Vital sign detection system for medical rescue robot

Abstract

The invention discloses a vital sign detection system for a medical rescue robot, which relates to the technical field of medical rescue and comprises a first manipulator, a second manipulator, a robot body, an upper computer module, a vital sign detection module and a health state evaluation module, the upper computer module is connected with the first mechanical arm, the second mechanical arm, the robot body, the vital sign detection module and the health state evaluation module. The vital sign detection module comprises a blood oxygen detection module, an electrocardio detection module and a respiratory signal detection module and is used for obtaining a blood oxygen saturation degree signal, an electrocardio signal and a respiratory signal of a detected object, and the upper computer module is used for transmitting the blood oxygen saturation degree signal, the electrocardio signal and the respiratory signal of the detected object to the health state evaluation module; the health state evaluation module is used for extracting physiological features included in the oxyhemoglobin saturation signal, the electrocardiosignal and the respiratory signal of the detected object.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rescue, and more particularly to a vital sign detection system for a medical rescue robot. Background Art

[0002] In rescue scenarios, especially in places where it is inconvenient for rescuers to enter or access, the technology of detecting the vital signs of the injured is particularly important. In many disaster scenarios, it is difficult for rescuers to enter the scene to rescue the injured. The use of rescue robots equipped with life detection equipment can assist the rescue team in obtaining key on-site information at a long distance, which can significantly reduce the life risks faced by rescuers. In addition, in some disaster sites where the rescue path is blocked by collapsed building components or other obstacles, manual entry is very difficult, and rescue robots can use their small size and diverse movement modes to easily cross such obstacles and go deep into areas that cannot be reached by humans.

[0003] Traditional ECG and respiratory monitoring equipment is usually bulky and not convenient for rescue robots to carry and operate. In addition, existing sensors may face problems such as large signal interference and insufficient accuracy in complex rescue environments. For example, in a ruined environment, there may be a large amount of metal debris, dust, etc., which can easily interfere with the normal collection and transmission of sensor signals. Noise, vibration or other interference factors in a noisy environment may also interfere with the detection results. Not only that, the rescue site has extremely high requirements for rescue speed, and sensors are required to quickly and accurately obtain the ECG and respiratory data of trapped persons, but existing sensors may be insufficient in response speed and data processing efficiency.

[0004] The patents with publication numbers CN116824804A, CN115444668A, CN220662676U, CN113116312A, US20210228089A1, and JP3139011U respectively proposed vital signs monitoring and rescue devices in different scenarios, and have the functions of vital signs and early warning, but there are certain deficiencies in hardware design, environmental adaptability and reliability.

[0005] Therefore, designing a vital sign detection system for a medical rescue robot is an urgent problem that those skilled in the art need to solve. Summary of the invention

[0006] In view of this, the present invention provides a vital sign detection system for a medical rescue robot, which can realize real-time monitoring and evaluation of the vital signs of the injured in complex disaster scenes.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] A vital sign detection system for a medical rescue robot, comprising: a first manipulator, a second manipulator, a robot body, a host computer module, a vital sign detection module and a health status assessment module;

[0009] The host computer module is respectively connected to the first manipulator, the second manipulator, the robot body, the vital signs detection module and the health status assessment module;

[0010] The vital sign detection module includes a blood oxygen detection module, an electrocardiogram detection module and a respiratory signal detection module, which are used to obtain the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object. The host computer module is used to transmit the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object to the health status assessment module, and the health status assessment module is used to extract the physiological characteristics included in the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object.

[0011] Preferably, the blood oxygen detection module comprises: a blood oxygen sensor, a dual-wavelength light source and a photodetector;

[0012] The blood oxygen sensor is mounted on the first manipulator, and the dual-wavelength light source and the photoelectric detector are both mounted on the robot body;

[0013] The first manipulator directly contacts the skin of the object being detected and collects the blood oxygen saturation signal; the dual-wavelength light source generates broadband light waves that carry the blood oxygen saturation signal; the photodetector receives the reflected light carrying the blood oxygen saturation signal, converts the optical signal into an electrical signal, and outputs it to the health status assessment module through the host computer module.

[0014] Preferably, the photodetector includes any one or more of a photodiode PN / PIN, a photoconductor, a photomultiplier tube and an avalanche diode APD detector.

[0015] Preferably, the respiratory signal detection module includes a nasal oxygen cannula, a fiber optic sensor and a fiber optic Bragg grating demodulator, the fiber optic sensor is installed on the inner side of the air inlet of the nasal oxygen cannula, and the fiber optic sensor transmits the optical signal to the fiber optic Bragg grating demodulator via the optical fiber; the fiber optic Bragg grating demodulator demodulates the received optical signal into an electrical signal and transmits it to the host computer module.

[0016] Preferably, the nasal oxygen cannula is installed at the end of the telescopic rod of the first manipulator, and the fiber grating demodulator is installed on the robot body.

[0017] Preferably, the optical fiber sensor is any one or any combination of optical fiber Bragg grating and long period optical fiber grating.

[0018] Preferably, the ECG detection module includes an ECG collection electrode, a light source, an optical sensor, a photodetector and a circuit board; the light source, the optical sensor, the photodetector and the circuit board are all mounted on the robot body;

[0019] The ECG collection electrodes include an ECG collection positive electrode and an ECG collection negative electrode;

[0020] The positive electrode for collecting ECG is installed on the first manipulator, and the negative electrode for collecting ECG is installed on the second manipulator.

[0021] Preferably, the light sources used by the electrocardiogram detection module and the breathing detection module include any one or more of ASE light source, LED, LD and DFB.

[0022] Preferably, the health status assessment module is used to extract the ECG characteristics, respiratory intensity, respiratory rate, and blood oxygen saturation parameters included in the blood oxygen saturation signal, ECG signal, and respiratory signal sent by the vital signs detection module, and perform fusion analysis to obtain the current health status of the detected object.

[0023] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a vital sign detection system for a medical rescue robot, which has the following beneficial effects:

[0024] 1. Improve survival rate: In natural disasters, disaster sites or extreme environments, it is crucial to detect and monitor the vital signs of injured people as soon as possible. This system can achieve real-time monitoring, which helps to take rescue measures quickly, thereby greatly improving the survival rate of trapped people.

[0025] 2. Improve rescue efficiency: Traditional search and rescue methods usually rely on manual search and monitoring, which is time-consuming and inefficient. The life detection system proposed in this patent is integrated into the rescue robot, which can quickly cover a large area and accurately locate people or animals in need of help, greatly improving the speed and efficiency of rescue operations.

[0026] 3. Adapt to harsh conditions: The vital signs detection system is designed to be suitable for various types of harsh environments (such as high temperature, low temperature, high humidity, etc.) to ensure reliable operation under any circumstances. This is particularly critical in scenarios where traditional equipment is difficult to operate or cannot work.

[0027] 4. Reduce waste of human resources: Through the automated vital signs detection system, it can not only reduce human resource fatigue and error risks caused by long-term and high-intensity work, but also allow professional medical personnel to focus on dealing with more complex situations.

[0028] 5. Auxiliary diagnosis and decision-making: In addition to basic vital signs monitoring, the system can also perform preliminary data analysis to provide the command center with more accurate information support and help quickly formulate effective rescue strategies and treatment plans.

[0029] 6. Reduce secondary injuries: Conduct preliminary vital sign assessment of trapped persons through non-contact detection to avoid secondary injuries that may be caused during movement or transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0031] Figure 1 is a schematic diagram of a vital sign detection system for a medical rescue robot according to the present invention;

[0032] Figure 2 is an integrated schematic diagram of the first manipulator and the vital signs detection module in the present invention;

[0033] Figure 3 It is a schematic diagram of the integration of the second manipulator and the electrocardiogram detection module in the present invention;

[0034] Figure 4 This is a schematic diagram of the electrocardiogram, blood oxygen and respiration sensor modules of the present invention;

[0035] Figure 5 4 is a schematic diagram of a scene in which a medical rescue robot performs vital sign detection at a disaster site in an embodiment of the present invention.

[0036] In the figure: 1. ECG detection module, 2. blood oxygen detection module, 3. respiratory signal detection module, 4. first manipulator, 5. second manipulator, 6. robot body, 7. host computer module, 8. detected object, 101a. ECG collection positive electrode, 101b. ECG collection negative electrode, 201. blood oxygen sensor, 301. nasal oxygen cannula, 302. telescopic rod. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0038] See also Figure 1 , 4 , the embodiment of the present invention discloses a vital sign detection system for a medical rescue robot, comprising: a first manipulator 4, a second manipulator 5, a robot body 6, a host computer module 7, a vital sign detection module and a health status assessment module;

[0039] The host computer module 7 is respectively connected to the first manipulator 4, the second manipulator 5, the robot body 6, the vital signs detection module and the health status assessment module;

[0040] The vital sign detection module includes a blood oxygen detection module 2, an electrocardiogram detection module 1 and a respiratory signal detection module 3, which are used to obtain the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object 8. The host computer module is used to transmit the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object 8 to the health status assessment module, and the health status assessment module is used to extract the physiological characteristics included in the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object 8.

[0041] Specifically, the blood oxygen detection module 2 includes: a blood oxygen sensor, a dual-wavelength light source and a photoelectric detector;

[0042] Specifically, the blood oxygen sensor is installed on the first manipulator 4, and the dual-wavelength light source and the photoelectric detector are installed on the robot body 6;

[0043] The first manipulator 4 directly contacts the skin of the object 8 to be detected and collects the blood oxygen saturation signal; the dual-wavelength light source generates broadband light waves to carry the blood oxygen saturation signal; the photodetector receives the reflected light carrying the blood oxygen saturation signal, converts the optical signal into an electrical signal, and outputs it to the health status assessment module through the host computer module 7.

[0044] Specifically, the photodetector includes any one or any combination of a photodiode PN / PIN, a photoconductor, a photomultiplier tube and an avalanche diode APD detector.

[0045] Furthermore, in the embodiment of the present invention, the working process of the blood oxygen detection module 2 is as follows: when the robot extends the first manipulator 4 to clamp the wrist of the detected object 8, the light source emits red light with a wavelength of 660nm and near-infrared light with a wavelength of 940nm, which are alternately irradiated on the wrist skin through the blood oxygen sensor, and the reflected light waves are received by the photoelectric detector. The real-time blood oxygen saturation value is obtained, IR represents infrared light transmittance, and R represents red light transmittance.

[0046] For details, see Figure 2The respiratory signal detection module 3 includes a nasal oxygen cannula 301, a fiber optic sensor and a fiber optic Bragg grating demodulator. The fiber optic sensor is installed on the inner side of the air inlet of the nasal oxygen cannula 301. The fiber optic sensor transmits the optical signal to the fiber optic Bragg grating demodulator through the optical fiber; the fiber optic Bragg grating demodulator demodulates the received optical signal into an electrical signal and transmits it to the host computer module.

[0047] Specifically, the optical fiber sensor includes any one or more of a fiber Bragg grating and a long period fiber grating; in the embodiment of the present invention, the optical fiber sensor uses a fiber Bragg grating.

[0048] Specifically, the nasal oxygen cannula is installed at the end of the telescopic rod 302 of the first manipulator 4 , and the fiber grating demodulator is installed on the robot body 6 .

[0049] In another specific embodiment, when the rescue robot searches for the object 8 to be rescued, the remote-controlled robot extends the first manipulator 4 and controls the central telescopic rod 302 to extend, controls the end of the telescopic rod 302 to contact the nasal cavity of the detected object 8, and slowly adjusts the position and angle of the first manipulator 4 to insert the air inlet of the nasal oxygen cannula into the nasal cavity of the detected object 8; when a person breathes, the internal structure of the nasal cavity will undergo periodic changes, thereby causing changes in the stress and strain around the optical fiber. The reflection wavelength of the fiber Bragg grating is affected by local stretching and compression. Changes in the nasal cavity during breathing will cause this part of the optical fiber to strain, thereby causing the wavelength of the reflected light to change; the fiber Bragg grating demodulator on the robot body 6 senses the strain and strain frequency of the fiber Bragg grating by detecting changes in the wavelength of the reflected light, and then extracts periodicity and amplitude information, which is the breathing frequency and breathing intensity of the detected object 8.

[0050] Specifically, the ECG detection module 1 includes an ECG collection electrode, a light source, an optical sensor, a photodetector and a circuit board; the light source, the optical sensor, the photodetector and the circuit board are all mounted on the robot body.

[0051] For details, see Figure 3 The ECG acquisition electrodes include an ECG acquisition positive electrode 101a and an ECG acquisition negative electrode 101b;

[0052] The positive electrode for collecting ECG is installed on the first manipulator 4 , and the negative electrode for collecting ECG is installed on the second manipulator 5 .

[0053] Specifically, in the implementation of the present invention, when the rescue robot searches for the object 8 that needs to be rescued, the remote-controlled robot extends two manipulators to clamp one wrist and one ankle or one wrist and the other wrist of the detected object 8, the positive electrode 101a of the ECG collection is pressed against one wrist, and the negative electrode 101b of the ECG collection is pressed against the other wrist or one ankle, and the ECG signal is transmitted to the optical sensor on the rescue robot body 6 through the collection electrodes, the light source continuously emits broadband light waves in the C band, driving the optical sensor to modulate the ECG signal onto the transmission light wave, and the photoelectric detector receives the transmission light wave carrying the ECG signal and converts it into an electrical signal, which is demodulated into the original ECG signal after being processed by the circuit board, and further transmitted to the host computer module for subsequent analysis.

[0054] Specifically, the light sources used by the electrocardiogram detection module and the breathing detection module include one or any combination of ASE light sources, LEDs, LDs and DFBs.

[0055] Specifically, the host computer module is used to display vital sign signals and store health status assessment results.

[0056] For further information, see Figure 5 After receiving the ECG signal, blood oxygen saturation, and respiratory signal collected by the above-mentioned vital sign detection module, the host computer module 7 extracts the QRS wave group and other typical features from the ECG signal for analyzing the heart state, extracts the oxygen saturation level and its fluctuation amplitude from the blood oxygen signal, and extracts the respiratory frequency from the respiratory signal to evaluate the consistency of the respiratory pattern. Combined with the intelligent data analysis algorithm, a real-time health status report is formed and remotely displayed to emergency personnel for viewing, so as to help emergency personnel promptly discover and deal with emergencies and facilitate the command center to formulate rescue plans.

[0057] Specifically, the health status assessment module is used to extract the electrocardiogram characteristics, respiratory intensity, respiratory rate, and blood oxygen saturation parameters in the vital sign signal sent by the vital sign detection module, and perform fusion analysis to obtain the current health status of the detected object.

[0058] Furthermore, after the health status assessment module collects the physiological signals transmitted by the host computer module 7, it first preprocesses them through filtering, smoothing, interpolation and other methods to remove Gaussian noise, random noise and outliers, and then extracts representative feature values ​​from the cleaned physiological signals. Common features include maximum value, minimum value, average value and frequency domain characteristics. For the ECG signal collected by the ECG detection module 1, the threshold method and wavelet transform are used to extract its QRS complex, heart rate, PR interval and QT interval and other features for cardiac status evaluation; for the blood oxygen saturation signal collected by the blood oxygen detection module 2, the oxygen saturation level and its fluctuation range can be obtained by calculating the maximum variation range of the SpO2 level within a period of time, which is used to evaluate the blood oxygen carrying capacity of the monitored object; for the respiratory signal collected by the respiratory signal detection module 3, the complete breathing cycle can be calculated by identifying the peak and valley values ​​of the signal waveform, and the consistency of the respiratory pattern can be judged by analyzing the difference between several consecutive respiratory cycles, calculating the standard deviation of the above cycle, and measuring the length of the above cycle and its changes. The respiratory frequency of the monitored object can be obtained by calculating the number of respiratory cycles in the complete signal, and the above respiratory indicators can be used to judge the respiratory health status of the monitored object. After the health status evaluation module processes the received physiological signal, the processed information is transmitted to the host computer module in the form of charts and numerical reports.

[0059] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0060] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vital sign detection system for a medical rescue robot, characterized in that: include: A first manipulator, a second manipulator, a robot body, a host computer module, a vital sign detection module, and a health status assessment module; The host computer module is respectively connected to the first manipulator, the second manipulator, the robot body, the vital signs detection module and the health status assessment module; The vital sign detection module includes a blood oxygen detection module, an electrocardiogram detection module and a respiratory signal detection module, which are used to obtain the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object. The host computer module is used to transmit the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object to the health status assessment module, and the health status assessment module is used to extract the physiological characteristics included in the blood oxygen saturation signal, electrocardiogram signal and respiratory signal of the detected object.

2. A vital sign detection system for a medical rescue robot according to claim 1, characterized in that: The blood oxygen detection module includes: a blood oxygen sensor, a dual-wavelength light source and a photoelectric detector; The blood oxygen sensor is mounted on the first manipulator, and the dual-wavelength light source and the photoelectric detector are both mounted on the robot body; The first manipulator directly contacts the skin of the object being detected and collects the blood oxygen saturation signal; the dual-wavelength light source generates broadband light waves that carry the blood oxygen saturation signal; the photodetector receives the reflected light carrying the blood oxygen saturation signal, converts the optical signal into an electrical signal, and outputs it to the health status assessment module through the host computer module.

3. A vital sign detection system for a medical rescue robot according to claim 2, characterized in that: The photodetector includes any one or several of a photodiode PN / PIN, a photoconductor, a photomultiplier tube and an avalanche diode APD detector.

4. The vital sign detection system for a medical rescue robot according to claim 1, characterized in that: The respiratory signal detection module includes a nasal oxygen cannula, a fiber optic sensor and a fiber optic Bragg grating demodulator. The fiber optic sensor is installed on the inner side of the air inlet of the nasal oxygen cannula. The fiber optic sensor transmits the optical signal to the fiber optic Bragg grating demodulator through the optical fiber; the fiber optic Bragg grating demodulator demodulates the received optical signal into an electrical signal and transmits it to the host computer module.

5. A vital sign detection system for a medical rescue robot according to claim 4, characterized in that: The nasal oxygen cannula is installed at the end of the telescopic rod of the first manipulator, and the fiber grating demodulator is installed on the robot body.

6. A vital sign detection system for a medical rescue robot according to claim 4, characterized in that: The optical fiber sensor is any one or any combination of optical fiber Bragg grating and long period optical fiber grating.

7. The vital sign detection system for a medical rescue robot according to claim 1, characterized in that: The ECG detection module includes an ECG collection electrode, a light source, an optical sensor, a photodetector and a circuit board; the light source, the optical sensor, the photodetector and the circuit board are all mounted on the robot body; The ECG collection electrodes include an ECG collection positive electrode and an ECG collection negative electrode; The positive electrode for collecting ECG is installed on the first manipulator, and the negative electrode for collecting ECG is installed on the second manipulator.

8. A vital sign detection system for a medical rescue robot according to claim 7, characterized in that: The light sources used by the electrocardiogram detection module and the breathing detection module include any one or more of ASE light source, LED, LD and DFB.

9. The vital sign detection system for a medical rescue robot according to claim 1, characterized in that: The health status assessment module is used to extract the ECG characteristics, respiratory intensity, respiratory rate, and blood oxygen saturation parameters included in the blood oxygen saturation signal, ECG signal, and respiratory signal sent by the vital signs detection module, and perform fusion analysis to obtain the current health status of the detected object.

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