Medical intelligent terminal system and equipment

Abstract

The invention relates to the technical field of medical intelligence, and discloses a medical intelligent terminal system, which comprises a sensor module used for sensing the motion state of equipment and the identity information of an operator, and the sensor module at least comprises a 3D acceleration sensor, a gyroscope sensor, a biological characteristic sensor and an environment sensor; the peripheral equipment module is used for executing specific medical operation, and the peripheral equipment module at least comprises a scanning head and a radio frequency identification (RFID) card reader; and the situation awareness module is used for judging the motion state and the use scene of the equipment according to the data of the sensor module, and calling a corresponding application program and peripheral equipment. Through cooperative work of the situation awareness module and the application initialization module, the system can quickly judge a use scene and initialize peripheral equipment such as a scanning head in advance when the equipment is lifted up, so that the peripheral equipment is in a standby state.

Description

Technical Field

[0001] The present invention relates to the field of medical intelligent technology, and in particular to a medical intelligent terminal system and equipment. Background Art

[0002] In the medical field, the use of smart terminal devices is becoming increasingly widespread, particularly in areas such as patient information management, medication data access, and physiological status monitoring in emergency situations. Existing technologies typically rely on touchscreens and button operations to manually access the corresponding application. This operation method has certain limitations: First, it takes time for the device to wake up from sleep mode and access the corresponding application. This process is relatively redundant. Especially in emergency situations, it may not respond to the activation of the scanning head application in a timely manner, thus affecting the efficiency of medical operations and the timing of patient treatment. Second, existing devices often rely on single sensor data to detect device motion, which is susceptible to noise and interference, resulting in insufficient situational awareness accuracy. In addition, over time, sensor calibration parameters may drift, affecting data accuracy. Finally, existing devices lack intelligent power management in standby mode, and cannot quickly wake up when the device is lifted or an operator approaches, which affects the user experience. Summary of the Invention

[0003] (1) Technical problems solved

[0004] In view of the deficiencies of the prior art, the present invention provides a medical intelligent terminal system and device, which solves the problem of the above-mentioned background technology of "relying on the operation of the touch screen and buttons to manually enter the corresponding application program switch".

[0005] (2) Technical solution

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A medical intelligent terminal system, comprising:

[0007] A sensor module, configured to sense the motion state of the device and the identity information of the operator, wherein the sensor module includes at least a 3D acceleration sensor, a gyroscope sensor, a biometric sensor, and an environmental sensor;

[0008] a peripheral device module for performing a specific medical operation, the peripheral device module comprising at least a scanning head and a radio frequency identification (RFID) reader;

[0009] A situation awareness module, used to determine the motion state and usage scenario of the device based on the data from the sensor module, and to call corresponding applications and peripheral devices;

[0010] A dynamic calibration module, used to dynamically calibrate the data of the 3D acceleration sensor and the gyroscope sensor during use of the device to improve the accuracy of situational awareness;

[0011] a multi-sensor fusion module for fusing data from the 3D acceleration sensor and gyroscope sensor with data from the biometric sensor to generate three-dimensional correlation data of operator identity, motion state, and environmental parameters, thereby improving the accuracy and robustness of situational awareness;

[0012] An application initialization module, configured to initialize the scanning head in the peripheral device module in advance and put it into a standby state according to the judgment result of the situation awareness module when the device is in a state of being placed and then being picked up for use;

[0013] The sensor module, peripheral device module, situation awareness module, dynamic calibration module, multi-sensor fusion module and application initialization module are connected through communication.

[0014] Preferably, the situation awareness module includes a motion state judgment unit, a gyroscope data processing unit and a scene recognition unit. The motion state judgment unit is used to judge the lifting motion form of the device according to the dynamic change process of the 3-axis data of the 3D acceleration sensor. The gyroscope data processing unit is used to judge the lifting motion form of the device according to the dynamic change process of the axis data of the gyroscope sensor. The scene recognition unit is used to identify the usage scenario of the device and call the corresponding application and peripheral device according to the results of the motion state judgment unit and the gyroscope data processing unit. The situation awareness module also includes a scene unit, which includes but is not limited to setting an emergency code scanning scene, a drug inventory scene and an abnormal shaking alarm scene, wherein the emergency code scanning scene needs to meet the Z-axis acceleration of the 3D acceleration sensor from a static state (9.8m / s 2 ) drops suddenly to <5m / s 2 , and the X-axis acceleration is > 8m / s within 500ms 2 The gyroscope sensor's rotation angle around the X-axis increases from 0° to 25°-45° within 200ms. The drug inventory scenario requires that the device's horizontal movement speed is less than 0.5m / s for 30 seconds or the gyroscope's rotation angle change rate around the Z-axis is less than 5° / s. The abnormal shaking alarm scenario requires that all three axes' accelerations are greater than 10m / s. 2 , and the duration is greater than 200ms. In addition, the gyroscope needs to detect unexpected flipping movements, including but not limited to rotation angles around the Y axis greater than 180°.

[0015] Preferably, the dynamic calibration module includes a real-time data acquisition unit and a calibration parameter adjustment unit. The real-time data acquisition unit is used to acquire data of the 3D acceleration sensor and the gyroscope sensor in real time. The calibration parameter adjustment unit is used to dynamically adjust the calibration parameters of the sensor according to the motion state and usage scenario of the device.

[0016] Preferably, the multi-sensor fusion module includes a data preprocessing unit and a data fusion unit, the data preprocessing unit is used to filter and denoise the data of the 3D acceleration sensor and the gyroscope sensor, and the data fusion unit is used to fuse the processed data to generate a comprehensive judgment result.

[0017] Preferably, the sensor module further includes an environmental sensor for sensing environmental information around the device, wherein the environmental information includes but is not limited to temperature, humidity and light intensity.

[0018] Preferably, the situation awareness module further includes an anomaly detection unit, which is used to detect abnormal movement states of the device and issue an alarm or take corresponding safety measures when an anomaly is detected.

[0019] Preferably, in the motion state judgment unit, the 3-axis default data value Adef = {x, y, z} of the device for calibrating the 3D acceleration sensor when it is statically placed on the bracket is obtained as a basis for comparison, and the collected acceleration data is filtered and processed to eliminate noise and interference. The device is detected that the y-axis of the 3D acceleration sensor has a linear deviation greater than 5 (|dy|>5) within an interval of 500ms, and then is restored from the deviation position to a nearly horizontal position y approaching 0. At the same time, the z-axis of the 3D acceleration sensor has a deviation greater than 5 (|dy|>5), and then is restored from the deviation position to a nearly horizontal position so that z approaches 9.8. This process is consistent with the position where the scanning head of the device is on the back of the device and at a 25° angle to the back. The motion state during the process of lifting it up to scan the QR code is consistent with the above-mentioned motion state of the 3D acceleration sensor.

[0020] Preferably, in the gyroscope data processing unit, the sensor module collects a series of readings to obtain the angular velocity change value of the device from a stationary state to a moving state and finally back to a relatively stationary state, which is recorded as R = {r1, r2, r3..., rn}, and each angular velocity change value is treated as a vector. In addition, the change in angular velocity |dy| goes from an acceleration process to a deceleration process, followed by a reverse acceleration process and a deceleration process. When the final change approaches 0, it happens that the above-mentioned 3D acceleration sensor |dy| approaches 0, and the z-axis is greater than 5. The comprehensive judgment is used as a detection judgment for the application of the scanning head device.

[0021] Preferably, a device of a medical intelligent terminal system includes at least one processor, at least one memory, a communication interface and a bus, wherein the processor, memory and communication interface communicate with each other through the bus.

[0022] (3) Beneficial effects

[0023] The present invention provides a medical intelligent terminal system and device. It has the following beneficial effects:

[0024] (1) When the medical intelligent terminal system and equipment are in use, through the collaborative work of the situational awareness module and the application initialization module, the system can quickly determine the usage scenario when the device is lifted and initialize peripheral devices such as the scanning head in advance, putting them in a standby state. This mechanism significantly shortens the response time from the device's dormant state to the application startup. Especially in emergency situations, the scanning head application can be quickly started, ensuring the timeliness and efficiency of medical operations and avoiding the impact of device response delays on patient treatment opportunities.

[0025] (2) When the medical intelligent terminal system and equipment are in use, through the cooperation of the multi-sensor fusion module and the dynamic calibration module, the system can fuse the data of the 3D acceleration sensor and the gyroscope sensor, and dynamically calibrate the sensor parameters, effectively eliminating noise and interference, and ensuring the accuracy of situational awareness. In addition, the anomaly detection unit can promptly issue an alarm or take safety measures when the device exhibits abnormal motion, further improving the reliability and safety of the system and avoiding misjudgments caused by sensor data drift or interference.

[0026] (3) When the medical intelligent terminal system and equipment are in use, different medical scenarios are deeply bound with sensor data features to achieve accurate scene identification and avoid false triggering. Exclusive operations are performed through the set scenarios. Emergency code scanning automatically initializes the device and pushes notifications. Drug inventory automatically associates inventory to generate reports. Abnormal shaking alarms lock the interface in time and trace back, thereby improving medical operation efficiency. At the same time, through the intelligent response mechanism, equipment energy consumption and medical risks are reduced, providing reliable guarantees for the standardization, efficiency and safety of medical processes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the system framework in the present invention;

[0028] Figure 2 This is a detailed framework diagram of the situation awareness module in the system of the present invention;

[0029] Figure 3 This is a detailed framework diagram of the dynamic calibration module in the system of the present invention.

[0030] Figure 4This is a detailed framework diagram of the multi-sensor fusion module in the system of the present invention.

[0031] In the figure: 1. Sensor module; 2. Peripheral device module; 3. Situational awareness module; 301. Motion state judgment unit; 302. Gyroscope data processing unit; 303. Scene recognition unit; 304. Anomaly detection unit; 305. Scene unit; 4. Dynamic calibration module; 401. Real-time data acquisition unit; 402. Calibration parameter adjustment unit; 5. Multi-sensor fusion module; 501. Data preprocessing unit; 502. Data fusion unit; 6. Application initialization module. DETAILED DESCRIPTION

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0033] See also Figure 1-Figure 4 The present invention provides a medical intelligent terminal system, including a sensor module 1, a peripheral device module 2, a situational awareness module 3, a dynamic calibration module 4, a multi-sensor fusion module 5 and an application initialization module 6, and the sensor module 1, the peripheral device module 2, the situational awareness module 3, the dynamic calibration module 4, the multi-sensor fusion module 5 and the application initialization module 6 are connected by communication. The sensor module 1 is used to sense the motion state of the device and the identity information of the operator. The sensor module includes at least a 3D acceleration sensor and a gyroscope sensor, wherein the 3D acceleration sensor is used to sense the acceleration changes of the device on the X, Y and Z axes, and can accurately capture the motion state of the device, such as the device's When the device is lifted, lowered or tilted, the gyroscope sensor is used to detect changes in the angular velocity of the device and can determine the rotation or tilt angle of the device. The gyroscope sensor works in conjunction with the 3D acceleration sensor to further verify the motion state of the device through changes in angular velocity, thereby ensuring the accuracy of situational awareness. In addition, the sensor module 1 also includes an environmental sensor for sensing the environmental information around the device. Environmental information includes but is not limited to temperature, humidity and light intensity. The sensor module 1 may also include biometric sensors (such as heart rate sensors and blood oxygen sensors) and positioning sensors (such as GPS modules), enabling the device to monitor the patient's physiological state and location information in real time, providing more comprehensive data support for emergency situations.

[0034] The peripheral device module 2 is used to perform specific medical operations. The peripheral device module 2 includes at least a scanning head and a radio frequency identification (RFID) card reader. The scanning head is designed to quickly and accurately read patient information or drug data. Its startup and operation depend on the judgment of the situational awareness module to ensure that it enters the standby state immediately when the device is lifted.

[0035] The situation awareness module 3 is used to judge the motion state and usage scenario of the device based on the data of the sensor module 1, and call the corresponding application and peripheral devices. Specifically, the situation awareness module 3 includes a motion state judgment unit 301, a gyroscope data processing unit 302 and a scene recognition unit 303. The motion state judgment unit 301 is used to judge the lifting motion form of the device based on the dynamic change process of the 3-axis data of the 3D acceleration sensor. Specifically, in the motion state judgment unit 301, the 3-axis default data value Adef = {x, y, z} of the device for calibrating the 3D acceleration sensor when it is placed statically on the bracket is obtained as a basis for comparison, and the collected acceleration data is filtered and processed to eliminate noise and interference. The device is detected that the y-axis of the 3D acceleration sensor has a linear deviation greater than 5 (|dy|>5) within an interval of 500ms, and then the deviation position is restored to a nearly horizontal position y close to 0, and at the same time, the z-axis of the 3D acceleration sensor has a deviation greater than 5 (|dy|>5). Then, the deviation position is restored to a nearly horizontal position so that z approaches 9.8. This process is consistent with the position of the device's scanning head on the back of the device and at a 25° angle to the back. The movement state during the lifting process to scan the QR code is consistent with the movement state of the above-mentioned 3D acceleration sensor. The gyroscope data processing unit 302 is used to determine the lifting movement form of the device based on the dynamic change process of the 3-axis data of the gyroscope sensor. Specifically, in the gyroscope data processing unit 302, the sensor module 1 collects a series of readings to obtain the angular velocity change value of the device from a stationary state to movement and finally back to a relatively stationary state, recorded as R = {r1, r2, r3..., rn}, and each angular velocity change value is treated as a vector. In addition, the change in angular velocity |dy| goes from acceleration to deceleration, followed by reverse acceleration and deceleration. When the final change approaches 0, it happens that the above-mentioned 3D acceleration sensor |dy| approaches 0, and when the z-axis is greater than 5, its comprehensive judgment is used as a detection judgment for the application of the scanning head device. The scene recognition unit 303 is used to identify the usage scenario of the device and call the corresponding application and peripheral devices based on the results of the motion state judgment unit 301 and the gyroscope data processing unit 302. Specifically, in the scene recognition unit 303, when the device is lifted and moved to a relative position, the application of the scanning head is turned on and the corresponding peripherals are initialized. After receiving the user's trigger button, the scanning head is used to identify the QR code, barcode, etc. to read the corresponding data.In addition, the situation awareness module 3 also includes an abnormality detection unit 304, which is used to detect abnormal motion states of the device and issue an alarm or take corresponding safety measures when an abnormality is detected, ensuring that the device can issue an alarm or take safety measures in a timely manner in abnormal situations, such as stopping the current operation or saving data. The situation awareness module 3 also includes a scene unit 305, which includes but is not limited to setting emergency code scanning scenes, drug inventory scenes, and abnormal shaking alarm scenes. The emergency code scanning scene needs to meet the Z-axis acceleration of the 3D acceleration sensor from a static state (9.8m / s. 2 ) drops suddenly to <5m / s 2 , specifically, the device is lifted quickly, and the X-axis acceleration is greater than 8m / s within 500ms 2 , indicating that the action is a rapid action, and the gyroscope sensor's rotation angle around the X-axis increases from 0° to 25°-45° within 200ms. The biometric sensor verifies that the person is an authorized person in the emergency department. Once triggered, the scanning head is initialized and the fill light is turned on. The "Emergency Patient Information Query" application is preloaded, and a "Device Enabled" notification is sent to the nurse station, including the operator's number and current location. This operation can be obtained through the positioning sensor. If the code is not scanned within 30 seconds, a "Do you need assistance" prompt box will automatically pop up to prevent the device from idling and consuming power. The drug inventory scenario needs to meet the device level. If the movement speed is less than 0.5m / s for 30 seconds or the gyroscope's rotation rate around the Z axis is less than 5° / s, once triggered, the RFID reader is activated and scans drug tags within a radius of 1 meter at a frequency of 10Hz. Based on the read drug RFID code, the inventory data in the HIS system is automatically linked to generate a "actual quantity - system quantity" difference report. If a near-expiry drug is detected, the expiration date can be set to less than 3 months, highlighted on the device screen, and a slight vibration reminder is triggered. The abnormal shaking alarm scenario requires that all three axes have accelerations greater than 10m / s. 2 This action exceeds the acceleration of gravity and is determined to be a severe impact, and the duration is greater than 200ms. In addition, the gyroscope needs to detect unexpected flipping actions, including but not limited to rotation angles around the Y axis greater than 180°. Once triggered, the device operation interface is immediately locked to prevent accidental data modification. Then, an alarm message containing an acceleration waveform is sent to the department administrator's mobile phone via Bluetooth, marking the time and coordinates of the event.

[0036] The dynamic calibration module 4 is used to dynamically calibrate the data of the 3D acceleration sensor and the gyroscope sensor during the use of the device to improve the accuracy of situational awareness. Specifically, the dynamic calibration module 4 includes a real-time data acquisition unit 401 and a real-time data acquisition unit 402. The real-time data acquisition unit 401 is used to collect data from the 3D acceleration sensor and the gyroscope sensor in real time, and ensure the accuracy and real-time nature of the data by continuously monitoring the operating status of the sensor. The real-time data acquisition unit 402 is used to dynamically adjust the calibration parameters of the sensor according to the motion state and usage scenario of the device. For example, when the device is in a tilted state for a long time, the real-time data acquisition unit 402 will automatically adjust the baseline value of the sensor to ensure the accuracy of subsequent data.

[0037] The multi-sensor fusion module 5 is used to fuse the data of the 3D acceleration sensor and the gyroscope sensor and the data of the biometric sensor to generate three-dimensional correlation data of operator identity-motion state-environmental parameters, thereby improving the accuracy and robustness of situational awareness. Specifically, the multi-sensor fusion module 5 includes a data preprocessing unit 501 and a data fusion unit 502. The data preprocessing unit 501 is used to filter and denoise the data of the 3D acceleration sensor and the gyroscope sensor to eliminate noise and interference in the sensor data, such as removing high-frequency noise through a low-pass filter. The data fusion unit 502 is used to fuse the processed data to generate a comprehensive judgment result. For example, combining the linear motion data of the 3D acceleration sensor with the rotation data of the gyroscope sensor can more accurately judge the motion state of the device.

[0038] The application initialization module 6 is used to initialize the scanning head in the peripheral device module 2 in advance and put it into a standby state based on the judgment result of the situation awareness module 3 when the device is in the process of being lifted from the placed state. Specifically, the application initialization module 6 is mainly used to shorten the response time of the device. For example, when the device is lifted, the scanning head has been initialized and is ready, and the user only needs to press a button to start scanning.

[0039] The present invention also provides a device for a medical intelligent terminal system, comprising at least one processor, at least one memory, a communication interface and a bus, wherein the processor, memory and communication interface communicate with each other through the bus to realize the functions required by the above system.

[0040] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A medical intelligent terminal system, characterized by: include: A sensor module (1) for sensing the motion state of the device and the identity information of the operator, the sensor module comprising at least a 3D acceleration sensor, a gyroscope sensor, a biometric sensor, and an environmental sensor; A peripheral device module (2) for performing a specific medical operation, wherein the peripheral device module (2) comprises at least a scanning head and a radio frequency identification (RFID) reader; A situation awareness module (3) is used to determine the motion state and usage scenario of the device based on the data from the sensor module (1), and to call corresponding application programs and peripheral devices; A dynamic calibration module (4) is used to dynamically calibrate the data of the 3D acceleration sensor and the gyroscope sensor during use of the device to improve the accuracy of situational awareness; A multi-sensor fusion module (5) is used to fuse data from the 3D acceleration sensor, gyroscope sensor, and biometric sensor to generate three-dimensional correlation data of operator identity, motion state, and environmental parameters, thereby improving the accuracy and robustness of situational awareness; An application initialization module (6) is used to initialize the scanning head in the peripheral device module (2) in advance and put it into a standby state according to the judgment result of the situation awareness module (3) when the device is in a state from being placed to being picked up for use; The sensor module (1), the peripheral device module (2), the situation awareness module (3), the dynamic calibration module (4), the multi-sensor fusion module (5) and the application initialization module (6) are connected through communication.

2. A medical intelligent terminal system according to claim 1, characterized in that: The situation awareness module (3) includes a motion state judgment unit (301), a gyroscope data processing unit (302) and a scene recognition unit (303). The motion state judgment unit (301) is used to judge the lifting motion form of the device according to the dynamic change process of the 3-axis data of the 3D acceleration sensor. The gyroscope data processing unit (302) is used to judge the lifting motion form of the device according to the dynamic change process of the 3-axis data of the gyroscope sensor. The scene recognition unit (303) is used to identify the use scenario of the device and call the corresponding application program and peripheral device according to the results of the motion state judgment unit (301) and the gyroscope data processing unit (302). The situation awareness module (3) also includes a scene unit (305). The scene unit (305) includes but is not limited to setting an emergency code scanning scene, a medicine inventory scene and an abnormal shaking alarm scene, wherein the emergency code scanning scene needs to meet the Z-axis acceleration of the 3D acceleration sensor from a static state (9.8m / s 2 ) drops suddenly to <5m / s 2 , and the X-axis acceleration is > 8m / s within 500ms 2 The gyroscope sensor's rotation angle around the X-axis increases from 0° to 25°-45° within 200ms. The drug inventory scenario requires that the device's horizontal movement speed is less than 0.5m / s for 30 seconds or the gyroscope's rotation angle change rate around the Z-axis is less than 5° / s. The abnormal shaking alarm scenario requires that all three axes' accelerations are greater than 10m / s. 2 , and the duration is greater than 200ms. In addition, the gyroscope needs to detect unexpected flipping movements, including but not limited to rotation angles around the Y axis greater than 180°.

3. The medical intelligent terminal system according to claim 1, characterized in that: The dynamic calibration module (4) comprises a real-time data acquisition unit (401) and a real-time data acquisition unit (402), wherein the real-time data acquisition unit (401) is used to acquire data of the 3D acceleration sensor and the gyroscope sensor in real time, and the real-time data acquisition unit (402) is used to dynamically adjust the calibration parameters of the sensors according to the motion state and usage scenario of the device.

4. The medical intelligent terminal system according to claim 1, characterized in that: The multi-sensor fusion module (5) comprises a data pre-processing unit (501) and a data fusion unit (502), wherein the data pre-processing unit (501) is used to filter and denoise the data of the 3D acceleration sensor and the gyroscope sensor, and the data fusion unit (502) is used to fuse the processed data to generate a comprehensive judgment result.

5. The medical intelligent terminal system according to claim 1, characterized in that: The sensor module (1) further comprises an environmental sensor for sensing environmental information around the device, wherein the environmental information includes but is not limited to temperature, humidity and light intensity.

6. The medical intelligent terminal system according to claim 2, characterized in that: The situation awareness module (3) further comprises an abnormality detection unit (304), which is used to detect abnormal motion states of the device and to issue an alarm or take corresponding safety measures when an abnormality is detected.

7. The medical intelligent terminal system according to claim 2, characterized in that: In the motion state judgment unit (301), the 3-axis default data value Adef={x, y, z} of the device for calibrating the 3D acceleration sensor when it is placed statically on the bracket is obtained as a basis for comparison, and the collected acceleration data is filtered and processed to eliminate noise and interference. In addition, when the device is detected, the y-axis of the 3D acceleration sensor has a linear deviation greater than 5 (|dy|>5) within an interval of 500ms, and then is restored from the deviation position to a nearly horizontal position y approaching 0. At the same time, the z-axis of the 3D acceleration sensor has a deviation greater than 5 (|dy|>5), and then is restored from the deviation position to a nearly horizontal position so that z approaches 9.

8. This process is consistent with the position where the scanning head of the device is on the back of the device and at an angle of 25 degrees to the back. The motion state during the process of lifting the device to scan the QR code is consistent with the motion state of the above-mentioned 3D acceleration sensor.

8. The medical intelligent terminal system according to claim 2, characterized in that: In the gyroscope data processing unit (302), the sensor module (1) collects a series of readings to obtain the angular velocity change value of the device from a stationary state to a moving state and finally back to a relatively stationary state, which is recorded as R = {r1, r2, r3..., rn}, and each angular velocity change value is treated as a vector. In addition, the change in angular velocity |dy| from the acceleration process to the deceleration process, followed by the reverse acceleration process and the deceleration process, and when the final change approaches 0, it is also when the above-mentioned 3D acceleration sensor |dy| approaches 0 and the z-axis is greater than 5. The comprehensive judgment is used as a detection judgment for the application of the scanning head device.

9. A device comprising the medical intelligent terminal system according to any one of claims 1 to 8, characterized in that: The system comprises at least one processor, at least one memory, a communication interface and a bus, wherein the processor, memory and communication interface communicate with each other via the bus to implement the system according to any one of claims 1 to 9.

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