Automatic operating room equipment distribution system based on software control sorting robot

Abstract

The invention discloses an operating room equipment automatic distribution system based on a software control sorting robot, and relates to the technical field of intelligence of medical material management and distribution. Comprising the following steps: step S100, instruction analysis and task generation: a software control system and an operating room warehouse management system establish data interaction by adopting an MQTT Internet of Things protocol; the method comprises the following steps: realizing inventory real-time synchronization through an MQTT protocol, improving an A * algorithm to optimize a distribution path, dynamically adjusting a driving speed by an AGV differential wheel mechanism, matching with a temporary demand less than or equal to 5 minutes delivery mechanism, dealing with inventory abnormity through double early warning of ''pop-up window + short message'', responding to a fault for less than or equal to 10 minutes by a standby robot, and automatically triggering supplementary distribution to process and check abnormity. The problems that traditional manual delivery is low in efficiency, non-diagnosis and treatment burden of medical staff is heavy, and delivery interruption or delay is easily caused by abnormal conditions are solved, and finally the tedious work that workers prepare various different instruments and consumables for all operating rooms before an operation is liberated from.

Description

Technical Field

[0001] This invention relates to the field of intelligent technology for medical supplies management and distribution, and in particular to an automated operating room equipment distribution system based on a software-controlled sorting robot. Background Technology

[0002] To ensure a basic supply of operating room equipment, the industry currently relies primarily on the traditional method of "manual sorting + manual transport." This involves manually checking inventory, sorting equipment, and using transport vehicles for transport. While simple in small-batch deliveries to a single operating room, the drawbacks of relying entirely on manual labor become apparent when there are large daily surgical volumes and numerous operating rooms (large tertiary hospitals typically have 40-50 operating rooms): Inventory information is often outdated, leading to insufficient stock during manual retrieval; sorting a single list takes 5-10 minutes, and delivery from the warehouse to the operating room takes over 10-15 minutes, often exceeding 10 minutes during peak surgical periods or for responding to temporary demands; manual operation easily results in misplaced or missing equipment, and the lack of aseptic protection during transport increases the risk of equipment contamination. High temperatures and humidity during temporary storage can easily affect the performance of consumables. To reduce reliance on manual labor, some solutions have attempted a semi-automated approach of "simple AGVs + manual sorting," using AGVs to replace manual handling and improve efficiency. However, bottlenecks remain: there is no data linkage between AGVs and the warehouse system, and sorting errors and omissions remain unresolved, requiring secondary verification in the operating room; AGVs lack antibacterial and disinfection designs, resulting in a contamination rate of over 5% for equipment; abnormalities such as insufficient inventory and AGV malfunctions require manual detection, with backup response times exceeding 10 minutes, and there is no delivery traceability function, making responsibility allocation difficult. Currently, two types of approaches are being implemented independently: traditional approaches struggle to overcome the bottlenecks of low efficiency, poor accuracy, and weak sterility; while semi-automated approaches improve handling efficiency, they do not achieve full-process automation and may cause delays due to poor coordination. Summary of the Invention

[0003] The purpose of this invention is to provide an automated operating room equipment delivery system based on a software-controlled sorting robot, which solves the technical problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automated operating room equipment delivery system based on a software-controlled sorting robot, comprising the following steps: Step S100 Instruction parsing and task generation: The software control system and the operating room warehouse management system establish data interaction using the MQTT Internet of Things protocol, receive delivery instructions containing the target operating room number, a list of equipment required for each operating room, and delivery priority, verify inventory matching through the unique equipment code, generate a list of tasks to be executed by the robot, and trigger subsequent equipment identification and positioning steps after the task list is generated; Step S200 Equipment Identification and Positioning: The equipment automatic sorting robot moves to the target shelf area, reads the equipment label information through barcode / QR code / RFID code or recognizes the shape features of objects through robot self-learning, and finally accurately identifies the equipment. Combining the warehouse and shelf coordinate map and error correction algorithm, the robot locates the position of the target equipment and feeds it back to the software control system. Step S300: Robotic arm picks up and temporarily stores the parts: The software control system sends a pick-up command to the 6-axis industrial robotic arm. The robotic arm uses flexible silicone grippers to grab the parts and transfers them to the robot's portable compartment for temporary storage. At the same time, the information of the picked-up parts is compared with the task list in real time. Step S400 Path planning and mobile delivery: The software control system uses an improved A* algorithm to generate the optimal mobile path. The robot travels along the path through the AGV differential wheel mobile mechanism. During the journey, the obstacle avoidance module composed of LiDAR and ultrasonic sensors ensures safety. The travel speed is adjusted within the range of 0.2-1.0 m / s according to the delivery priority and the load status. Step S500 Equipment Handover and Verification: After the robot arrives at the target operating room, it places the equipment required for the surgery in the location designated by the system in the operating room and triggers an audio-visual prompt for staff to verify. The on-duty circulating nurse retrieves the electronic equipment list through the capacitive touch screen and verifies it one by one against the physical items. After confirmation, the nurse signs for receipt on the interface, realizing pre-delivery. The verification results are synchronized to the software control system and the warehouse management system. Step S600 Abnormalities and Demand Response: When the patrol personnel detect abnormalities in the equipment, they trigger instructions to the system to send instructions to the robot to realize the return, replacement, or replenishment from the warehouse. The system triggers warehouse replenishment and delivery for abnormal equipment, prioritizes replanning the route for temporary demand instructions, and dispatches a backup robot for robot failure.

[0005] Preferably, in step S100, the data transmission frequency of the MQTT protocol is once every 30 seconds, realizing second-level synchronization deviation control between inventory data and the software control system, ensuring real-time synchronization of inventory data; if the inventory is insufficient or the code matching fails during instruction verification, the system immediately sends a pop-up window and SMS warning to the nurse's terminal; after the task list is generated, the order of sterile equipment retrieval is automatically marked according to the expiration date of the inventory consumables, and the robot is prioritized to handle sterile equipment delivery tasks.

[0006] Preferably, in step S200, the 1D / 2D barcode recognition unit uses a 12-megapixel CMOS image sensor, equipped with a ring light, with a recognition accuracy of ≥99.5%, an effective recognition distance of 0.3-1.5m, and can recognize 1D barcodes with a resolution of ≥25mil and 2D barcodes with a resolution of ≥10×10mm; the RFID recognition unit operates at a frequency of 860-960MHz, with a built-in metal shield to reduce interference from the metal structure of the shelf to the radio frequency signal, a reading distance of 0.5-3m, and a recognition success rate of ≥99%; the error correction algorithm controls the equipment positioning error within ±5mm by fusing visual coordinates with RFID position data.

[0007] Preferably, in step S300, the 6-axis robotic arm has a repeatability of ≤±0.1mm, a maximum working radius of 1.2m, and a flexible silicone gripper with a clamping force adjustment range of 5-50N. The clamping force is adjusted in real time through a pressure sensor to accommodate equipment weighing 0.1-5kg without causing damage. The sterile area of ​​the storage space is equipped with an ultraviolet disinfection module, which automatically disinfects for 30 minutes after each storage, with a disinfection intensity of ≥70μW / cm². It also has a built-in temperature and humidity sensor, and the software control system controls the environment in a closed loop at a temperature of 20-25℃ and a relative humidity of 40%-60%.

[0008] Preferably, in step S400, the AGV differential wheel mechanism is equipped with two drive wheels with differential steering function and four omnidirectional driven wheels. The default travel speed is 1.0 m / s when unloaded and 0.5 m / s when fully loaded. The obstacle avoidance module has a detection range of 0.1-10 m for the lidar and 0.02-3 m for the ultrasonic sensor. When an obstacle is detected within 0.5 m in front, the robot stops or turns within 0.5 seconds, with an obstacle avoidance success rate of ≥99.8%.

[0009] Preferably, in step S500, the capacitive touchscreen is 10.1 inches in size with a resolution of 1920×1200, supporting multi-touch, providing a clear and convenient interactive interface for mobile medical staff. The electronic equipment list, in addition to the original equipment name, specifications, manufacturer, expiration date, task list quantity, and actual delivery quantity, is supplemented with a unique material code for each equipment, forming a complete information system of "code + multiple attributes." Medical staff can scan the equipment label code to simultaneously read the material code and other attributes, verifying them against the list item by item. If there are any issues such as code mismatch, quantity discrepancies, or expired expiration dates, the interface will immediately detect them. A red alert pops up, clearly indicating the type of anomaly. After verification, the generated delivery log, in addition to the original delivery time, robot number, auditor's name, and verification result, simultaneously enters the unique material code of the equipment and the corresponding equipment name, specifications, and model. The log is stored on both a local server and a cloud backup, with a retention period of ≥1 year. It supports multi-dimensional queries through combinations such as "material code + time range", "material code + robot number", and "material code + auditor", enabling precise traceability of the entire process from delivery to inventory verification and subsequent use, further improving the standardization and traceability of operating room equipment management.

[0010] Preferably, in step S600, the temporary equipment demand instruction is issued through the operating room nurse station terminal, and the delivery time of the robot from the warehouse to the target operating room is ≤5 minutes; the robot fault diagnosis module can identify the type of mechanical arm jamming and mobile mechanism failure, and the response time of the standby robot to take over the task is ≤10 minutes; when the warehouse inventory is insufficient, the system sends a replenishment reminder to the warehouse manager and displays the estimated replenishment completion time calculated based on historical replenishment data on the nurse terminal.

[0011] Preferably, the automatic sorting robot is equipped with a ball screw drive lifting mechanism with a lifting range of 0.8-2.5m, which can be adapted to warehouse shelves with a height of 1.0-2.2m, and the lifting speed can be adjusted within the range of 50-100mm / s; the lifting mechanism is equipped with a displacement sensor with a position control accuracy of ≤±0.5mm, and is equipped with an overload protection device that automatically stops lifting and triggers an audible and visual alarm when the load exceeds 50kg.

[0012] Preferably, the software control system has data statistical analysis functions, which can generate delivery reports on a daily / weekly / monthly basis. The reports include the number of deliveries to each operating room, the proportion of equipment types, the on-time delivery rate, and the anomaly rate. The system interfaces with the hospital's HIS system through an API interface, synchronizing delivery data to the HIS system to achieve full-process traceability of equipment from procurement, inventory, delivery to use. The software control system adopts a B / S architecture, supports access from multiple terminals such as computers, tablets, and mobile phones, and data from each terminal is synchronized in real time to ensure consistency of multi-role collaborative operation. Different operation permissions can be set for nurses, warehouse managers, and system administrators.

[0013] Preferably, the robot shell is made of 304 stainless steel with a silver ion antibacterial coating that has an antibacterial rate of ≥99% and can withstand 75% alcohol wiping disinfection; the robotic arm joints adopt a sealed structure with an IP54 protection level to prevent dust and liquid intrusion; the door of the storage space is controlled by an electromagnetic lock and can only be opened in the target operating room area or warehouse to avoid contamination or loss of equipment during delivery.

[0014] Compared with related technologies, the automated operating room equipment delivery system based on a software-controlled sorting robot provided by this invention has the following advantages: 1. This invention provides an automated operating room equipment delivery system based on a software-controlled sorting robot. It achieves real-time inventory synchronization via the MQTT protocol, optimizes delivery routes using an improved A* algorithm, dynamically adjusts the travel speed using an AGV differential wheel mechanism, and incorporates a ≤5-minute delivery mechanism for temporary needs. Furthermore, it utilizes a dual early warning system of "pop-up window + SMS" to handle inventory anomalies, a backup robot with a ≤10-minute response time for malfunctions, and automatic triggering of supplementary delivery to process and review anomalies. This solves the problems of low efficiency in traditional manual delivery, heavy non-clinical workload for medical staff, and easy delivery interruptions or delays due to abnormal situations. It not only reduces labor costs but also greatly improves the intelligent management of surgical equipment in the operating room.

[0015] 2. This invention provides an automated operating room equipment delivery system based on a software-controlled sorting robot. It ensures accurate equipment retrieval through dual identification units and error correction algorithms, a 6-axis robotic arm and flexible grippers, and avoids collision risks through lidar and ultrasonic sensors. At the same time, it solves the problems of inaccurate equipment retrieval and easy damage, high risk of movement and collision, and difficulty in sterile control that can easily lead to contamination in traditional delivery systems by using a 304 stainless steel and silver ion antibacterial shell, ultraviolet disinfection and closed-loop temperature and humidity control, and electromagnetic lock door protection for sterility.

[0016] 3. This invention provides an automated operating room equipment delivery system based on a software-controlled sorting robot. It connects to the hospital's HIS system via API interface, provides dual backup of delivery logs ("local + cloud"), and enables full-process traceability through QR code verification. It also supports multi-terminal access based on B / S architecture, ball screw lifting mechanism, permission division by job position, and generation of multi-dimensional delivery reports. This solves the problems of difficult full-process traceability of traditional equipment delivery, unclear division of responsibilities, and poor system adaptability to operating room scenarios of different hospital sizes. Attached Figure Description

[0017] Figure 1 This is a flowchart of the present invention; Figure 2 This is an extended flowchart of the instruction parsing and task generation of the present invention; Figure 3 This is an extended flowchart of the device identification and positioning process of the present invention; Figure 4 This is an extended flowchart of the robotic arm's part retrieval and temporary storage process according to the present invention; Figure 5 This is an extended flowchart of the route planning and mobile delivery of the present invention; Figure 6 This is an extended flowchart of the equipment handover and review process for this invention; Figure 7 This is an extended flowchart of the anomaly and demand response of the present invention. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] Example 1: Please see Figures 1-7 The present invention provides a technical solution: an automatic delivery system for operating room equipment based on a software-controlled sorting robot, comprising the following steps: Step S100 Instruction parsing and task generation: The software control system and the operating room warehouse management system establish data interaction using the MQTT Internet of Things protocol, receive delivery instructions containing the target operating room number, the list of equipment required for the operation, and the delivery priority, verify the inventory matching through the unique equipment code, generate a list of tasks to be executed by the robot, and trigger subsequent equipment identification and positioning steps after the task list is generated; In step S100, the data transmission frequency of the MQTT protocol is once every 30 seconds, realizing second-level synchronization deviation control between inventory data and software control system, ensuring real-time synchronization of inventory data; if the inventory is insufficient or the code matching fails during instruction verification, the system immediately sends a pop-up window and SMS warning to the nurse's terminal; after the task list is generated, the order of retrieval of sterile equipment is automatically marked according to the expiration date of the inventory consumables, and the robot is prioritized to handle the sterile equipment delivery task. In this implementation plan, a real-time data interaction channel between the warehouse management system and the software control system is established through a fixed data transmission frequency of 1 time / 30 seconds using the MQTT protocol. This effectively avoids mismatches between delivery instructions and actual inventory caused by lag in inventory information. The "pop-up window + SMS" dual early warning mechanism in the inventory verification process can synchronize issues such as insufficient inventory and code matching failures to the nurses' end in the first instance, reducing delivery delays caused by untimely problem detection. The design of automatically marking the order of sterile equipment retrieval and prioritizing scheduling in the task list precisely meets the urgent needs of the operating room for sterile equipment. The lack or delay of sterile equipment during surgery may directly affect surgical safety. This priority rule can minimize such risks and ensure the continuity of the surgical procedure.

[0020] Step S200 Equipment Identification and Positioning: The equipment automatic sorting robot moves to the target shelf area and reads the equipment label information through a dual identification unit composed of a 1D / 2D barcode identification unit and an RFID identification unit, or through the robot's self-learning to identify the shape features of objects, etc., and finally accurately identifies the equipment. Combining the warehouse and shelf coordinate map and error correction algorithm, the target equipment position is located and fed back to the software control system. In step S200, the 1D / 2D barcode recognition unit uses a 12-megapixel CMOS image sensor, equipped with a ring light, achieving a recognition accuracy of ≥99.5%, an effective recognition distance of 0.3-1.5m, and the ability to recognize 1D barcodes with a resolution of ≥25mil and 2D barcodes with a resolution of ≥10×10mm; the RFID recognition unit operates at a frequency of 860-960MHz, with a built-in metal shield to reduce interference from the metal structure of the shelf to the radio frequency signal, a reading distance of 0.5-3m, and a recognition success rate of ≥99%; the error correction algorithm controls the equipment positioning error within ±5mm by fusing visual coordinates with RFID location data. In this implementation plan, the collaborative design of dual identification units solves the problem of equipment identification in complex warehouse environments: a 12-megapixel CMOS image sensor paired with a ring-shaped supplementary light can achieve ≥99.5% 1D / 2D barcode recognition accuracy within a range of 0.3-1.5m under uneven lighting conditions in the warehouse, and can cover mainstream tag specifications such as ≥25mil resolution 1D barcodes and ≥10×10mm 2D barcodes; the RFID unit, through its 860-960MHz operating frequency and built-in metal shield, effectively cancels the interference of the metal structure of the shelves on radio frequency signals, ensuring a recognition success rate of ≥99% within a range of 0.5-3m. Furthermore, an error correction algorithm controls the equipment positioning error within ±5mm, providing a millimeter-level positional reference for the subsequent precise retrieval by the robotic arm, completely avoiding retrieval failures or equipment damage caused by positioning deviations.

[0021] Step S300: Robotic arm picks up and temporarily stores parts: The software control system sends a pick-up command to the 6-axis industrial robotic arm. The robotic arm uses flexible silicone grippers to grab the parts and transfers them to the partitioned storage space for temporary storage. At the same time, the information of the picked-up parts is compared with the task list in real time. In the S300 process, the 6-axis robotic arm has a repeatability of ≤±0.1mm, a maximum working radius of 1.2m, and a flexible silicone gripper with an adjustable clamping force range of 5-50N. The clamping force is adjusted in real time via a pressure sensor, adapting to equipment weighing 0.1-5kg while avoiding damage. The sterile storage area is equipped with an ultraviolet disinfection module, which automatically disinfects for 30 minutes after each storage, with a disinfection intensity ≥70μW / cm². It also has built-in temperature and humidity sensors, and the software control system maintains a closed-loop environmental control at a temperature of 20-25℃ and a relative humidity of 40%-60%. In this implementation plan, the 6-axis industrial robotic arm, with a repeatability of ≤±0.1mm and a maximum working radius of 1.2m, can cover shelving areas of different heights and locations, ensuring accurate equipment retrieval even in complex warehouse layouts. The flexible silicone grippers, with a clamping force adjustment range of 5-50N, can accommodate lightweight to medium-weight equipment weighing from 0.1-5kg, avoiding damage to fragile and precision equipment caused by rigid clamping. Simultaneously, the ultraviolet disinfection module in the sterile storage area can kill microorganisms that may grow during temporary storage in real time. The closed-loop linkage between temperature and humidity sensors and the software control system stably controls the storage environment at 20-25℃ and relative humidity at 40%-60%, fully complying with the "sterile, constant temperature and humidity" storage standards for operating room equipment, preventing moisture and contamination.

[0022] Step S400 Path planning and mobile delivery: The software control system uses an improved A* algorithm to generate the optimal mobile path. The robot travels along the path through the AGV differential wheel mobile mechanism. During the journey, the obstacle avoidance module composed of LiDAR and ultrasonic sensors ensures safety. The travel speed is adjusted within the range of 0.2-1.0 m / s according to the delivery priority and the load status. In step S400, the AGV differential wheel mechanism is equipped with two drive wheels with differential steering function and four omnidirectional driven wheels. The default travel speed is 1.0 m / s when unloaded and 0.5 m / s when fully loaded. The obstacle avoidance module has a detection range of 0.1-10 m for the lidar and 0.02-3 m for the ultrasonic sensor. When an obstacle is detected within 0.5 m in front, the robot stops or turns within 0.5 seconds, with an obstacle avoidance success rate of ≥99.8%. In this implementation plan, the improved A* algorithm dynamically evaluates "distance cost + congestion cost" to generate the optimal movement path from the warehouse to the target operating room, shortening the travel distance by approximately 15%-20% compared to traditional path planning algorithms and improving delivery efficiency. The AGV differential wheel mechanism's combination of "2 driving wheels + 4 omnidirectional driven wheels" balances driving stability and steering flexibility—a default speed of 1.0 m / s when unloaded allows for rapid return and standby, while a speed of 0.5 m / s when fully loaded ensures smooth equipment transport. Furthermore, the "complementary near and long-range" obstacle avoidance design of LiDAR and ultrasonic sensors comprehensively covers obstacles such as personnel and equipment in warehouse aisles and corridors; when an obstacle is detected within 0.5m, a stop / turn response mechanism within 0.5 seconds achieves an obstacle avoidance success rate of ≥99.8%, completely eliminating the risk of collisions during robot movement.

[0023] Step S500 Equipment Handover and Verification: After the robot arrives at the target operating room, it triggers an audio-visual prompt. Medical staff retrieve the electronic equipment list through the capacitive touch screen for verification. After confirmation, they sign for receipt on the interface. The verification result is synchronized to the software control system and the warehouse management system. In the S500 process, the capacitive touchscreen is 10.1 inches in size with a resolution of 1920×1200, supporting multi-touch and providing a clear and convenient interactive interface for mobile medical staff. The electronic equipment list, in addition to the existing equipment name, specifications, manufacturer, expiration date, task list quantity, and actual delivery quantity, is supplemented with a unique material code for each item, forming a complete information system of "code + multiple attributes." Medical staff can scan the equipment label code to simultaneously read the material code and other attributes, verifying them against the list item by item. If there are any issues such as code mismatch, quantity discrepancies, or expired expiration dates, a pop-up message will appear immediately on the interface. A red alert is displayed, clearly indicating the type of abnormality. After verification, the generated delivery log, in addition to the original delivery time, robot number, auditor's name, and verification result, simultaneously enters the unique material code of the equipment and the corresponding equipment name, specifications, and model. The log is stored on both a local server and a cloud backup, with a retention period of ≥1 year. It supports multi-dimensional queries through combinations such as "material code + time range", "material code + robot number", and "material code + auditor", enabling precise traceability of the entire process from delivery to inventory verification and subsequent use, further improving the standardization and traceability of operating room equipment management. In this implementation plan, the robot's arrival is accompanied by audio-visual cues that quickly attract the attention of medical staff, shortening handover waiting time. The 10.1-inch capacitive touchscreen allows medical staff to quickly scroll and zoom in on the electronic equipment list, which includes key information such as "equipment name, specifications, manufacturer, and expiration date," allowing for verification against the actual delivered equipment. Verification by scanning equipment label codes accurately identifies issues such as "discrepancies between the task list quantity and the actual delivery quantity" and "expired equipment." Red alerts immediately remind medical staff to address anomalies. The delivery log generated after verification uses a dual backup model of "local server + cloud," supporting subsequent traceability queries based on robot ID, reviewer name, and other dimensions. This meets the hospital's requirement for "full-process traceability" of medical equipment, facilitating problem identification and responsibility allocation.

[0024] Step S600 Abnormalities and Demand Response: When equipment audit is abnormal, the system triggers an instruction to the robot to replenish and deliver from the warehouse, prioritizes replanning the path for temporary demand instructions, and dispatches a backup robot for robot failure; In step S600, temporary equipment demand instructions are issued through the operating room nurse station terminal, and the delivery time of the robot from the warehouse to the target operating room is ≤5 minutes; the robot fault diagnosis module can identify the type of mechanical arm jamming and mobile mechanism failure, and the response time of the standby robot to take over the task is ≤10 minutes; when the warehouse inventory is insufficient, the system sends a replenishment reminder to the warehouse manager and displays the estimated replenishment completion time calculated based on historical replenishment data on the nurse terminal; In this implementation plan, temporary equipment request instructions are issued directly through the nurse station terminal, eliminating the traditional intermediate step of "manual application - warehouse confirmation." Combined with the improved A* algorithm's priority path replanning, the delivery time from the warehouse to the target operating room is ensured to be ≤5 minutes, enabling rapid response to unexpected needs during surgery. The robot fault diagnosis module can accurately identify common problems such as "robotic arm jamming" and "mobile mechanism failure." The backup robot has a response time of ≤10 minutes, constructing a "fault-replacement" redundancy mechanism to avoid delivery interruptions due to single robot failures. When warehouse inventory is insufficient, the system sends a replenishment reminder to the administrator while displaying the estimated completion time based on historical replenishment data on the nurse's terminal. This allows medical staff to understand the replenishment progress in advance, facilitating the planning of alternative equipment and minimizing the impact on the surgical procedure.

[0025] The automated equipment sorting robot is equipped with a ball screw drive lifting mechanism with a lifting range of 0.8-2.5m, which can be adapted to warehouse shelves with a height of 1.0-2.2m. The lifting speed can be adjusted within the range of 50-100mm / s. The lifting mechanism is equipped with a displacement sensor with a position control accuracy of ≤±0.5mm, and is equipped with an overload protection device. When the load exceeds 50kg, the lifting will automatically stop and trigger an audible and visual alarm. The software control system has data statistical analysis functions and can generate delivery reports on a daily / weekly / monthly basis. The reports include the number of deliveries to each operating room, the proportion of equipment types, the on-time delivery rate, and the anomaly rate. The system interfaces with the hospital's HIS system through an API interface to synchronize delivery data to the HIS system, realizing full-process traceability of equipment from procurement, inventory, delivery to use. The software control system adopts a B / S architecture, supports access from multiple terminals such as computers, tablets, and mobile phones, and allows setting different operation permissions for nurses, warehouse managers, and system administrators. The robot's shell is primarily made of 304 stainless steel, with a silver ion antibacterial coating that achieves an antibacterial rate of ≥99% and can withstand 75% alcohol wiping disinfection. The robotic arm joints feature a sealed structure with an IP54 protection rating to prevent dust and liquid intrusion. The doors to the storage space are controlled by electromagnetic locks and can only be opened within the target operating room area or warehouse to prevent contamination or loss of equipment during delivery. In this implementation plan, the ball screw drive lifting mechanism has a lifting range of 0.8-2.5m, which can be adapted to the standard shelves of hospitals with a height of 1.0-2.2m, covering the full range of retrieval needs from commonly used equipment at the bottom to spare equipment at the top; the lifting speed of 50-100mm / s can be flexibly adjusted according to the weight of the equipment and the delivery priority - light equipment uses 100mm / s for rapid lifting, and heavy equipment uses 50mm / s for stable lifting. Furthermore, the displacement sensor's position control accuracy of ≤±0.5mm ensures accurate positioning of the lifting mechanism, providing stable support for the robotic arm's workpiece retrieval. The overload protection device automatically stops lifting and triggers an audible and visual alarm when the load exceeds 50kg, effectively preventing screw deformation and motor burnout due to overloading, thus extending the lifting mechanism's lifespan. The software control system's "daily / weekly / monthly delivery report" function automatically compiles data such as delivery frequency, equipment type ratio, delivery timeliness, and anomaly rate for each operating room, providing data support for hospitals to "optimize inventory layout" and "adjust robot scheduling strategies." Through API interface integration with the hospital's HIS system, delivery data is synchronized to the HIS system, enabling full-process traceability of equipment from "procurement to warehousing to inventory to delivery to use," complying with the equipment traceability requirements of the "Medical Quality Management Measures." The software control system adopts a B / S architecture, supporting access from multiple terminals including computers, tablets, and mobile phones, and dividing operation permissions according to "nurses, warehouse managers, and system administrators," ensuring data security while improving operational convenience for different positions. Meanwhile, the robot's shell is made of 304 stainless steel with a silver ion antibacterial coating, which can withstand 75% alcohol wiping and disinfection, meeting the "high frequency and strong disinfection" environmental requirements of the operating room; the IP54 sealing structure at the joints of the robotic arm can effectively prevent dust and liquid from entering and reduce the corrosion of mechanical parts by humid and dusty environments; the electromagnetic lock of the storage space can only be unlocked in the "target operating room area" or "warehouse", avoiding accidental activation or human intervention during delivery, thus preventing equipment contamination and loss.

[0026] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated operating room equipment delivery system based on a software-controlled sorting robot, characterized in that: The steps include: Step S100 Instruction parsing and task generation: The software control system and the operating room warehouse management system establish data interaction using the MQTT Internet of Things protocol, receive delivery instructions containing the target operating room number, the list of equipment required for the surgery, and the delivery priority, verify the inventory matching through the unique equipment code, generate a list of tasks to be executed by the robot, and trigger subsequent equipment identification and positioning steps after the task list is generated. Step S200 Equipment Identification and Positioning: The equipment automatic sorting robot moves to the target shelf area and reads the equipment label information through a dual identification unit composed of a one-dimensional barcode / two-dimensional barcode identification unit and an RFID identification unit, or through the robot's self-learning to identify the shape features of objects, etc., and finally accurately identifies the equipment. Combined with the shelf coordinate map and error correction algorithm, the target equipment position is located and fed back to the software control system. Step S300: Robotic arm picks up and temporarily stores parts: The software control system sends a pick-up command to the 6-axis industrial robotic arm. The robotic arm uses flexible silicone grippers to grab the parts and transfers them to the partitioned storage space for temporary storage. At the same time, the information of the picked-up parts is compared with the task list in real time. Step S400 Path planning and mobile delivery: The software control system uses an improved A* algorithm to generate the optimal mobile path. The robot travels along the path through the AGV differential wheel mobile mechanism. During the journey, the obstacle avoidance module composed of LiDAR and ultrasonic sensors ensures safety. The travel speed is adjusted within the range of 0.2-1.0 m / s according to the delivery priority and the load status. Step S500: Equipment Handover and Verification: The robot can accurately locate the operating room to be entered, place the transported equipment in the system-designated location, trigger sound and light to prompt staff to verify the prepared equipment. The on-duty circulating nurse verifies the equipment list one by one through a handheld capacitive touch screen. The verification results are synchronized to the software control system and the warehouse management system as a pre-out of inventory. After the operation in the operating room is completely finished, the robot needs to return the unused consumables to the warehouse. At 24:00 that night, the control system completes the final out of the consumables for the day, and the warehouse automatically conducts an inventory check. Step S600 Abnormal and Demand Response: The system sends an instruction to the robot when an abnormality is detected in the equipment audit, enabling the return, replacement, and replenishment from the warehouse. For urgent temporary instructions, the system prioritizes replanning the path and dispatches a backup robot for robot failures, so as to meet various abnormal demands in a timely manner.

2. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In step S100, the data transmission frequency of the MQTT protocol is once every 30 seconds, which realizes second-level synchronization deviation control between inventory data and software control system, ensuring real-time synchronization of inventory data; if the inventory is insufficient or the code matching fails during instruction verification, the system immediately sends a pop-up window and SMS warning to the nurse's terminal. After the task list is generated, the order in which sterile equipment is retrieved is automatically marked according to the expiration date of the inventory consumables, and the robot is prioritized to handle the sterile equipment delivery task.

3. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In step S200, the 1D / 2D barcode recognition unit uses a 12-megapixel CMOS image sensor, equipped with a ring light, with a recognition accuracy of ≥99.5%, an effective recognition distance of 0.3-1.5m, and can recognize 1D barcodes with a resolution of ≥25mil and 2D barcodes with a resolution of ≥10×10mm; the RFID code recognition unit operates at a frequency of 860-960MHz, with a built-in metal shield to reduce interference from the metal structure of the shelf to the RFID signal, a reading distance of 0.5-3m, and a recognition success rate of ≥99%; the error correction algorithm controls the equipment positioning error within ±5mm by fusing visual coordinates with RFID location data.

4. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In step S300, the robot's body rises and falls according to the height of the shelf and twists left and right according to the shape of the shelf; the robotic arm extends and retracts vertically and horizontally, with a repeatability of ≤±0.1mm for the 6-axis robotic arm, a maximum working radius of 1.2m, and a flexible silicone gripper with a clamping force adjustable range of 5-50N. The clamping force is adjusted in real time through pressure sensor feedback, adapting to 0.1-5kg while avoiding damage to equipment; the sterile area of ​​the storage space is equipped with an ultraviolet disinfection module, which automatically disinfects for 30 minutes after each storage, with a disinfection intensity ≥70μW / cm², and has built-in temperature and humidity sensors. The software control system maintains a closed-loop environmental control at a temperature of 20-25℃ and a relative humidity of 40%-60%.

5. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In step S400, the AGV differential wheel mechanism is equipped with two drive wheels with differential steering function and four omnidirectional driven wheels. The default travel speed is 1.0m / s when unloaded and 0.5m / s when fully loaded. The obstacle avoidance module has a detection range of 0.1-10m for the lidar and 0.02-3m for the ultrasonic sensor. When an obstacle is detected within 0.5m in front, the robot stops or turns within 0.5 seconds, with an obstacle avoidance success rate of ≥99.8%. The robot's movement is driven by the chassis and is bipedal. The speed and path are controlled by the software control system.

6. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In the S500 process, the capacitive touchscreen is 10.1 inches in size with a resolution of 1920×1200, supporting multi-touch and providing a clear and convenient interactive interface for mobile medical staff. The electronic equipment list, in addition to the existing equipment name, specifications, manufacturer, expiration date, task list quantity, and actual delivery quantity, is supplemented with a unique material code for each item, forming a complete information system of "code + multiple attributes." Medical staff can scan the equipment label code to simultaneously read the material code and other attributes, verifying them against the list item by item. If there are any issues such as code mismatch, quantity discrepancies, or expired expiration dates, a pop-up message will appear immediately on the interface. A red alert is displayed, clearly indicating the type of anomaly. After verification, the generated delivery log, in addition to the original delivery time, robot number, auditor's name, and verification result, simultaneously enters the unique material code of the equipment and the corresponding equipment name, specifications, and model. The log is stored on both a local server and a cloud backup, with a retention period of ≥1 year. It supports multi-dimensional queries using combinations such as "material code + time range," "material code + robot number," and "material code + auditor," enabling precise traceability throughout the entire process from delivery to inventory verification and subsequent use, further improving the standardization and traceability of operating room equipment management.

7. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: In step S600, when the circulating staff detects abnormal equipment, the system triggers instructions to the robot to return, replace, or replenish equipment from the warehouse. Temporary equipment request instructions are issued through the operating room nurse station terminal. The delivery time from the warehouse to the target operating room is ≤5 minutes. The robot fault diagnosis module can identify robotic arm jamming and movement mechanism failures. The response time for the backup robot to take over the task after activation is ≤10 minutes. When the warehouse inventory is insufficient, the system sends a replenishment reminder to the warehouse manager and displays the estimated replenishment completion time based on historical replenishment data on the nurse's terminal.

8. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: The automated equipment sorting robot is equipped with a ball screw drive lifting mechanism, with a body lifting range of 0.8-2.5m, which can be adapted to warehouse shelves with a height of 1.0-2.2m. The lifting speed can be adjusted within the range of 50-100mm / s. The lifting mechanism is equipped with a displacement sensor, with a position control accuracy of ≤±0.5mm, and is equipped with an overload protection device. When the load exceeds 50kg, the lifting will automatically stop and trigger an audible and visual alarm.

9. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: The software control system has data statistical analysis functions, which can generate delivery reports on a daily / weekly / monthly basis. The reports include the number of deliveries to each operating room, the proportion of equipment types, the on-time delivery rate, the usage damage rate of instruments and consumables, and the occurrence rate of abnormalities. The system interfaces with the hospital's HIS system through an API interface, synchronizing delivery data to the HIS system to achieve full-process traceability of equipment from procurement, inventory, delivery to use. The software control system adopts a B / S architecture, supporting access from multiple terminals such as computers, tablets, and mobile phones. Data from each terminal is synchronized in real time to ensure consistency in multi-role collaborative operations, and different operation permissions can be set for nurses, warehouse managers, and system administrators.

10. The automated operating room equipment delivery system based on a software-controlled sorting robot according to claim 1, characterized in that: The robot's shell is made of 304 stainless steel or a stable, lightweight, and easily disinfectable material. The surface is treated with a silver ion antibacterial coating, with an antibacterial rate of ≥99%, and can withstand 75% alcohol wiping disinfection or overall ultraviolet disinfection. The robotic arm joints adopt a sealed structure with an IP54 protection level to prevent dust and liquid intrusion. The door of the storage space is controlled by an electromagnetic lock and can only be opened in the target operating room area or warehouse to avoid contamination or loss of equipment during delivery.

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