Drug dispensing service robot system based on modular design

Abstract

The invention discloses a drug dispensing service robot system based on modular design. The system comprises a power supply module, a controller, a communication module, a network module, an ADC module, a sensing module and a motion module. Through the modular design, the system is convenient to assemble, upgrade and maintain. The movement module is of a wheel-crawler type composite structure and adapts to different ground environments, and it is ensured that the robot moves stably. And through combination of the mechanical arm and the sensing module, accurate grabbing and placing of the medicine are achieved. The system establishes communication with a medical system through a network module, and realizes receiving and auditing of medical advice information and data tracing of a medicine dispensing process. The medicine dispensing efficiency can be effectively improved, the medical cost is reduced, and meanwhile the medication safety is guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a medicine dispensing service robot system based on modular design. Background Art

[0002] With the increase of the aging population in my country, the efficiency and service depth of pharmaceutical service work are increasing. Most pharmacies manually adjust and dispense drugs. According to the "Prescription Management Measures" and related regulations, this work needs to be done by two people. If intelligent robots enter the pharmacy and replace pharmacists to perform drug dispensing work, it can solve many practical problems in pharmacies, such as the problem that two people cannot check when one person is on duty, and the problem that drugs that look, sound, and are easily confused are easily mis-sent. In addition to reducing personnel costs and improving work efficiency, it is very important to realize the problem of drug terminal traceability, which is very consistent with the national requirements for drug safety control.

[0003] The robot can embed drug prescription review rules and replace the medical system's pre-prescription review. Currently, most hospitals do not have a pre-prescription review function and need to rely entirely on manual review. It can conduct a reasonable analysis of prescription drugs and provide patients with reasonable drug use tips and guidance. This function can improve patient medical safety, improve patient medical experience, and realize intelligent pharmaceutical services.

[0004] Currently, the intelligent facilities and equipment that can be used in hospital pharmacies include automatic medicine dispensing machines, automatic packaging machines, smart medicine cabinets and intelligent storage and retrieval systems, smart injection machines, medicine stripping machines and medicine dispensing baskets. Their purpose is to improve the efficiency and accuracy of medicine dispensing, reduce the labor intensity of pharmacists, improve patient experience, and optimize medicine management.

[0005] The above equipment is targeted according to the work needs of hospitals and pharmacies. For the distribution of medicines for outpatients and emergency patients, the main application equipment is the automatic medicine dispensing machine, which has a much faster medicine dispensing speed than manual work. While improving work efficiency, it also ensures the accuracy of medicine dispensing and improves the patient's safe medication experience. However, the initial investment cost of this equipment is high, and the cost of professional maintenance and technical support in the later stage is high. The cost issue has become its biggest drawback, and it is difficult to popularize it to various medical institutions. Summary of the invention

[0006] Based on this, the embodiment of the present application provides a drug dispensing service robot system based on modular design. To address the above problems, the drug dispensing service robot can achieve the same expectations while having relatively low initial investment costs and subsequent maintenance and technical support costs, thereby improving the work efficiency of pharmacists. After embedding reasonable drug use review rules, it also ensures the safety of patient medication and provides strong support for medication compliance.

[0007] In a first aspect, a drug dispensing service robot system based on modular design is provided, the system comprising:

[0008] A power module, used to provide power to various components of the robot system;

[0009] The controller is connected to the power module, receives power from the power module, and performs data communication with the ADC module, the motion module, and the sensing module via the communication module, and performs data communication with the medical system via the network module;

[0010] The communication module is connected to the controller and is responsible for realizing data communication between the internal modules of the robot; the communication module supports wireless communication, smartphone connection and Bluetooth communication;

[0011] The network module is connected to the controller, so that the controller can establish a communication connection with the medical system, receive the doctor's order information, and realize two-way transmission of data;

[0012] The ADC module is connected to each analog-to-digital sensor and is used to obtain the analog signal of each analog-to-digital sensor, convert the analog signal into a digital signal, and upload it to the controller via the communication module;

[0013] The sensing module is connected to each sensing sensor and is used to obtain the sensing signal of each sensing sensor and upload it to the controller via the communication module;

[0014] The motion module, including the robotic arm and motion device, is controlled by a controller to realize the movement of the robot and the grasping and placement of medicines.

[0015] Optionally, the controller communicates data with the ADC module, the motion module and the perception module via the communication module, and the communication methods specifically include: Modbus-TCP, Ether CAT, RS485 or RS232.

[0016] Optionally, the system also includes a basic frame, which is composed of a high-strength metal structure. The surface of the basic frame is provided with standardized interfaces and card slots for connecting other modules and performing plug-in connection with the basic frame module through standardized interfaces.

[0017] Optionally, the motion device in the motion module includes a wheel-track composite structure arranged at the bottom; wherein, the wheel is composed of 4 independently driven omnidirectional wheels; and a track structure is adopted to work in a complex bottom environment, the track has anti-skid teeth, and the track drive wheel and guide wheel are equipped with independent motor control.

[0018] Optionally, the network module receives the doctor's order information and implements two-way transmission of data, specifically including:

[0019] Check whether the doctor's orders comply with the preset drug review rules;

[0020] If the medical order does not comply with the rules, the system will enter the manual review stage. If the manual review also fails, the system will return the medical order to the medical system;

[0021] If the order complies with the rules, check whether the patient has completed payment.

[0022] Optionally, the motion module realizes the movement of the robot and the grabbing and placement of medicines, specifically including:

[0023] Obtain the location information of the required medicine, and move to the location of the medicine through the motion module according to the acquired location information;

[0024] Use the robotic arm to grab the medicines, place them in the medicine basket, and check whether all the medicines required by the doctor's order have been obtained.

[0025] Optionally, after checking whether all the drugs required by the doctor's order have been obtained, it also includes:

[0026] If all the medicines have not been obtained, further obtain the location information of the remaining medicines and continue to obtain the remaining medicines.

[0027] If all medicines have been obtained, after uploading the doctor's order and medication information, the medication instructions will be automatically printed and the medicine basket will be delivered to the designated window.

[0028] Optionally, the ADC module is connected to various analog-to-digital sensors, and the analog-to-digital sensors include at least a voltage sensor, a torque sensor, and a pressure sensor.

[0029] Optionally, the perception module is connected to various perception sensors, and the perception sensors include at least infrared sensors, visual sensors and ultrasonic sensors.

[0030] In a second aspect, a drug dispensing method based on modular design is provided, which is applied to any drug dispensing service robot system of the first aspect, and the method comprises:

[0031] Receive and verify doctor's order information, obtain doctor's order information from the medical system through the controller, and ensure that the doctor's order complies with the preset drug review rules;

[0032] After the patient completes the payment, the patient moves to the drug storage location through the motion module;

[0033] Use the robotic arm and the sensing module to grab and identify the medicines, put them into the medicine basket, and monitor the grabbing status of the medicines in real time through the sensing module;

[0034] After the drug grabbing is completed, check whether all the drugs in the doctor's order have been obtained. If not, repeat step 3 until all the drugs are grabbed;

[0035] After confirming that all medicines have been obtained, the doctor's orders and medication information are uploaded to the medical system through the network module, and the medication instructions are automatically printed, and then the medicine basket is delivered to the designated window.

[0036] The present application uses an automated drug dispensing service robot system to significantly reduce manual operation time and increase the speed of drug dispensing, thereby shortening the time patients wait to pick up their medicines; and the overall structure is flexible, scalable and easy to maintain, which improves the performance and reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0038] Figure 1 A diagram of a drug dispensing service robot system provided in an embodiment of the present application;

[0039] Figure 2 A flowchart of the drug dispensing service robot system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0041] In the description of the present invention, the terms "comprises", "has" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may also include other steps or units that are not explicitly listed but are inherent to these processes, methods, products or apparatuses, or steps or units added based on further optimization schemes conceived by the present invention.

[0042] Currently, the intelligent facilities and equipment that can be used in hospital pharmacies include automatic medicine dispensing machines, automatic packaging machines, smart medicine cabinets and intelligent storage and retrieval systems, smart injection machines, medicine stripping machines and medicine dispensing baskets. Their purpose is to improve the efficiency and accuracy of medicine dispensing, reduce the labor intensity of pharmacists, improve patient experience, and optimize medicine management.

[0043] The above equipment is targeted according to the work needs of hospitals and pharmacies. For the distribution of medicines for outpatients and emergency patients, the main application equipment is the automatic medicine dispensing machine, which has a much faster medicine dispensing speed than manual work. While improving work efficiency, it also ensures the accuracy of medicine dispensing and improves the patient's safe medication experience. However, the initial investment cost of this equipment is high, and the cost of professional maintenance and technical support in the later stage is high. The cost issue has become its biggest drawback, and it is difficult to popularize it to various medical institutions.

[0044] In response to the above problems, the drug dispensing service robot can achieve the same expectations while having relatively low initial investment costs and subsequent maintenance and technical support costs, thereby improving the work efficiency of pharmacists. After embedding the rational drug use review rules, it also ensures the safety of patients' medication and provides strong support for medication compliance.

[0045] The present invention relates to a medicine dispensing service robot system based on modular design, and provides a flexible and portable service robot system, which is convenient for assembly and rapid maintenance. At the same time, the system can be connected to a medical system through an interface, and can perform a prescription pre-review after a doctor generates a prescription and before a patient pays, and can prompt and intervene in unreasonable prescriptions, thereby providing a rapid response to medication safety, prompting and intervening in unreasonable prescriptions; according to the patient's prescription information, the robot generates a reasonable medication reminder and issues a medication precautions reminder sheet; the terminal flow of medicines is recorded through a medicine traceability code; the robot replaces the pharmacist in medicine sorting and shelving work, thereby increasing the dispensing speed and accuracy, facilitating the improvement of the pharmaceutical management level, and allowing the pharmacist to have more time to provide refined pharmaceutical services to patients.

[0046] Specifically, please refer to Figure 1 , which shows a drug dispensing service robot system diagram based on modular design provided by an embodiment of the present application, the system may include:

[0047] Power modules are used to provide power to various components of the robot system.

[0048] The controller is connected to the power module, receives power from the power module, and performs data communication with the ADC module, the motion module, and the sensing module via the communication module, and performs data communication with the medical system via the network module. The communication methods specifically include: Modbus-TCP, Ether CAT, RS485, or RS232.

[0049] The communication module is connected to the controller and is responsible for realizing data communication between the internal modules of the robot; the communication module supports wireless communication, smartphone connection and Bluetooth communication;

[0050] The network module is connected to the controller, so that the controller can establish a communication connection with the medical system, receive the doctor's order information, and realize two-way transmission of data;

[0051] The ADC module is connected to each analog-to-digital sensor and is used to obtain the analog signal of each analog-to-digital sensor, convert the analog signal into a digital signal, and upload it to the controller via the communication module; the analog-to-digital sensor includes at least a voltage sensor, a torque sensor, and a pressure sensor.

[0052] The perception module is connected to each perception sensor and is used to obtain the perception signal of each perception sensor and upload it to the controller via the communication module; the perception sensor includes at least an infrared sensor, a visual sensor and an ultrasonic sensor.

[0053] The motion module, including the robotic arm and motion device, is controlled by a controller to realize the movement of the robot and the grasping and placement of medicines.

[0054] The server robot adopts modular design. The basic frame module is a high-strength metal structure, which provides a stable support for the entire robot. The frame is equipped with standardized interfaces and slots for connecting other modules. The standardized interfaces are connected to the basic frame module in a plug-in manner, which facilitates the replacement, upgrade and maintenance of the module.

[0055] The movement adopts a wheel-track composite structure, and the wheel type is composed of 4 independently driven omnidirectional wheels; when working in a complex bottom environment, it adopts a track structure, and there are anti-skid teeth on the track. The track drive wheel and guide wheel are equipped with independent motor control;

[0056] It uses a robotic arm to grab and place medicines.

[0057] In an optional embodiment of the present application, the network module receives the doctor's order information and implements two-way transmission of data, specifically including:

[0058] Check whether the doctor's orders comply with the preset drug review rules;

[0059] If the medical order does not comply with the rules, the system will enter the manual review stage. If the manual review also fails, the system will return the medical order to the medical system;

[0060] If the order complies with the rules, check whether the patient has completed payment.

[0061] The motion module enables the robot to move and grab and place medicines, including:

[0062] Obtain the location information of the required medicine, and move to the location of the medicine through the motion module according to the acquired location information;

[0063] Use the robotic arm to grab the medicines, place them in the medicine basket, and check whether all the medicines required by the doctor's order have been obtained.

[0064] After checking that all the medicines required by the doctor's order have been obtained, it also includes:

[0065] If all the medicines have not been obtained, further obtain the location information of the remaining medicines and continue to obtain the remaining medicines.

[0066] If all medicines have been obtained, after uploading the doctor's order and medication information, the medication instructions will be automatically printed and the medicine basket will be delivered to the designated window.

[0067] like Figure 2 , the embodiment of the present application also provides a system flow chart, which is applied to the above system and specifically includes:

[0068] 1. First, the power module provides uninterrupted and continuous power supply for the controller, communication module, ADC module, operation module, perception module, network module, and time module;

[0069] 2. The controller exchanges data with other modules through the communication module (communication mode: Modbus-TCP, Ether CAT, RS485, RS232, etc.);

[0070] 3. The service robot establishes a communication connection with the medical system;

[0071] 4. The doctor gives the medical advice to the medical system, and the service robot receives the relevant information through the network module. The system judges the rationality of the prescription, and if it passes, the patient enters the payment stage. If it fails, the patient enters the manual review stage. If it passes, the patient enters the payment stage. If it fails, the patient returns to the medical system.

[0072] 5. After the patient completes the payment, the service robot automatically obtains the drug review rules formulated by the pharmacist to review the doctor's order or the pharmacist intervenes manually to issue a drug collection order;

[0073] 6. After the prescription payment is completed, the service robot controls the movement module according to the name of the medicine;

[0074] 7. During the movement of the service robot, the ADC module and the perception module monitor the road conditions in real time and finally reach the designated location;

[0075] 8. When the service robot arrives, it uses the sensing module to obtain the size, style and sample placement direction of the medicine, and the controller controls the robotic arm to start grabbing the medicine;

[0076] 9. The robotic arm puts the medicine into the medicine basket;

[0077] 10. The service robot interacts with the hospital's medical system in real time, provides real-time feedback on the actual amount of medication used, the patient's medical advice information, and medication information, and uploads it to the hospital's medical system for data tracing;

[0078] 11. When the service robot finishes picking up the medicine, it will deliver the medicine to the designated window and automatically print the instructions for use.

[0079] This system improves work efficiency, reduces labor costs, and ensures the safety and traceability of patients' medication. At the same time, the flexibility, scalability and easy maintenance improve the performance and reliability of the robot, saving manpower and time.

[0080] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0081] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A drug dispensing service robot system based on modular design, characterized in that: The system comprises: A power module, used to provide power to various components of the robot system; The controller is connected to the power module, receives power from the power module, and performs data communication with the ADC module, the motion module, and the sensing module via the communication module, and performs data communication with the medical system via the network module; The communication module is connected to the controller and is responsible for realizing data communication between the internal modules of the robot; the communication module supports wireless communication, smartphone connection and Bluetooth communication; The network module is connected to the controller, so that the controller can establish a communication connection with the medical system, receive the doctor's order information, and realize two-way transmission of data; The ADC module is connected to each analog-to-digital sensor and is used to obtain the analog signal of each analog-to-digital sensor, convert the analog signal into a digital signal, and upload it to the controller via the communication module; The sensing module is connected to each sensing sensor and is used to obtain the sensing signal of each sensing sensor and upload it to the controller via the communication module; The motion module, including the robotic arm and motion device, is controlled by a controller to realize the movement of the robot and the grasping and placement of medicines.

2. The system according to claim 1, characterized in that The controller communicates data with the ADC module, the motion module and the perception module via the communication module. The communication methods include: Modbus-TCP, Ether CAT, RS485 or RS232.

3. The system according to claim 1, characterized in that The system also includes a basic frame, which is composed of a high-strength metal structure. The surface of the basic frame is provided with standardized interfaces and card slots for connecting other modules and performing plug-in connection with the basic frame modules through the standardized interfaces.

4. The system according to claim 1, characterized in that The motion device in the motion module includes a wheel-track composite structure arranged at the bottom; the wheel is composed of 4 independently driven omnidirectional wheels; and a crawler structure is used to work in complex bottom environments. The crawler has anti-skid teeth, and the crawler drive wheels and guide wheels are equipped with independent motor controls.

5. The system according to claim 1, characterized in that The network module receives the doctor's order information and realizes two-way transmission of data, including: Check whether the doctor's orders comply with the preset drug review rules; If the medical order does not comply with the rules, the system will enter the manual review stage. If the manual review also fails, the system will return the medical order to the medical system; If the order complies with the rules, check whether the patient has completed payment.

6. The system according to claim 1, characterized in that The motion module enables the robot to move and grab and place medicines, including: Obtain the location information of the required medicine, and move to the location of the medicine through the motion module according to the acquired location information; Use the robotic arm to grab the medicines, place them in the medicine basket, and check whether all the medicines required by the doctor's order have been obtained.

7. The system according to claim 6, characterized in that After checking that all the medicines required by the doctor's order have been obtained, it also includes: If all the drugs have not been obtained, further obtain the location information of the remaining drugs and continue to obtain the remaining drugs; If all medicines have been obtained, after uploading the doctor's order and medication information, the medication instructions will be automatically printed and the medicine basket will be delivered to the designated window.

8. The system according to claim 1, characterized in that The ADC module is connected to various analog-to-digital sensors, and the analog-to-digital sensors at least include a voltage sensor, a torque sensor, and a pressure sensor.

9. The system according to claim 1, characterized in that The perception module is connected to various perception sensors, and the perception sensors at least include infrared sensors, visual sensors and ultrasonic sensors.

10. A medicine dispensing method based on modular design, applied to any one of claims 1-9 medicine dispensing service robot systems, characterized in that: The method comprises: Receive and verify doctor's order information, obtain doctor's order information from the medical system through the controller, and ensure that the doctor's order complies with the preset drug review rules; After the patient completes the payment, the patient moves to the drug storage location through the motion module; Use the robotic arm and the sensing module to grab and identify the medicines, put them into the medicine basket, and monitor the grabbing status of the medicines in real time through the sensing module; After the drug grabbing is completed, check whether all the drugs in the doctor's order have been obtained. If not, repeat step 3 until all the drugs are grabbed; After confirming that all medicines have been obtained, the doctor's orders and medication information are uploaded to the medical system through the network module, and the medication instructions are automatically printed, and then the medicine basket is delivered to the designated window.

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