creation: The control center server assigns an address representing the identity to the lid lock access control of each drug storage box on the AI ​​robot, so as to construct a lid lock access control address library corresponding to each drug storage box;

[0056] Step 2: Address update. When the increase or decrease of AI robots causes changes in the lid lock access control, repeat step 1 to update the existing address, otherwise jump directly to step 3;

[0057] Step 3: Initialize the robot. After confirming the on-duty AI robot according to the current drug distribution and daily necessities delivery tasks, initialize and perform module function self-check on the on-duty AI robot. The on-duty AI robot can perform drug distribution and daily necessities delivery tasks only after passing the self-check. Otherwise, the robot must be repaired or replaced immediately.

[0058] Step 4: Loading medicines and daily necessities. Following the doctor's instructions, the nurse on duty prepares medicines for each patient in the ward and loads them one by one into the corresponding medicine storage box of the AI ​​robot on duty, and / or places the patient's daily necessities on the corresponding position of the tray;

[0059] Step 5: Ferrying: According to the current drug distribution and daily necessities delivery tasks, the on-duty AI robot autonomously confirms the starting and ending points of the ferrying and then performs the ferrying operation;

[0060] Step 6: When the robot on duty reaches the designated bed, the nurse on duty guides and supervises the patient to bring the wristband close to the identity recognition module reader through the visual doctor-patient communication module of the remote interactive platform. After the reading is successful, the corresponding medicine is opened and the patient's identity is confirmed again through voice inquiry. If the identity of the object to be collected is consistent with that of the patient, step 7 is performed, otherwise step 6 is repeated until the identity is consistent;

[0061] Step 7: Medication guidance and supervision. The nurse on duty explains the requirements and precautions of medication to the patient according to the doctor's instructions. After the patient takes the medication, the nurse reminds the patient to put the medicine containers and daily necessities that need to be recycled back into the temporary storage box and tray for medication collection;

[0062] Step 8. Reset. After the distribution of medicines and the delivery of daily necessities are completed, the AI ​​machine on duty returns to the robot library to shut down the functional module and wait.

[0063] Preferably, the AI ​​robot as an execution terminal performs a decontamination and disinfection process including:

[0064] Step 1: Create a schedule. According to the decontamination and disinfection requirements, the nuclear medicine nurse on duty creates a schedule that includes the disinfection time, objects, and disinfection methods, and has a reminder function when the time comes;

[0065] Step 2: Update the schedule. If there are changes in the decontamination and disinfection schedule, repeat step 1 to update the existing schedule. Otherwise, jump directly to step 3.

[0066] Step 3: Create a decontamination and disinfection project. According to the technical parameters and operating specifications of the decontamination and disinfection module, enter the decontamination and disinfection project information, project workflow, work process precautions and work record sheet, and establish a decontamination and disinfection project database.

[0067] Step 4: Decontamination and disinfection of the robot itself. According to the current decontamination and disinfection arrangement, the automatic decontamination and disinfection module is started to decontaminate and disinfect the surface of the AI ​​robot parked at the corresponding position;

[0068] Step 5: Initialize the robot. According to the decontamination and disinfection task, confirm the AI ​​robot on duty, initialize it and perform a self-check on its module functions. Only the AI ​​robot on duty that passes the self-check can perform the decontamination and disinfection task. Otherwise, the robot must be repaired or replaced immediately.

[0069] Step 6: Ferrying: The AI ​​robot on duty autonomously determines the starting and ending points of the ferrying according to the current decontamination and disinfection tasks, and then performs the ferrying operation;

[0070] Step 7: Room decontamination and disinfection: After the robot on duty reaches the designated room, the nurse on duty controls the robot to perform physical and / or chemical disinfection on the contaminated areas of the room through the visual doctor-patient communication module of the remote interactive platform;

[0071] Step 8: Patient decontamination and disinfection. After the robot on duty reaches the designated bed, the nurse on duty instructs the patient to use the wristband to approach the identity recognition module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. The contaminated parts of the patient are physically and / or chemically disinfected until the decontamination and disinfection object is consistent with the patient's identity;

[0072] Step 9. Reset, decontamination and disinfection are completed, and the AI ​​machine on duty returns to the robot library to turn off the functional module and stand by.

[0073] The present invention has at least the following beneficial effects:

[0074] First, the present invention can control the AI ​​robot through a remote interactive platform and provide visual supervision and voice guidance to patients, which can not only ensure the reliability of diagnosis and treatment, but also eliminate the radiation safety risks brought about by close contact between doctors and patients.

[0075] Secondly, the present invention can replace medical staff in performing face-to-face diagnosis and treatment with patients in a "semi-autonomous + remote interaction" manner. During the entire diagnosis and treatment process, a high degree of collaboration between "man-machine-patient" is achieved to achieve contactless diagnosis and treatment.

[0076] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1 It is a functional layout diagram of the robot-assisted diagnosis and treatment system of the present invention;

[0078] Figure 2 It is a schematic diagram of the structure of the end cap retained in the present invention;

[0079] Figure 3 It is a schematic diagram of the structure of the automatic injector of the present invention;

[0080] Figure 4 It is a schematic diagram of the quick installation assembly of the present invention cooperating with the automatic injector and the indwelling end cap;

[0081] Figure 5 The AI ​​robot performs the ferrying workflow in the robot-assisted diagnosis and treatment system of the present invention;

[0082] Figure 6 In the robot-assisted diagnosis and treatment system of the present invention, the AI ​​robot performs the ward rounds and consultation workflow;

[0083] Figure 7 The workflow of the AI ​​robot performing vital sign detection in the robot-assisted diagnosis and treatment system of the present invention;

[0084] Figure 8 The workflow of the AI ​​robot performing the subcutaneous injection task in the robot-assisted diagnosis and treatment system of the present invention;

[0085] Fig. 9 The AI ​​robot performs the workflow of intravenous injection in the robot-assisted diagnosis and treatment system of the present invention;

[0086] Fig.10 In the robot-assisted diagnosis and treatment system of the present invention, the AI ​​robot executes the workflow of drug distribution and daily necessities delivery;

[0087] Fig.11 In the robot-assisted diagnosis and treatment system of the present invention, the AI ​​robot performs the decontamination and disinfection workflow. DETAILED DESCRIPTION

[0088] The present invention is further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0089] The present invention designs a robot-assisted diagnosis and treatment system for nuclear medicine wards, which can replace medical staff in performing face-to-face diagnosis and treatment with patients in a "semi-autonomous + remote interactive" manner. In the whole process of diagnosis and treatment, "man-machine-patient" is highly collaborative. The doctor in charge of ward rounds (bedside doctor) and the nurse on duty can control the AI ​​robot through a remote interactive platform, and provide visual supervision and voice guidance to the patients, which can not only ensure the reliability of the diagnosis and treatment, but also eliminate the radiation safety risks caused by close contact between doctors and patients.

[0090] 1. System composition

[0091] like Figure 1As shown, a nuclear medicine ward auxiliary diagnosis and treatment AI robot system includes an auxiliary diagnosis and treatment AI robot, a remote interaction platform, and a robot library. The auxiliary diagnosis and treatment AI robot is mainly composed of the auxiliary diagnosis and treatment AI robot body and the integrated visual doctor-patient communication, communication, RFID access control, ferry, identity recognition, ward rounds, health education, vital signs detection, subcutaneous injection, intravenous injection, drug distribution, daily necessities delivery, radiation protection and monitoring, disinfection and other functional modules. The main function is to serve as a medical staff execution terminal to achieve contactless diagnosis and treatment. The remote exchange platform includes functional modules such as the control center server and input and output terminals. The main function is to ensure that the doctor in charge of the ward round (bed doctor) and the nurse on duty communicate with the diagnosis and treatment AI robot and the patient in real time in a wireless manner. The robot library includes a machine position, a waste recycling bin, an automatic decontamination and disinfection module, etc. The main function is to provide parking and maintenance space for the robot, and to temporarily store the waste recycled in the ward and decontaminate and disinfect the robot itself. The doctor in charge of the ward rounds (the doctor in charge of the ward) conducts ward rounds, asks questions and issues medical advice through the nuclear medicine diagnosis and treatment AI robot system. The nurse on duty executes and completes the medical advice with the assistance of the diagnosis and treatment AI robot. During the entire diagnosis and treatment process, medical staff provide real-time supervision and guidance through video and voice modes. Figure 1 shown.

[0092] 1. Diagnostic AI Robot

[0093] The diagnostic AI robot is mainly composed of a carrier, a drive device, and a rechargeable power supply. Its main function is to drive the functional modules on it to move in the nuclear medicine ward under the drive control and provide power for the functional modules.

[0094] The communication module mainly includes wireless data, audio and video information transmission channels between the diagnosis and treatment AI robot and the server. The main function is to realize real-time communication between medical staff and patients through the robot.

[0095] The visual doctor-patient communication module is mainly composed of high-definition cameras and microphones on the diagnosis and treatment AI robot and server peripherals. Its main function is to collect video and audio information of medical staff, patients and the robot's surrounding environment in real time, and provide support for medical staff to supervise and guide the diagnosis and treatment behavior of robots and patients throughout the process.

[0096] The RFID access control module is mainly composed of hardware and software. The hardware includes the electronic tag on the diagnosis and treatment AI robot, the ward shielding door lock controller, reader, door lock driver, and the data entry terminal of the remote exchange platform. The software is mainly the management program and database of the RFID access control. The main function of the RFID access control module is to identify the authorized diagnosis and treatment AI robot to ensure that it can enter and exit the ward freely.

[0097] The ferry module is mainly composed of hardware and software. The hardware mainly includes the drive controller and sensors on the diagnosis and treatment AI robot. The data entry terminal of the remote exchange platform. The software mainly includes the management program of the ferry and the three-dimensional map database of the ward. The main function of the ferry module is to realize the movement of the diagnosis and treatment AI robot between the nurse station and the ward and between the wards through path planning and environmental perception based on automatic control technology and sensor technology.

[0098] The identity recognition module mainly includes the barcode / QR code reader on the diagnosis and treatment AI robot, the patient's wristband, the nurse's work (number) badge, etc. The main function is to identify the identity information of both doctors and patients to prepare for diagnosis and treatment activities.

[0099] The health education module mainly includes the player on the diagnosis and treatment AI robot body and the health knowledge base (ward safety management, disease care knowledge, drug instructions, vital signs detection process, etc.). The main function is to play medical health knowledge and instructions and precautions involved in diagnosis and treatment activities according to the requirements of medical staff or patients.

[0100] The vital signs detection module mainly includes detection channels such as ECG, respiration, pulse, blood oxygen saturation, blood pressure, and body temperature on the diagnosis and treatment AI robot. The main function is for the nurse on duty to supervise and guide the patient to operate the corresponding vital signs detection terminal normally according to the doctor's instructions and collect reliable and available vital signs monitoring data.

[0101] The subcutaneous injection module mainly includes a robotic arm I, a needle-free syringe, a radiation protection sleeve I, a pressure gas source and a camera I. The robotic arm can be extended, rotated and lifted under drive control, and has the function of force feedback. The needle-free syringe is clamped at the end of the robotic arm. The instantaneous high pressure generated by the pressure gas source is used to form a high-speed, high-pressure jet flow through the nozzle of the drug in the syringe, so that the drug penetrates the outer layer of the skin to the subcutaneous, intradermal and other tissue layers to release the drug effect. The radiation protection sleeve is put on the syringe to shield the radiation generated by the drug release. The pressure gas source provides electromagnetic force or high-pressure gas to the needle-free syringe so that the drug in the syringe obtains a sufficiently large initial kinetic energy. The camera is installed on the robotic arm to guide the nurse on duty to control the robotic arm to accurately position the subcutaneous injection.

[0102] The intravenous injection module mainly includes a manipulator II, an indwelling needle arranged on the patient's hand, an automatic syringe, a radiation protection sleeve II, a power supply, a camera II and a quick installation component. The manipulator II can extend, rotate and lift under drive control, and has the function of force feedback. The indwelling needle is pre-buried when the patient is admitted to the hospital. The syringe is clamped at the end of the robot arm, and the power supply is used to drive and control the automatic syringe to push out the liquid medicine. The radiation protection sleeve is put on the syringe to shield the radiation generated by the release of the medicine. The power supply provides piston thrust for the automatic syringe. The camera is installed on the robot arm to guide the nurse on duty to control the manipulator II to complete the accurate connection between the automatic syringe and the indwelling needle. The quick installation component is the connection component between the automatic syringe and the indwelling needle, and its structure is as follows Figure 2-Figure 4 The quick installation assembly includes a card slot I2 matched with the indwelling needle end cap 1, a card slot II4 matched with the automatic injector 3, the card slot II is arranged on the mounting bracket 5, the card slot I is arranged on the fixed bracket 6, wherein the fixed bracket 6 is provided with a slide groove 7, the mounting bracket 5 is provided with a slider 8 matched with the slide groove 7, the mounting bracket 5 reciprocates along the slide groove 7 under the action of the screw 9 and the servo motor 10, so that the needle pierces the end cap sealing rubber under the action of the thrust to complete the connection between the injection needle and the indwelling needle end cap 1.

[0103] The process of injecting with an automatic syringe through an indwelling needle via an interface: 1) The automatic syringe and the end cap of the indwelling needle are placed in the corresponding slots respectively. Keep the needle pointing to the center of the end cap of the indwelling needle. 2) The servo motor drives the screw to rotate forward to drive the syringe slot to drive the automatic syringe to move toward the end cap slot. Under the action of thrust, the needle pierces the end cap sealing rubber. 3) Start the automatic syringe to complete the injection. 4) The servo motor drives the screw to rotate in the opposite direction to drive the syringe slot to drive the automatic syringe away from the end cap slot. Under the action of tension, the needle exits the end cap sealing rubber. 5) Take out the automatic syringe and the end cap of the indwelling needle.

[0104] The drug distribution module mainly consists of two parts: hardware and software. The hardware mainly includes multiple independent drug storage boxes, box cover lock controllers, readers, box lock drivers, patient wristbands, and data entry terminals for remote exchange platforms, which are set according to the beds on the diagnosis and treatment AI robot body. The software is mainly a management program and database for drug distribution. The main function of the drug distribution module is that the patient confirms the opening of the corresponding drug storage box to take the medicine through the wristband identity information, and is informed of the use and precautions of the medicine.

[0105] The radiation protection and monitoring module mainly includes the radiation detector on the diagnosis and treatment AI robot body and the radiation protection material layer in key parts. The main function is to collect the radiation level of the environment around the diagnosis and treatment AI robot in real time, provide a basis for radiation protection of medical staff, and improve the radiation resistance of the auxiliary robot.

[0106] The daily necessities delivery module mainly consists of two parts, hardware and software. The hardware mainly includes the daily necessities carrying tray on the diagnostic AI robot body. Its main function is to deliver daily necessities, meals, etc. to the patient according to the patient's ward life needs.

[0107] The environmental disinfection module mainly includes the ultraviolet disinfector and disinfectant sprayer on the diagnosis and treatment AI robot. The main function is to provide disinfection for patients and the environment.

[0108] 2. Remote Interaction Platform

[0109] Control center server, the control center server is composed of computers with strong computing and storage capabilities. The main functions include installation and operation of software packages, database creation and update, data storage, display and query, log recording and query, etc.

[0110] Input and output terminal modules

[0111] The input and output terminal module mainly includes the server-side barcode / QR code reader, keyboard, printer and other peripherals. The main functions include identity recognition, data entry and output, data table printing and control command input, etc.

[0112] 3. Robot Library

[0113] The machine position is the space for parking and maintenance of the robot after completing the task, and it also provides power for charging the robot.

[0114] Waste recycling temporary storage barrels mainly include non-radioactive waste barrels and radioactive shielding waste barrels. The robot collects solid waste such as medical waste and domestic garbage from the ward and puts them into the temporary storage barrels according to the requirements of classified storage.

[0115] The automatic decontamination and disinfection module mainly includes a controller, a flushing water sprayer, a disinfectant (cleaning agent) sprayer, a dryer, and a sewage pipe. The robot may be contaminated by non-radioactive and radioactive substances when entering and leaving the ward, and the robot must be decontaminated and disinfected regularly or irregularly. The controller follows the automatic decontamination and disinfection process of "pre-scrubbing with flushing water → spraying and scrubbing with disinfectant (cleaning agent) → scrubbing with flushing water → drying" to remove pollutants and disinfect the surface of the robot to avoid infection and radiation damage to the patient, and the flushing wastewater is discharged into the decay pool.

[0116] 2. Workflow

[0117] Under the supervision and guidance of medical staff, the nuclear medicine diagnosis and treatment AI robot system mainly completes tasks such as ferrying, ward rounds, vital sign detection, drug distribution and daily necessities delivery, and decontamination and disinfection. Their working steps and processes are as follows:

[0118] (1) Ferry

[0119] like Figure 5 As shown in the figure, the nuclear medicine diagnosis and treatment AI robot system performs the main steps of the ferry task:

[0120] Step 1: Identity creation. The nuclear medicine diagnosis and treatment AI robot system assigns an address representing the identity to each inpatient room access control, and assigns an electronic tag containing the robot's identity information to each robot, forming a ward access control address and diagnosis and treatment AI robot identity database.

[0121] Step 2: Create a ward area map. The diagnosis and treatment AI robot automatically senses, locates, and builds maps in the nuclear medicine inpatient ward area, and marks the location and number of the rooms and beds, ultimately forming a three-dimensional map library of the nuclear medicine inpatient ward area.

[0122] Step 3: Map update. If the nuclear medicine inpatient ward area and room machine beds change, you need to update the map library again and repeat step 1 to update the existing map. Otherwise, go directly to step 4.

[0123] Step 4: Machine room settings. The machine room is used as a charging and standby area for robots. When the robot's battery power is lower than the set threshold, it will automatically go to the robot library to charge. After charging is completed, it will complete unfinished tasks or wait for new tasks to be assigned on the spot.

[0124] Step 5: Setting the starting and ending points. Set and confirm the starting and ending points or multiple starting points for the robot on duty to ferry according to the current diagnosis and treatment task.

[0125] Step 6: Route planning: Plan the optimal route for the ferry based on the starting point and the end point, and authorize the access control of the wards that need to enter and exit on the route.

[0126] Step 7: Autonomous movement: The robot on duty moves autonomously from the starting point to the end point along the planned optimal path. The RFID access control system that needs to enter and exit the ward recognizes the authorized robot at close range and automatically opens the ward door to allow the robot to pass freely.

[0127] Step 8: Reset. The robot on duty returns to the robot library to wait for orders and complete a ferry.

[0128] (II) Ward rounds and medical consultation

[0129] like Figure 6 As shown in the figure, the main steps of the nuclear medicine diagnosis and treatment AI system to perform ward rounds and consultation tasks are:

[0130] Step 1: Identity creation. The nuclear medicine diagnosis and treatment AI system establishes an identity database for both doctors and patients by entering the work number of the presiding doctor (bed doctor) during ward rounds and scanning the barcode / QR code on the patient's wristband.

[0131] Step 2: Identity update: If the presiding physician (bedside doctor) and patients in the nuclear medicine inpatient ward area change, the identity database needs to be updated again. Repeat step 1 to update the existing identity database. Otherwise, go directly to step 3.

[0132] Step 3: Initialize the robot. According to the current ward rounds and consultation tasks, confirm the robot on duty and initialize and perform module function self-checks. Only after passing the initialization can the robot execute the task. Otherwise, the robot must be repaired or replaced immediately.

[0133] Step 4: Ferrying: According to the current ward rounds and consultation tasks, confirm the starting and ending points of the robot on duty and then perform the ferrying.

[0134] Step 5: Identify the identity of the patient during the ward rounds. After the robot arrives at the designated bed, the doctor in charge of the ward rounds (the doctor in charge of the bed) instructs the patient to use the wristband to approach the reader of the identity recognition module to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. If the identity of the patient during the ward rounds is consistent with that of the patient, proceed to step 6. Otherwise, repeat step 5 until the identities are consistent.

[0135] Step 6: Ward rounds and medical consultation. The presiding doctor (bed doctor) completes the ward rounds and medical consultation for all patients in the ward through the visual doctor-patient communication module of the remote interactive platform in the form of visual question and answer.

[0136] Step 7: Reset. After the ward rounds and consultation are completed, the machine on duty returns to the robot library to shut down the function module and wait for orders.

[0137] (III) Vital signs detection

[0138] like Figure 7 As shown in the figure, the main steps of the nuclear medicine diagnosis and treatment AI system to perform vital signs detection tasks are:

[0139] Step 1: Identity creation. The nuclear medicine diagnosis and treatment AI system establishes an identity database for both doctors and patients by entering the work number of the nurse on duty and scanning the barcode / QR code on the patient's wristband.

[0140] Step 2: Identity update: If the nurses and patients on duty in the nuclear medicine inpatient ward area change, the identity database needs to be updated again. Repeat step 1 to update the existing identity database. Otherwise, go directly to step 3.

[0141] Step 3: Create a test project. According to the technical parameters and operating specifications of the vital signs detection module, enter the vital signs detection project information, project detection process, precautions during the detection process, and the test result record table, and establish a vital signs monitoring database detection database.

[0142] Step 4: Robot initialization: According to the current vital signs detection task, confirm the robot on duty and perform initialization and module function self-test on it. Only after passing the test can the robot execute the task. Otherwise, the robot should be repaired or replaced immediately.

[0143] Step 5: Ferrying: According to the current vital signs detection task, the starting point and end point of the robot on duty are confirmed and the ferrying is performed.

[0144] Step 6: Identify the identity of the test object. After the robot reaches the designated bed, the nurse on duty instructs the patient to use the visual doctor-patient communication module of the remote interactive platform to confirm the identity by placing the wristband close to the reader of the identification module, and confirms the patient's identity again through voice inquiry. If the identity of the test object is consistent with that of the patient, proceed to step 6. Otherwise, repeat step 5 until the identities are consistent.

[0145] Step 7: Preparation before testing. After the nurse on duty determines the physical sign test items and testing procedures according to the doctor's instructions, she guides and supervises the patient to prepare for the designated test items through the visual doctor-patient communication module of the remote interactive platform. At the same time, she opens the health education module to explain to the patient the information, procedures, precautions, etc. related to the designated test items in a targeted manner.

[0146] Step 8: Item testing. After completing the test preparation, the nurse on duty guides and supervises the patient, and with the cooperation of the robot, correctly operates the test terminals of the designated items in turn to conduct the test. The data is uploaded to the remote interactive platform in real time through the communication module for the nurse on duty to review. The test can be completed only when the test data meets the requirements until all the designated items are tested.

[0147] Step 9: Reset. After the vital signs detection is completed, the machine on duty returns to the robot library to shut down the function module and wait for the next call.

[0148] (IV) Subcutaneous injection

[0149] like Figure 8 As shown in the figure, the main steps of the nuclear medicine diagnosis and treatment AI system to perform subcutaneous injection tasks are:

[0150] Step 1: Identity creation. The nuclear medicine diagnosis and treatment AI system establishes an identity database for both doctors and patients by entering the work number of the nurse on duty and scanning the barcode / QR code on the patient's wristband.

[0151] Step 2: Identity update: If the nurses and patients on duty in the nuclear medicine inpatient ward area change, the identity database needs to be updated again. Repeat step 1 to update the existing identity database. Otherwise, go directly to step 3.

[0152] Step 3: Create a subcutaneous injection project. According to the technical parameters and operating specifications of the subcutaneous injection module, combined with various subcutaneous injection-related requirements, enter the subcutaneous injection project information, project injection process, precautions during the injection process, and subcutaneous injection record form, etc., to establish a subcutaneous injection project database.

[0153] Step 4: Robot initialization: According to the current subcutaneous injection task, confirm the robot on duty and perform initialization and module function self-check. Only after passing the initialization can the robot perform the task. Otherwise, the robot should be repaired or replaced immediately.

[0154] Step 5: Loading the injection solution: Place the injection solution into the needle-free syringe according to the current subcutaneous injection task, and connect the needle-free syringe to a pressure gas source.

[0155] Step 6: Ferrying: According to the current subcutaneous injection task, confirm the starting point and end point of the robot on duty to ferry and then execute the ferrying.

[0156] Step 7: Identification of the subcutaneous injection recipient. After the robot arrives at the designated bed, the nurse on duty instructs the patient to use the wristband to approach the identification module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. If the identity of the subcutaneous injection recipient is consistent with that of the patient, proceed to step 6. Otherwise, repeat step 5 until the identities are consistent.

[0157] Step 8: Preparation for subcutaneous injection. After the nurse on duty determines the subcutaneous injection project and injection process according to the doctor's order, the nurse on duty guides and supervises the patient to make preparations for the subcutaneous injection of the designated project through the visual doctor-patient communication module of the remote interactive platform. For example, the nurse on duty controls the robotic arm and guides the patient to complete the accurate positioning of the subcutaneous injection. At the same time, the nurse on duty opens the health education module to explain to the patient the information, process, precautions and other contents related to the designated subcutaneous injection project in a targeted manner.

[0158] Step 9: Subcutaneous injection. After completing the preparation for subcutaneous injection, the nurse on duty guides and supervises the patient, controls the mechanical arm to drive the needle-free syringe to aim at the patient's injection site, and controls the force applied by the needle-free syringe to the patient's injection site, triggering the drug release switch to complete the injection.

[0159] Step 10: Reset. After the subcutaneous injection is completed, the machine on duty returns to the robot library to shut down the function module and wait for the next call, and the used needle-free syringe is temporarily stored in the waste recycling bin.

[0160] (V) Intravenous injection

[0161] like Fig. 9 As shown in the figure, the main steps of the nuclear medicine diagnosis and treatment AI system to perform intravenous injection tasks are:

[0162] Step 1: Identity creation. The nuclear medicine diagnosis and treatment AI system establishes an identity database for both doctors and patients by entering the work number of the nurse on duty and scanning the barcode / QR code on the patient's wristband.

[0163] Step 2: Identity update: If the nurses and patients on duty in the nuclear medicine inpatient ward area change, the identity database needs to be updated again. Repeat step 1 to update the existing identity database. Otherwise, go directly to step 3.

[0164] Step 3: Create an intravenous injection project. According to the technical parameters and operating specifications of the intravenous injection module, combined with various subcutaneous injection-related requirements, enter the intravenous injection project information, project injection process, precautions during the injection process, and intravenous injection record form, and establish an intravenous injection project database.

[0165] Step 4: Robot initialization. According to the current intravenous injection task, confirm the robot on duty and perform initialization and module function self-check. Only after passing the initialization can the task be executed. Otherwise, the robot should be repaired or replaced immediately.

[0166] Step 5: Loading the injection solution: According to the current subcutaneous injection task, place the injection solution in the automatic injector and then put it into the injector slot, and connect the automatic injector to the power supply.

[0167] Step 6: Ferrying: According to the current subcutaneous injection task, confirm the starting point and end point of the robot on duty to ferry and then execute the ferrying.

[0168] Step 7: Identification of the intravenous injection recipient. After the robot arrives at the designated bed, the nurse on duty instructs the patient to use the wristband to approach the identification module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. If the identity of the intravenous injection recipient is consistent with that of the patient, proceed to step 6. Otherwise, repeat step 5 until the identities are consistent.

[0169] Step 8: Preparation for intravenous injection. After the nurse on duty determines the intravenous injection project and injection process according to the doctor's order, he / she will guide and supervise the patient to prepare for the designated intravenous injection through the visual doctor-patient communication module of the remote interactive platform, such as: the nurse on duty controls the robotic arm and guides the patient to complete the accurate positioning of the intravenous injection, guides the patient to put the indwelling end cap into the end cap slot, and correctly connect the automatic syringe to the end cap, etc. At the same time, the health education module is turned on to explain to the patient the information, process, precautions and other contents related to the designated intravenous injection project.

[0170] Step 9: Intravenous injection. After completing the preparation for intravenous injection, the nurse on duty instructs and supervises the patient and activates the automatic injector to complete the injection.

[0171] Step 10: After the interface connection is disconnected and the injection is completed, the nurse on duty controls the disconnection of the automatic injector and the end cap through the visual doctor-patient communication module of the remote interactive platform, and guides the patient to remove the end cap of the indwelling needle.

[0172] Step 11: Reset. After the intravenous injection is completed, the machine on duty returns to the robot library to shut down the function module and wait for the next call, and the used automatic syringe is temporarily stored in the waste recycling bin of the robot library.

[0173] (VI) Distribution of medicines and delivery of daily necessities

[0174] like Fig.10 As shown in the figure, the nuclear medicine diagnosis and treatment AI system performs the main steps of drug distribution and daily necessities delivery tasks:

[0175] Step 1: Address creation. The nuclear medicine diagnosis and treatment AI robot system assigns an address representing the identity to each drug storage box lid lock access control on the robot, forming a drug storage box lid lock access control address library.

[0176] Step 2: Address update. If the increase or decrease of robots causes changes in the access control of the drug storage box cover lock, you need to update the address library again and repeat step 1 to update the existing address. Otherwise, go directly to step 3.

[0177] Step 3: Robot initialization: According to the current drug distribution and daily necessities delivery tasks, confirm the robot on duty and perform initialization and module function self-check. Only after passing the test can the robot execute the task. Otherwise, the robot should be repaired or replaced immediately.

[0178] Step 4: Loading medicines and daily necessities. Following the doctor's orders, the nurse on duty prepares medicines for each patient in the ward and loads them into a medicine storage box corresponding to the robot on duty, and at the same time puts the patient's daily necessities on the tray.

[0179] Step 5: Ferrying: According to the current drug distribution and daily necessities delivery tasks, confirm the starting and ending points of the robot on duty and then perform the ferrying.

[0180] Step 6: Collect medicines and daily necessities. After the robot arrives at the designated bed, the nurse on duty guides and supervises the patient to use the wristband to approach the identity recognition module reader through the visual doctor-patient communication module of the remote interactive platform. After the reading is successful, the corresponding medicine is opened and the patient's identity is confirmed again through voice inquiry. If the identity of the recipient is consistent with that of the patient, proceed to step 6, otherwise repeat step 5 until the identity is consistent. The patient collects the daily necessities on the tray according to the meal order.

[0181] Step 7: Medication guidance and supervision. The nurse on duty explains the requirements and precautions of medication to the patient according to the doctor's instructions, and supervises the patient's medication process if necessary. The patient puts the medicine containers and daily necessities (garbage) to be recycled back into the temporary storage box and tray for medication.

[0182] Step 8: Reset. After the medicine distribution and daily necessities delivery are completed, the machine on duty returns to the robot library to close the function module and wait for orders.

[0183] (VII) Decontamination and Disinfection

[0184] like Fig.11 As shown in the figure, the main steps of the nuclear medicine diagnosis and treatment AI system to perform decontamination and disinfection tasks are:

[0185] Step 1: Create a schedule. According to the decontamination and disinfection requirements, the nuclear medicine nurse on duty creates a schedule that includes the disinfection time, objects, methods, etc. The schedule has a reminder function.

[0186] Step 2: Update the schedule. If there are any changes to the decontamination and disinfection schedule, you need to update the decontamination and disinfection schedule again. Repeat step 1 to update the existing schedule. Otherwise, go directly to step 3.

[0187] Step 3: Create a decontamination and disinfection project. According to the technical parameters and operating specifications of the decontamination and disinfection module, enter the decontamination and disinfection project information, project workflow, work process precautions and work record sheets, and establish a decontamination and disinfection project database.

[0188] Step 4: Decontamination and disinfection of the robot itself. According to the current decontamination and disinfection arrangement, the automatic decontamination and disinfection module is started to decontaminate and disinfect the surface of the robot parked in the warehouse.

[0189] Step 5: Robot initialization. According to the decontamination and disinfection task, confirm the robot on duty and perform initialization and module function self-check. Only after passing the initialization can the robot perform the task. Otherwise, the robot should be repaired or replaced immediately.

[0190] Step 6: Ferrying: According to the current decontamination and disinfection task, confirm the starting and ending points of the robot on duty and then perform the ferrying.

[0191] Step 7: Room decontamination and disinfection. The on-duty robot reaches the designated room, and the on-duty nurse controls the robot to perform physical or chemical disinfection on the contaminated area of ​​the room through the visual doctor-patient communication module of the remote interactive platform.

[0192] Step 8: Patient decontamination and disinfection. After the robot reaches the designated bed, the nurse on duty instructs the patient to use the wristband to approach the identification module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. Physical or chemical disinfection is performed on the contaminated parts of the patient until the decontamination and disinfection object is consistent with the patient's identity.

[0193] Step 9: Reset. After decontamination and disinfection is completed, the machine on duty returns to the robot library and turns off the function module to wait.

[0194] The above solution is only an illustration of a preferred embodiment, but is not limited thereto. When implementing the present invention, appropriate replacement and / or modification can be performed according to user needs.

[0195] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized. Therefore, without departing from the general concept defined by the claims and equivalent scope, the present invention is not limited to the specific details and the illustrations shown and described here.

Claims

1. A robot-assisted diagnosis and treatment system for a nuclear medicine ward, characterized in that: include: AI robots for contactless assisted diagnosis and treatment; A robot library is located on the same floor as the nuclear medicine ward; A remote interactive platform for issuing relevant instructions to AI robots and human-machine interaction; The AI ​​robot is integrated with a radiation protection and monitoring module, an identity recognition module, a health education module, a ferry module, a visual doctor-patient communication module, a communication module, an RFID access control module, and an environmental disinfection module; The AI ​​robot is connected to an external subcutaneous injection module, an intravenous injection module, a drug distribution module, and a daily necessities delivery module through corresponding adapter components; The robot library is integrated with multiple positions for parking and / or maintaining AI robots, and also includes: a self-decontamination and disinfection module that cooperates with each position to disinfect the AI ​​robots on each position, and a waste recycling temporary storage bucket; The remote interaction platform includes a control center server that is connected to the AI ​​robot for communication, and an input / output terminal module that accepts user input and data output.

2. The robot-assisted diagnosis and treatment system for a nuclear medicine ward according to claim 1, characterized in that: The radiation protection and monitoring module includes: A radiation detector installed on the AI ​​robot body; A layer of radiation protection material is placed on the surface of the AI ​​robot; The environmental disinfection module comprises: An ultraviolet sterilizer and / or a disinfectant sprayer is provided on the AI ​​robot body.

3. The robot-assisted diagnosis and treatment system for a nuclear medicine ward according to claim 1, characterized in that: The health education module includes: an audio and / or video player and a health knowledge base provided on the diagnosis and treatment AI robot body; The visual doctor-patient communication module mainly includes: a camera, a microphone, and a display mechanism set on the AI ​​robot body and the control center server; The communication module mainly includes: a wireless transmission mechanism set up on the AI ​​robot and the control center server for transmitting audio and video data and control information; The RFID access control module includes: an electronic tag set on the AI ​​robot body, a ward shielding door lock controller, a reader, and a door lock driver.

4. The robot-assisted diagnosis and treatment system for a nuclear medicine ward according to claim 1, characterized in that: The switching component is configured to include: A mounting plate that matches the AI ​​robot's manipulator; A locking mechanism is arranged on the mounting plate and is used to limit the position of the subcutaneous injection module, the intravenous injection module, the drug distribution module, and the daily necessities delivery module. The mounting plate is in a U-shaped structure and can be arranged horizontally or vertically according to the application requirements of different modules.

5. The robot-assisted diagnosis and treatment system for a nuclear medicine ward according to claim 1, characterized in that: The subcutaneous injection module and the intravenous injection module both include: A robotic arm for holding the corresponding syringe; A radiation protection sleeve which is put on the corresponding syringe to shield the radiation generated by the drug release; A camera installed on the robotic arm to guide the nurse on duty to control the robotic arm to perform corresponding operations; Wherein, the subcutaneous injection module further comprises: a pressure gas source for generating instantaneous high pressure so that the medicine in the syringe forms a high-speed, high-pressure jet flow through the nozzle; The intravenous injection module also includes: A mounting mechanism for limiting the syringe; It is arranged on the other side of the mounting bracket, and is used to limit the end cap of the indwelling needle on the patient's wrist, and to make the end cap of the indwelling needle fit into the slot corresponding to the injection needle on the syringe in space; A telescopic assembly is arranged on the mounting bracket and is used to push the syringe toward the direction where the indwelling needle end cap is located.

6. The robot-assisted diagnosis and treatment system for a nuclear medicine ward according to claim 1, characterized in that: The drug dispensing module comprises: Multiple independent medicine temporary storage boxes are set up according to the beds in the ward, and each medicine temporary storage box is provided with an independent box cover lock control mechanism; A medicine carrying tray for placing medicine temporary storage boxes separately; The daily necessities delivery module comprises a daily necessities carrying tray; Wherein, the daily necessities carrying tray and the medicine carrying tray are arranged on the adapter assembly at a predetermined distance.

7. A method for applying a robot-assisted diagnosis and treatment system, which is applied to the robot-assisted diagnosis and treatment system for a nuclear medicine ward as claimed in any one of claims 1 to 6, characterized in that: The doctor who presides over the ward rounds conducts ward rounds, asks questions and issues medical orders through the AI ​​robot system, and the nurse on duty executes and completes the medical orders with the assistance of the AI ​​robot; Among them, during the whole process of diagnosis and treatment, the AI ​​robot serves as the execution terminal and communication intermediary of the medical staff. After the AI ​​robot is ferried to the designated location, the medical staff can interact with the patient through video and / or voice based on wireless communication on the remote exchange platform, complete the real-time supervision and guidance of the medical staff on the whole process of diagnosis and treatment, and realize contactless diagnosis and treatment in the nuclear medicine ward; After completing diagnosis and treatment, the AI ​​robot returns to the robot library to place the medical waste into the corresponding waste recycling bin, and then arrives at the corresponding machine position for decontamination, disinfection and / or maintenance.

8. The application method of the robot-assisted diagnosis and treatment system according to claim 7, characterized in that: The workflow of the AI ​​robot as an execution terminal for subcutaneous injection includes: Step 1: Identity creation: The AI ​​robot establishes an identity database for both doctors and patients by entering the nurse’s ID number and scanning the patient’s wristband barcode / QR code; Step 2: Identity update: when the nurses and patients on duty in the nuclear medicine inpatient ward area change, repeat step 1 to update the existing identity database, otherwise jump to step 3; Step 3. Create a subcutaneous injection project. Based on the predetermined technical parameters and operating specifications for subcutaneous injection, enter the corresponding project information, injection process, precautions during the injection process and subcutaneous injection record form to establish a subcutaneous injection project database. Step 4: Initialize the robot. Confirm the on-duty AI robot based on the current subcutaneous injection task, and perform initialization and module function self-check on the on-duty AI robot. The on-duty AI robot can perform the corresponding subcutaneous injection task only after passing the self-check. Otherwise, the on-duty AI robot needs to be repaired or replaced. Step 5: Loading the injection solution. Based on the current subcutaneous injection task, the nurse on duty places the injection solution in the needle-free syringe and places it in the predetermined position in order so that the needle-free syringe can be connected to the pressure gas source after being picked up by the AI ​​robot on duty; Step 6: Ferrying: The AI ​​robot on duty autonomously confirms the starting point and end point of the ferrying according to the current subcutaneous injection task, and then performs the ferrying operation; Step 5: Identification of the subcutaneous injection target. After the on-duty robot reaches the designated bed, the on-duty nurse instructs the patient to use the wristband to approach the identification module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform. The nurse also confirms the patient's identity again through voice inquiry. If the identity of the subcutaneous injection target is consistent with that of the patient, the nurse issues an execution instruction to the AI ​​robot to proceed to step 6. Otherwise, repeat step 5 until the identities are consistent. Step 6: Preparation for subcutaneous injection. After the nurse on duty determines the subcutaneous injection project and injection process according to the doctor's order, the nurse guides and supervises the patient to prepare for the subcutaneous injection of the designated project through the visual doctor-patient communication module of the remote interactive platform. At the same time, the health education module is activated to explain to the patient the information, process and precautions related to the designated subcutaneous injection project in a targeted manner. Step 7: Subcutaneous injection. After completing the preparation for subcutaneous injection, the nurse on duty guides and supervises the patient, controls the mechanical arm to drive the needle-free syringe to aim at the patient's injection position, and controls the force applied by the needle-free syringe to the patient's injection position, triggering the drug release switch to complete the injection; Step 8: Reset. After the subcutaneous injection is completed, the machine on duty returns to the robot library to shut down the function module and wait for the next call, and the used needle-free syringe is temporarily stored in the waste recycling bin.

9. The application method of the robot-assisted diagnosis and treatment system according to claim 7, characterized in that: The process of the AI ​​robot as an execution terminal for drug distribution and daily necessities delivery includes: Step 1: Address creation: The control center server assigns an address representing the identity to the lid lock access control of each drug storage box on the AI ​​robot, so as to construct a lid lock access control address library corresponding to each drug storage box; Step 2: Address update. When the increase or decrease of AI robots causes changes in the lid lock access control, repeat step 1 to update the existing address, otherwise jump directly to step 3; Step 3: Initialize the robot. After confirming the on-duty AI robot according to the current drug distribution and daily necessities delivery tasks, initialize and perform module function self-check on the on-duty AI robot. The on-duty AI robot can perform drug distribution and daily necessities delivery tasks only after passing the self-check. Otherwise, the robot must be repaired or replaced immediately. Step 4: Loading medicines and daily necessities. Following the doctor's instructions, the nurse on duty prepares medicines for each patient in the ward and loads them one by one into the corresponding medicine storage box of the AI ​​robot on duty, and / or places the patient's daily necessities on the corresponding position of the tray; Step 5: Ferrying: According to the current drug distribution and daily necessities delivery tasks, the on-duty AI robot autonomously confirms the starting and ending points of the ferrying and then performs the ferrying operation; Step 6: When the robot on duty reaches the designated bed, the nurse on duty guides and supervises the patient to bring the wristband close to the identity recognition module reader through the visual doctor-patient communication module of the remote interactive platform. After the reading is successful, the corresponding medicine is opened and the patient's identity is confirmed again through voice inquiry. If the identity of the object to be collected is consistent with that of the patient, step 7 is performed, otherwise step 6 is repeated until the identity is consistent; Step 7: Medication guidance and supervision. The nurse on duty explains the requirements and precautions of medication to the patient according to the doctor's instructions. After the patient takes the medication, the nurse reminds the patient to put the medicine containers and daily necessities that need to be recycled back into the temporary storage box and tray for medication collection; Step 8. Reset. After the distribution of medicines and the delivery of daily necessities are completed, the AI ​​machine on duty returns to the robot library to shut down the functional module and wait.

10. The application method of the robot-assisted diagnosis and treatment system according to claim 7, characterized in that: The AI ​​robot as an execution terminal performs the decontamination and disinfection process including: Step 1: Create a schedule. According to the decontamination and disinfection requirements, the nuclear medicine nurse on duty creates a schedule that includes the disinfection time, objects, and disinfection methods, and has a reminder function when the time comes; Step 2: Update the schedule. If there are changes in the decontamination and disinfection schedule, repeat step 1 to update the existing schedule. Otherwise, jump directly to step 3. Step 3: Create a decontamination and disinfection project. According to the technical parameters and operating specifications of the decontamination and disinfection module, enter the decontamination and disinfection project information, project workflow, work process precautions and work record sheet, and establish a decontamination and disinfection project database; Step 4: Decontamination and disinfection of the robot itself. According to the current decontamination and disinfection arrangement, the automatic decontamination and disinfection module is started to decontaminate and disinfect the surface of the AI ​​robot parked at the corresponding position; Step 5: Initialize the robot. According to the decontamination and disinfection task, confirm the AI ​​robot on duty, initialize it and perform a self-check on its module functions. Only the AI ​​robot on duty that passes the self-check can perform the decontamination and disinfection task. Otherwise, the robot must be repaired or replaced immediately. Step 6: Ferrying: The AI ​​robot on duty autonomously determines the starting and ending points of the ferrying according to the current decontamination and disinfection tasks, and then performs the ferrying operation; Step 7: Room decontamination and disinfection: After the robot on duty reaches the designated room, the nurse on duty controls the robot to perform physical and / or chemical disinfection on the contaminated areas of the room through the visual doctor-patient communication module of the remote interactive platform; Step 8: Patient decontamination and disinfection. After the robot on duty reaches the designated bed, the nurse on duty instructs the patient to use the wristband to approach the identity recognition module reader to confirm the identity through the visual doctor-patient communication module of the remote interactive platform, and confirms the patient's identity again through voice inquiry. The contaminated parts of the patient are physically and / or chemically disinfected until the decontamination and disinfection object is consistent with the patient's identity; Step 9. Reset, decontamination and disinfection are completed, and the AI ​​machine on duty returns to the robot library to turn off the functional module and stand by.

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