Patrol service robot for PET / CT waiting room

Abstract

The invention discloses a patrol service robot for a PET / CT waiting room, and the robot comprises a sensing and monitoring module which is used for monitoring the dynamic data of a patient and the environment in the waiting room in real time; the control system is used for planning a robot path according to the dynamic data and distributing task instructions; the mobile platform is used for enabling the robot to move to a designated position in the waiting room based on path planning; the interaction module is used for providing a man-machine interaction function and guiding the patient to complete preparatory work before examination; and the task execution module is used for executing the robot active intervention task based on the task instruction. Through multi-sensor fusion, intelligent control and man-machine interaction technologies, the problems of patient management, radiation protection, medical resource waste and the like are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a patrol service robot used in a PET / CT waiting room. Background Art

[0002] As an important medical imaging technology, PET / CT examination is widely used in tumor diagnosis, heart disease examination and detection of many other diseases. With the continuous increase in medical needs, the number of patients undergoing PET / CT examination has increased significantly. However, this process also brings several challenges, especially in the management of waiting rooms and radiation protection.

[0003] First, insufficient management of patient behavior in the waiting room is an important factor affecting the quality of PET / CT examinations. In order to obtain high-quality scan images, patients usually need to remain seated and avoid frequent movement before the examination. However, due to the long waiting time, patients may move frequently due to impatience or lack of understanding of the process, resulting in decreased image quality. This not only increases the possibility of repeated examinations, but also wastes precious medical resources. Secondly, the issue of radiation protection is becoming increasingly prominent. PET / CT examinations involve the use of radioactive drugs, and medical staff face the risk of radiation exposure during contact with patients. Although lead suits and protective walls are currently widely used, these traditional methods have not fundamentally solved the health risks caused by frequent contact, especially in the waiting area, where staff need to patrol, guide and explain, increasing their chances of radiation exposure.

[0004] In the existing technology, there are already some medical service robots on the market, such as navigation robots and accompanying robots for medical guidance. These devices can assist medical staff in completing simple communication and guidance tasks to a certain extent. However, such robots have single functions and are difficult to meet the special needs of PET / CT waiting rooms. For example, they lack the ability to monitor patients' movements in real time, cannot effectively guide patients to adjust their behavior, and cannot handle emergencies. In addition, existing robots are mainly used for patient education reminders, broadcast through a central speaker console, and cannot provide personalized services, such as measuring blood pressure or reminding patients to urinate.

[0005] Therefore, there is an urgent need for a patrol service robot for PET / CT waiting room. Summary of the invention

[0006] The present invention provides a patrol service robot for a PET / CT waiting room to solve the above problems existing in the prior art.

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

[0008] A patrol service robot for a PET / CT waiting room, comprising:

[0009] The sensing and monitoring module is used to monitor the dynamic data of patients and the environment in the waiting room in real time;

[0010] The control system is used to plan the robot path and assign task instructions based on dynamic data;

[0011] A mobile platform is used to move the robot to a designated location in the waiting room based on path planning;

[0012] The interactive module is used to provide human-computer interaction functions and guide patients to complete the preparations before the examination;

[0013] The task execution module is used to execute the robot's active intervention tasks based on task instructions.

[0014] Among them, the sensing and monitoring module includes: multimodal sensors and patient status monitoring system;

[0015] Multimodal sensors are used to collect the movement status and biometrics of patients in the waiting room in real time and generate dynamic data reports;

[0016] The patient status monitoring submodule is used to identify abnormal patient behavior by analyzing dynamic data reports.

[0017] Among them, the control system includes: a central control unit, an edge computing module and a communication module;

[0018] Central control unit to support remote control and ensure flexibility of robot operation;

[0019] Edge computing module, used to analyze dynamic data in real time, connect with the hospital management system, and generate optimized path planning and task allocation solutions;

[0020] Communication module, used to transmit dynamic data to the hospital management system in real time.

[0021] The mobile platform includes: a tracked or wheeled mobile chassis, a battery pack and an autonomous navigation module;

[0022] Tracked or wheeled mobile chassis, used to provide stable mobile support for the robot;

[0023] Battery pack, used to adopt a new power management system to ensure long-term stable operation of the robot;

[0024] The autonomous navigation module is used to achieve accurate perception and navigation of the waiting room environment based on the SLAM technology combined with lidar and visual sensors, and to generate environmental maps and navigation paths.

[0025] Among them, the interactive module includes: touch screen, speech recognition and synthesis submodule and multi-language support submodule;

[0026] A touch screen is used to provide an operation interface to help patients obtain examination-related information;

[0027] The speech recognition and synthesis submodule is used to communicate through voice, play precautions, guide patients to prepare for the examination, and generate voice interaction records;

[0028] The multi-language support sub-module is used to intelligently identify the patient's language preference and provide multi-language switching and personalized services.

[0029] Among them, the task execution module includes: a robotic arm, a disinfection nozzle or an air purification submodule, and an alarm submodule;

[0030] A robotic arm to assist with patient mobility and calm agitation, generating patient comfort assessments;

[0031] Disinfection nozzle or air purification submodule, used to automatically disinfect the area around the patient's seat and generate an environmental hygiene status report;

[0032] The alarm submodule is used to monitor abnormal situations, provide real-time warnings, and generate safety warning information.

[0033] Among them, the multimodal sensors include: infrared sensors, pressure sensors, and biometric recognition cameras;

[0034] Infrared sensors are used to accurately locate the patient's movements and postures in the waiting room by detecting changes in the patient's body temperature and thermal radiation patterns, and to determine the patient's current state, which may include being still, walking, or sitting;

[0035] Pressure sensors to monitor changes in a patient’s weight distribution, sitting or lying posture;

[0036] Biometric cameras to monitor patients' facial expressions and physiological responses.

[0037] Among them, generating optimized path planning and task allocation solutions includes:

[0038] Compare the dynamic data of patients currently in the waiting room with the preset standards in the hospital management system;

[0039] When the patient's motion state or biological characteristics in the current dynamic data exceeds the corresponding preset standard, it is determined that the service demand in the waiting room has increased, the distribution of patients in each area of ​​the waiting room is obtained, and the number of patients in adjacent areas is merged to obtain the regional patient density;

[0040] Compare the patient density in different areas of the waiting room to determine the patient distribution ratio in the waiting room. Based on the patient distribution ratio and hospital management system data, adjust the current path planning and generate a real-time optimization plan.

[0041] Among them, dynamic data include the patient's movement status, heart rate, blood oxygen saturation, body temperature and behavioral norms;

[0042] When the patient's motion status and biological characteristics in the current dynamic data are within the preset standard range, it is determined that the service demand in the waiting room is normal;

[0043] When the patient's motion status and biometrics in the current dynamic data are within the preset standard range, the service demand in the waiting room is determined to be normal, including:

[0044] Get the current time and determine the time interval to which the current time belongs;

[0045] When the current time is in the peak service time interval, the rounds service corresponding to the waiting room will be controlled to maintain or restore to the default rounds strategy;

[0046] When the current time is in the low-peak service time interval, obtain the patient distribution in the low-peak time interval of the waiting room, generate a patient distribution change curve, and based on the patient distribution change curve, determine the concentrated service interval in the low-peak time interval and the average number of patients corresponding to different areas in the concentrated service interval, and take the area with the largest average number of patients as the target area;

[0047] The average number of patients in the target area is obtained, and the optimal service time of the waiting room is obtained by combining the path length, the average moving speed of medical staff and the service start error.

[0048] Based on the optimal service time, a low-peak service strategy is generated, and the patrol service corresponding to the waiting room is controlled to the path planning mode corresponding to the low-peak service strategy;

[0049] Among them, when the current time is in the low peak service time interval, it includes:

[0050] When it is detected that a patient needs emergency services, all rounds of medical services in the waiting room corresponding to the patient's area are taken as control targets, and service extension control targets and service delay control targets are determined based on the area corresponding to the patient's emergency service needs;

[0051] Based on the preset emergency service time corresponding to the waiting room, the corresponding parameters of the service extension control target and the service delay control target are adjusted respectively, and after the emergency service is completed, the low-peak service strategy is restored;

[0052] Among them, the preset emergency service time is less than the optimal service time.

[0053] Among them, based on the patient distribution ratio and hospital management system data, the current path planning of the waiting room rounds service is adjusted to generate a real-time optimization plan, including:

[0054] Based on the patient distribution ratio, determine the relatively concentrated areas and secondary concentrated areas of patients;

[0055] Obtain the length of the first and second rounds of the waiting room's corresponding path, and predict the first and second rounds of the waiting room's corresponding time based on the average moving speed of the medical staff;

[0056] Obtaining a first growth rate of the number of patients corresponding to the relatively concentrated area, and determining a first service growth amount of the waiting room based on the first growth rate, combined with the path lengths of each path corresponding to the relatively concentrated area, the first waiting time, and the preset service speed of the medical staff corresponding to the current time period;

[0057] According to the first service growth amount, the first visit time, the first service time and the service start error of adjacent patients, the first visit extension time corresponding to the relatively concentrated area is obtained;

[0058] At the same time, a second growth rate of the number of patients corresponding to the secondary concentrated area is obtained, and based on the second growth rate, the path length of each path corresponding to the secondary concentrated area, the second waiting time, and the preset service speed of the medical staff corresponding to the current time period, the second service growth amount of the waiting room is determined;

[0059] According to the second service growth amount, the second visit time, the second service time and the service start error of the adjacent patients, the second visit extension time corresponding to the secondary concentrated area is obtained;

[0060] The visit time corresponding to the current path planning of the waiting room visit service is adjusted based on the first visit extension time and the second visit extension time to generate a real-time optimization plan.

[0061] Among them, generating environment maps and navigation paths includes:

[0062] Obtain the robot's current location information, generate a preliminary map of the environment through the SLAM algorithm based on the environment's feature data, and update the real-time location information;

[0063] According to the real-time location information and path planning information, the path navigation operation is performed through the autonomous navigation module;

[0064] In the event that the target path does not match the predetermined path planning information, the navigation path is readjusted and real-time navigation is performed through the autonomous navigation module.

[0065] Compared with the prior art, the present invention has the following advantages:

[0066] A patrol service robot for PET / CT waiting room includes: a sensing and monitoring module for real-time monitoring of dynamic data of patients and environment in the waiting room; a control system for planning robot paths and assigning task instructions based on dynamic data; a mobile platform for moving the robot to a designated position in the waiting room based on path planning; an interactive module for providing human-computer interaction functions to guide patients to complete pre-examination preparations; and a task execution module for executing robot active intervention tasks based on task instructions. Through multi-sensor fusion, intelligent control and human-computer interaction technology, problems such as patient management, radiation protection and waste of medical resources can be solved.

[0067] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention.

[0068] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0070] Figure 1 This is a structural diagram of a patrol service robot for a PET / CT waiting room according to an embodiment of the present invention;

[0071] Figure 2 This is a structural diagram of the sensing and monitoring module in an embodiment of the present invention;

[0072] Figure 3 1 is a structural diagram of a control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0073] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0074] The embodiment of the present invention provides a patrol service robot for a PET / CT waiting room, comprising:

[0075] The sensing and monitoring module is used to monitor the dynamic data of patients and the environment in the waiting room in real time;

[0076] The control system is used to plan the robot path and assign task instructions based on dynamic data;

[0077] A mobile platform is used to move the robot to a designated location in the waiting room based on path planning;

[0078] The interactive module is used to provide human-computer interaction functions and guide patients to complete the preparations before the examination;

[0079] The task execution module is used to execute the robot's active intervention tasks based on task instructions.

[0080] The working principle of the above technical solution is as follows: the mobile platform is responsible for the autonomous movement of the robot in the waiting room. By integrating lidar and visual sensors, SLAM (simultaneous localization and mapping) technology is realized, which can accurately perceive the environment and autonomously plan the path. SLAM technology combines lidar ranging and visual sensors to provide environmental data. The robot can avoid obstacles in the complex waiting room environment and move along a predetermined path. The mobile platform will perform an environmental scan when it starts and generate a map of the waiting room in real time. Through SLAM technology, the robot can identify and avoid moving obstacles, such as patients, tables and chairs, etc., to ensure the robot's autonomous mobility. When the control system issues a path planning task, the robot drives the mobile chassis through the power provided by the battery pack and moves along the planned path to ensure the smooth completion of the task.

[0081] The sensing and monitoring module monitors the dynamic state of patients in the waiting room in real time, including movement behavior, biometrics (such as heart rate, body temperature) and behavioral norms. Sensors are used to identify whether the patient maintains the correct posture (such as sitting still) in the waiting area, and whether there are behaviors that are not conducive to PET / CT examinations (such as frequent walking, talking, etc.). The sensor system monitors the patient's physical signs and behaviors, and uses the biometric recognition camera to identify whether the patient meets the health standards. If the patient's physical signs (such as heart rate, body temperature) exceed the set normal range, or his behavior does not meet the examination requirements (such as walking or talking), the sensor will send an alarm message to the control system. After receiving the data, the control system will analyze it and decide whether it is necessary to communicate with the patient or notify medical staff through the interactive module.

[0082] The interactive module provides human-computer interaction functions to help patients understand and follow the examination process. The robot can communicate with patients through voice or touch screen interface, provide real-time guidance and examination-related precautions, and reduce patients' anxiety and uneasiness. While patients are waiting for their appointments, the robot identifies the patient's needs or questions through the voice recognition system and responds through the speech synthesis system. The robot can guide patients to complete the preparations before the examination (such as sitting still, avoiding talking, etc.) and provide necessary examination information, such as prompts such as "Please sit still and avoid moving". Through the multi-language support module, the robot can translate and communicate in real time according to the patient's language preference.

[0083] The task execution module performs robot active intervention tasks, such as automatic disinfection, comforting patients, and assisting patients in moving. The robotic arm can perform physical tasks such as cleaning and disinfection, and the disinfection nozzle can disinfect the air or environmental areas to ensure the hygiene of the waiting room. Operation: When the control system issues a task instruction, the task execution module intervenes according to the specific task. For example, if the control system detects that a certain area needs to be disinfected, the robot will spray disinfectant through the disinfection nozzle, or refresh the air through the air purification device; if a patient is anxious, the robotic arm can deliver comfort items (such as water cups, paper towels, etc.). These tasks are scheduled and executed with the support of real-time data.

[0084] The control system integrates the data collected by each sensor module through the central control system, performs real-time analysis and plans robot tasks. The control system supports path planning, task instruction allocation, and synchronizes data with the hospital management system. The edge computing module can process some tasks locally to ensure real-time performance and response speed; the communication module is responsible for data interaction and remote control with other systems. Operation: The control system receives data from the sensor module and adjusts the robot task according to the data content (such as the patient's biometrics and motion status). The control system will optimize the robot's path planning and task allocation according to the current environmental conditions and task priorities. If remote intervention or adjustment is required, hospital managers can also connect with the robot in real time through the communication module.

[0085] The mobile platform provides the robot with mobility in the waiting room and is the basis for other modules to move to the target location. The sensing and monitoring module monitors the patient's behavior and health status in real time, and provides this data to the control system to help it make intelligent decisions. The control system performs path planning and task allocation based on real-time data, and dispatches the task execution module to complete specific operations. The interactive module communicates directly with patients to reduce waiting anxiety, while guiding patients to comply with examination requirements and improve their cooperation. After receiving instructions from the control system, the task execution module performs specific tasks (such as disinfection, assistance, etc.) and coordinates with the work of other modules.

[0086] The beneficial effect of the above technical solution is that the robot can timely convey the examination process and precautions to the patient through voice reminders and guidance. The drinking water reminder function not only optimizes the patient's preparation before the examination, but also reduces the anxiety and dissatisfaction caused by the patient's long waiting time or lack of understanding of the process through its intelligent rounds service. By providing considerate measures such as drinking water services, the patient experience is significantly improved. During the waiting process, the patient's improper behavior (such as frequent walking or strenuous exercise) may cause distortion of the examination results. The present invention detects the patient's movement state in real time through the sensing and monitoring module, and uses voice reminders and human-computer interaction functions to correct it in time, significantly reducing the failure rate of the examination caused by improper behavior, thereby reducing the occurrence of repeated examinations. Traditional waiting rooms require medical staff to make frequent rounds, which increases the risk of radiation exposure. The robot undertakes tasks such as patient guidance, status monitoring and task execution, such as measuring blood sugar and blood pressure. Reducing the frequency of direct contact between medical staff and patients effectively reduces the risk of radiation while ensuring the quality of work, and improves the occupational safety of medical staff. The robot can autonomously navigate and monitor patient behavior to achieve intelligent management of the waiting room. For example, if a patient fails to sit still as required, the robot can remind the patient in time and notify medical staff to intervene if necessary. This intelligent management method not only reduces the need for manual intervention, but also improves the overall efficiency of waiting room operations.

[0087] In another embodiment, a sensing and monitoring module includes: a multimodal sensor and a patient status monitoring system;

[0088] Multimodal sensors are used to collect the movement status and biometrics of patients in the waiting room in real time and generate dynamic data reports;

[0089] The patient status monitoring submodule is used to identify abnormal patient behavior by analyzing dynamic data reports.

[0090] Among them, identifying abnormal patient behavior includes:

[0091] When the system detects that the patient's dynamic data exceeds the normal range, a patient abnormal behavior report is generated synchronously on the medical resource management terminal, and detailed abnormal behavior analysis is provided to the medical service personnel based on the patient abnormal behavior report;

[0092] When multiple abnormal behaviors are identified, the medical staff prioritizes the abnormal behaviors based on the patient’s specific circumstances, develops the best intervention measures, and submits a treatment plan;

[0093] Provide detailed abnormal behavior analysis for visiting service personnel based on patients’ abnormal behavior reports, including:

[0094] Setting abnormal behavior recognition rules based on the dynamic data analysis model and the patient's historical health data. The abnormal behavior recognition rule configuration includes: setting parameter rules for motion state thresholds, biometric fluctuation ranges, behavioral norm deviations, and abnormal alarm priorities;

[0095] When the information management terminal of the PET / CT waiting room receives the patient's dynamic data, it performs intelligent analysis based on the data report and the set abnormal behavior recognition rules. Among them, the visiting service staff chooses between two modes: manual review of abnormal behavior reports and automatic generation of intervention suggestions.

[0096] The working principle of the above technical solution is as follows: Multimodal sensors are composed of multiple different types of sensors, which are arranged in multiple locations in the waiting room to ensure that the status of each patient can be fully and accurately monitored. They work in the following ways:

[0097] Infrared sensor: used to detect the patient's movement status. Infrared sensors can sense the heat changes of the human body to determine whether the patient is sitting or walking. For example, when the infrared sensor detects that the patient is walking in the waiting area, the system will record the trajectory of his movement to help determine whether the patient has problems such as anxiety or discomfort. Pressure sensor: installed on the seat or chair in the waiting room to sense whether the patient is sitting. By monitoring the pressure changes, the sensor can determine in real time whether the patient maintains a sitting posture in the seat, which is crucial for evaluating whether the patient complies with the waiting rules. Biometric recognition camera: using computer vision and biometric technology to monitor the patient's facial expressions, eye movements, posture and other behavioral characteristics in real time, analyze the patient's emotional fluctuations and physical changes. These cameras can also monitor the patient's heart rate, body temperature and other physiological data to identify any potential health problems. Integration and data processing: The output data of all sensors will be transmitted to the central control system through the wireless communication module. The system will process the raw data collected by the sensor in real time and generate a detailed dynamic data report, which includes the patient's movement status, physiological parameters (such as heart rate, body temperature) and behavioral performance.

[0098] The patient status monitoring system analyzes the dynamic data collected by the sensors and identifies abnormal behaviors of patients through specialized algorithms (such as anomaly detection algorithms). Its operation steps include:

[0099] Behavior analysis: The system analyzes the patient's behavior patterns in the waiting room to determine whether they meet the examination requirements. For example, PET / CT examinations require patients to sit still as much as possible before the scan and avoid strenuous exercise or changes in body position. Therefore, the system will monitor whether the patient walks around, changes seats frequently, etc. If any abnormal behavior occurs, the system will immediately identify it.

[0100] Physiological status monitoring: In addition to behavioral monitoring, the system also pays close attention to the patient's physiological status, such as heart rate and body temperature. If an abnormal heart rate (such as too fast or too slow) or elevated body temperature is detected, the system will issue an alarm to indicate that there may be health risks or the examination plan needs to be adjusted.

[0101] Reminders and notifications: Once a patient's abnormal behavior or physiological parameters are found to be out of the normal range, the system will send a notification through the intelligent reminder function to alert the patient or notify the medical staff in the waiting room. For example, the system will remind the patient to sit still or notify the medical staff to come and check the patient's physical condition.

[0102] Among them, the movement state: whether the patient has been motionless for a long time, or suddenly has intense movement; biological characteristics: fluctuations in physiological parameters such as heart rate, body temperature, and blood pressure; behavioral patterns: for example, whether the patient has anxious, uneasy, or overly nervous behavior. When the system detects that these dynamic data exceed the preset normal range, it will automatically generate a report on the patient's abnormal behavior. For example, if the patient's heart rate fluctuates greatly in a short period of time, the system will identify and report this as abnormal behavior. In order to accurately identify abnormal behavior, the system performs intelligent analysis based on the patient's historical health data and set rules. The abnormal behavior identification rules include multiple parameter configurations: Movement state threshold: If the patient's exercise volume exceeds or falls below a certain threshold, the system will identify it as abnormal. For example, if a patient suddenly accelerates in the waiting room, it means that his or her psychological or physiological state has changed. Biometric fluctuation range: If the heart rate fluctuates by more than 10% in a short period of time, it means that the patient is physically unwell, and the system will use this fluctuation as an alarm message. Behavioral norm deviation: By observing the patient's behavioral norms (such as walking and sitting postures), if it is found to be inconsistent with conventional behavior, it will be marked as abnormal. Abnormal alarm priority: For different abnormal behaviors, the system sets different priorities according to their criticality. Tachycardia is set as a high priority alarm and needs to be handled immediately, while mild unsteady walking is set as a low priority alarm and needs to be handled. These rules are set based on dynamic data analysis models, which combine various sensor data and patient history records to continuously adjust these parameters to ensure the accuracy of recognition.

[0103] When the system identifies abnormal behavior, the medical staff can adopt different processing modes according to the report: Manual review mode: The medical staff reviews the abnormal behavior report, evaluates the severity of each abnormal behavior one by one, and manually handles it based on the actual situation. This means that the service staff can determine whether further intervention is needed or directly notify the doctor through detailed data analysis. Automatic intervention suggestion mode: The system automatically generates intervention suggestions based on abnormal behavior reports and identification rules. For example, if the heart rate is too high, the system automatically recommends that the patient lie down, adjust breathing or take other mitigation measures, or directly notify the doctor. Medical staff can prioritize multiple abnormal behaviors according to the patient's specific situation to ensure that the most urgent health problems receive timely intervention. At the information management end of the PET / CT waiting room, medical staff can receive dynamic data reports of patients. These data reports are generated by the intelligent analysis system, and when the report is generated, the system will conduct in-depth analysis based on factors such as the patient's historical health records and current physiological indicators. The functions of the information management end include: Intelligent analysis of abnormal behavior: According to the pre-set abnormal behavior identification rules, the information management end can automatically analyze the data and screen out possible abnormal behaviors. Report generation and notification: Once abnormal behavior is identified, the system will generate a detailed report showing abnormal data, analysis results and possible health risks, and notify the medical staff. Intervention suggestion generation: In automatic mode, the system will not only identify abnormal behavior, but also provide recommended intervention measures to the medical staff to ensure that the patient's health problems are intervened in a timely manner.

[0104] The beneficial effects of the above technical solution are: through real-time monitoring and automated data processing, the management of the waiting room becomes more efficient. Medical staff do not need to observe every patient at all times. The system can automatically detect abnormalities and send alarms, reducing the work pressure of medical staff and ensuring the safety of patients. In PET / CT examinations, factors such as the patient's movement and heart rate will affect the image quality and examination results. By monitoring the patient's status in real time, the system can ensure that the patient remains seated and quiet before the examination, reduce unnecessary movement, and ensure the accuracy of the examination results. By monitoring the patient's heart rate, body temperature and other physiological characteristics, the system can identify possible health risks in real time. If the patient's body temperature rises, it indicates the risk of infection; abnormal heart rate means that the patient is in poor physical condition. Through timely alarms, medical staff can respond quickly and conduct further health assessments and interventions. Because the patient's behavior and physiological state are continuously monitored, the patient can maintain a high level of safety and comfort without frequent interaction with medical staff. At the same time, the system can remind patients in advance to avoid inappropriate behavior and reduce examination problems caused by ignorance.

[0105] In another embodiment, a control system includes: a central control unit, an edge computing module, and a communication module;

[0106] Central control unit to support remote control and ensure flexibility of robot operation;

[0107] Edge computing module, used to analyze dynamic data in real time, connect with the hospital management system, and generate optimized path planning and task allocation solutions;

[0108] Communication module, used to transmit dynamic data to the hospital management system in real time.

[0109] The working principle of the above technical solution is as follows: The central control unit is the "brain" of the entire control system and is responsible for the command and coordination of the entire robot. Its main responsibilities include: Remote control support: The central control unit supports remote control functions, allowing medical staff to control the robot through the hospital's management system or mobile devices. For example, when special tasks are required (such as transferring patients or checking a certain device), medical staff can adjust the robot's path, tasks or execution status through remote operations. In this way, the robot can remain flexible and efficient without human intervention. Task scheduling and instruction issuance: The central control unit formulates a task scheduling plan based on the robot's work tasks and real-time data, and issues specific operation instructions to each subsystem or execution module (such as mobile module, sensor module, etc.). For example, during the medical rounds, if the patient's behavior is found to be abnormal, the central control unit will issue instructions to require the robot to execute an alarm, play a voice prompt or notify medical staff.

[0110] The edge computing module is located in the robot's local environment and is responsible for real-time analysis and processing of dynamic data. Its core functions include: Real-time data processing: The edge computing module performs local real-time processing by integrating sensor data (such as patient movement, heart rate, body temperature, etc.). This means that the robot can quickly respond to changes in patients in the waiting room, quickly assess the current environment and respond without sending all data to a remote server or hospital management system for processing. For example, the edge computing module can locally analyze whether the patient is moving, whether he is in an inappropriate position, or whether his heart rate is abnormal, and immediately issue instructions to make adjustments based on the situation. Path planning and task allocation: The edge computing module optimizes the robot's path planning based on real-time data and task requirements to ensure that it can efficiently complete the rounds task. For example, in the waiting room, the robot needs to plan the shortest and safest rounds route based on the distribution of patients, the spatial layout of the waiting area, and the priority of tasks. The module adjusts the path in real time to avoid collisions or congestion. Interfacing with the hospital management system: The edge computing module not only processes local data, but also exchanges data with the hospital management system. For example, the robot can send the patient's health data (such as abnormal heart rate, abnormal body temperature, etc.) to the hospital management system so that medical staff can understand the patient's real-time health status and adjust the diagnosis and treatment plan according to the situation.

[0111] The communication module is responsible for data transmission between the robot and the hospital management system, other robots and external devices. Its main functions include: Real-time data transmission: The communication module transmits the robot's dynamic data, task execution status and sensor feedback information to the hospital management system in real time through wireless communication technology (such as Wi-Fi, 5G or Bluetooth, etc.). This ensures that hospital managers can keep track of the robot's operating status, patient monitoring data and the progress of current tasks at any time. For example, when the robot detects that the patient's body temperature is abnormal, the communication module will immediately transmit the data to the hospital's management system, and medical staff can respond immediately. System docking and information sharing: The communication module not only transmits the robot status, but also realizes docking with the hospital information system (HIS), patient management system, electronic medical record system (EMR), etc. This enables the robot to automatically share information with other systems in the hospital while performing rounds, ensuring the circulation and timeliness of patient health data.

[0112] The beneficial effects of the above technical solution are as follows: through the coordinated work of the central control unit, the edge computing module and the communication module, the robot can perform efficient and accurate rounds in a complex waiting room environment. The processing of real-time data and the optimization of path planning enable the robot to flexibly adjust according to the needs of patients and environmental changes, ensuring that each task can be completed on time and accurately. For example, when the patient's behavior is abnormal, the robot can take timely action to notify medical staff or automatically adjust its behavior. The remote control support of the central control unit enables the robot to flexibly respond to various situations according to medical needs without manual intervention, reducing the workload of medical staff. At the same time, remote control allows hospital managers to adjust robot tasks at any time to ensure that the robot can always be consistent with the hospital's diagnosis and treatment plan. The edge computing module optimizes the rounds path by analyzing data in real time to avoid congestion or unnecessary path duplication in the waiting room. This not only improves the robot's rounds efficiency, but also reduces battery consumption and equipment wear, allowing the robot to operate stably for a long time. The optimization of path planning can also adjust the rounds strategy according to the specific needs of the patient (such as too fast heart rate, too high body temperature, etc.) to improve the pertinence of task execution.

[0113] In another embodiment, a mobile platform includes: a tracked or wheeled mobile chassis, a battery pack, and an autonomous navigation module;

[0114] Tracked or wheeled mobile chassis, used to provide stable mobile support for the robot;

[0115] Battery pack, used to adopt a new power management system to ensure long-term stable operation of the robot;

[0116] The autonomous navigation module is used to achieve accurate perception and navigation of the waiting room environment based on the SLAM technology combined with lidar and visual sensors, and to generate environmental maps and navigation paths.

[0117] The working principle of the above technical solution is that the robot obtains physical support and moves through a crawler or wheeled chassis. The crawler chassis is usually used in environments with uneven ground or many obstacles. It can provide stronger traction and stability and is suitable for complex venues. The wheeled chassis is suitable for flat ground and can provide higher movement speed and efficiency. In the waiting room, the chassis provides sufficient stability and support, allowing the robot to move smoothly to the location of each patient for rounds. The chassis movement is driven by an electric motor. By controlling each wheel or track, the robot can move forward smoothly, turn, and bypass obstacles.

[0118] The battery pack is responsible for providing power to the entire robot system, ensuring that the robot can operate stably for a long time. The battery pack uses a new power management system that can achieve efficient energy distribution and monitoring, extending the robot's battery life. In the waiting room, the robot needs to run continuously for a long time, so the battery pack must not only provide sufficient power, but also ensure efficient power management to avoid interruptions due to power exhaustion. The new power management system can intelligently adjust battery use, optimize the charging and discharging process, improve battery life, and ensure that the power is always sufficient during the entire rounds.

[0119] Autonomous navigation module: LiDAR: LiDAR is an important sensor for robot autonomous navigation. It measures the distance of surrounding objects by emitting lasers and receiving reflected signals. This technology can help robots build accurate environmental maps and detect obstacles and other important features in real time. For example, in the waiting room, LiDAR can scan the surroundings in real time to generate a three-dimensional environmental map to help the robot understand the location of walls, furniture, and patients. Visual sensor: The visual sensor collects image data through the camera to further supplement the information obtained by LiDAR. Especially in complex environments or with more details, the visual sensor can provide additional image data to help the robot make more detailed perceptions and decisions. SLAM (Simultaneous Localization and Mapping, referred to as SLAM): SLAM is a technology for simultaneous positioning and mapping. Combining LiDAR and visual sensors, the robot can simultaneously build a real-time environmental map and determine its own position in the map while exploring an unknown environment. Specifically, SLAM helps the robot determine its current position through the fusion of perception data, and continuously optimizes the map accuracy by continuously scanning and updating environmental information. Navigation and obstacle avoidance: Based on the environmental map generated by SLAM, the robot can plan the optimal patrol route and avoid collisions and obstacles in real time during operation through dynamic obstacle avoidance technology. If it encounters unexpected obstacles (such as patients standing up suddenly, furniture shifting, etc.), the robot can automatically adjust the path to ensure the smooth completion of the task.

[0120] The beneficial effects of the above technical solution are: the robot can move autonomously in the PET / CT waiting room, and through precise environmental perception and intelligent path planning, it can ensure that the rounds can be completed quickly and efficiently. The robot can walk freely along the predetermined path and reach each patient who needs rounds without human intervention, which greatly improves the efficiency of the rounds service. Due to the use of SLAM technology combined with laser radar and visual sensors, the robot can maintain high stability and flexibility in a complex and dynamic waiting environment. For example, there may be tables and chairs, patients and sudden environmental changes (such as people walking) in different positions in the waiting room. The robot can flexibly avoid obstacles by updating the map and path in real time to ensure that the task is completed without interference. The new battery pack and power management system enable the robot to perform long-term rounds in the waiting room without frequent charging. This continuous and stable operation not only improves the robot's work efficiency, but also enables hospitals to use rounds robots for routine rounds more efficiently without worrying about the robot being interrupted due to power problems.

[0121] In another embodiment, the interaction module includes: a touch screen, a speech recognition and synthesis submodule, and a multi-language support submodule;

[0122] A touch screen is used to provide an operation interface to help patients obtain examination-related information;

[0123] The speech recognition and synthesis submodule is used to communicate through voice, play precautions, guide patients to prepare for the examination, and generate voice interaction records;

[0124] The multi-language support sub-module is used to intelligently identify the patient's language preference and provide multi-language switching and personalized services.

[0125] Among them, through voice communication, playing precautions, guiding patients to prepare for the examination, and generating voice interaction records, including:

[0126] Obtaining patient object information, the object information including at least one patient object identifier (equivalent to each patient's "identity card number", for example, patient ID);

[0127] In response to a first patient among at least one patient satisfying a preset interaction condition (the patient enters a waiting area or enters a specific state, such as waiting for examination), displaying an interaction guidance element on the touch screen;

[0128] In response to the medical rounds service robot triggering an interactive guidance element (a button or icon appears on the screen, prompting the patient to interact, usually "click here to learn more" or "view examination precautions"), the precautions for preparing for the examination are played to the first patient, and the precautions are used to guide the patient to understand the examination requirements and procedures;

[0129] The method includes: in response to the triggering operation of the medical rounds service robot on the interactive guidance element, displaying a voice playback page; and displaying at least one candidate precaution in the voice playback page;

[0130] In response to a triggering operation on at least one candidate precaution, target precaution information (referring to the content of a specific precaution selected by the patient, such as "You need to fast for 4 hours before the examination") is obtained;

[0131] Playing voice content matching the target precaution information to the first patient;

[0132] The target precaution information includes the target precaution text, and the voice content includes a voice control for playing the target precaution (a control button for playing sound, such as a "play" button, which the patient can click to listen to the relevant voice information) and the first voice message corresponding to the target precaution (when "fasting for 4 hours" is selected, the system will play through voice: "Please note that you need to fast for at least 4 hours before undergoing a PET / CT examination to ensure accurate examination results."), and the voice content matches the target precaution text.

[0133] The working principle of the above technical solution is as follows: the touch screen provides an intuitive and easy-to-use interface, through which patients can view detailed information related to the PET / CT examination, including the examination process, preparation, precautions, etc. The touch screen interface displays content with pictures and texts, and patients can obtain various types of information through simple clicks. For example, when the patient selects the "Examination Preparation" module on the touch screen, the system will display specific preparation precautions, such as fasting requirements, whether medication needs to be stopped, etc. At the same time, the touch screen can display real-time waiting information to help patients understand the progress of the examination.

[0134] The role of the speech recognition and synthesis submodule is to interact with patients through voice and guide them to complete the preparations before the examination. Patients can get real-time feedback by asking voice questions (such as: "What preparations do I need to make for the examination?") or simple instructions (such as: "Start the examination process"). The system will understand the patient's instructions through speech recognition technology and return the response information to the patient through the speech synthesis module, for example: "You need to fast for 8 hours before the examination." In addition, the speech synthesis submodule can also play relevant precautions at specific times to further help patients understand the examination requirements and processes. This voice interaction method is especially suitable for patients with limited mobility or who are not good at operating touch screens.

[0135] The multi-language support submodule can intelligently identify the patient's language preference and automatically provide multi-language switching. When the patient enters the waiting room, the robot asks the patient's language preference through voice or touch screen (for example: "Please select your language"), and then provides services based on the patient's selected language. The core of this module is based on natural language processing technology (NLP). Through the automatic translation system switching between different languages, all patients, whether native or foreign language patients, can clearly understand the examination-related information and improve the convenience of cross-language communication.

[0136] The beneficial effects of the above technical solution are as follows: the interactive module meets the needs of patients in a variety of ways, from touch screen to voice interaction to multi-language support, providing patients with a comprehensive and convenient examination preparation support system. Patients no longer need to frequently ask medical staff for information such as examination procedures and precautions, reducing the inconvenience caused by language barriers or information asymmetry, thereby effectively improving the overall experience of patients. Through the combination of speech synthesis and touch screen, patients can choose a more appropriate interaction method according to their preferences, thereby avoiding the discomfort caused by operational difficulty. Through the information query and guidance functions provided by the robot, patients can obtain most of the examination-related information and guidance by themselves, reducing the time investment of medical staff in repetitive work (such as explaining preparation matters, answering common questions, etc.). Medical staff can focus more on professional medical operations and emergency handling, improving overall work efficiency. Since the interactive module can systematically and standardizedly convey examination-related information, patients can more clearly understand the entire examination process and preparation work, thereby reducing anxiety or misunderstanding caused by insufficient information. The speech synthesis module can also repeatedly remind patients of precautions, which helps patients better follow the preparation requirements before the examination and improve the accuracy of the examination and the probability of smooth progress.

[0137] In another embodiment, the task execution module includes: a robotic arm, a disinfection nozzle or air purification submodule, and an alarm submodule;

[0138] A robotic arm to assist with patient mobility and calm agitation, generating patient comfort assessments;

[0139] Disinfection nozzle or air purification submodule, used to automatically disinfect the area around the patient's seat and generate an environmental hygiene status report;

[0140] The alarm submodule is used to monitor abnormal situations, provide real-time warnings, and generate safety warning information.

[0141] The working principle of the above technical solution is as follows: The robotic arm module is a highly automated device designed to assist patients in moving around the waiting room, relieve anxiety and provide comfort assessments. Through integrated sensors and control systems, the robotic arm can perform personalized interventions based on the specific needs of the patient. For example, when a patient is anxious, the robotic arm can slowly and steadily guide the patient to perform soothing exercises or provide hand massage services to help relieve tension and anxiety. The robotic arm can detect the patient's posture and movements in real time through cameras and sensors, and automatically assess their comfort. When the system detects signs of discomfort or anxiety in the patient, the robotic arm will activate the corresponding soothing mode (such as gentle arm movements) or provide physical contact to soothe the patient's emotions. In addition, the robotic arm can also help the patient stand up, sit down or move from the waiting chair according to his or her mobility, thereby reducing the patient's discomfort.

[0142] The disinfection nozzle or air purification module is responsible for automatically disinfecting the air or surface in the waiting area to ensure environmental hygiene. The disinfection nozzle sprays high-efficiency disinfectant through aerodynamics or air pressure principles to clean the patient's seat, armrests and surrounding environment. These nozzles are distributed and spray disinfectant in multiple key areas of the waiting area to ensure that every corner is covered, thereby effectively killing harmful microorganisms such as germs and viruses. The air purification submodule purifies the air through a built-in high-efficiency filter (such as a HEPA filter) and a negative ion generator to remove harmful substances such as bacteria, dust, and viruses in the air, ensuring that patients breathe fresh and harmless air while waiting. The entire disinfection and air purification process is automated and does not require human intervention. The equipment automatically runs according to the timing settings or feedback from the environmental sensor, generates a real-time environmental hygiene status report, records the disinfection area, time, and disinfection intensity, and ensures that the environment is always in the best hygienic state.

[0143] The alarm submodule provides real-time warning functions by monitoring abnormal conditions in the waiting room around the clock. The module combines multiple sensors such as infrared sensors, temperature and humidity sensors, and gas detectors to monitor environmental changes at all times, such as abnormally high temperatures and leaks of harmful gases in the air. It can analyze abnormal conditions based on real-time detection data and immediately issue an alarm signal when potential risks are detected. Warning information is transmitted to medical staff in real time through sound, light or notification systems to help quickly respond to emergencies. In addition, the alarm submodule also has a linkage function. When it is found that the patient is overly excited, physically unwell or has other safety risks, the system will automatically activate the corresponding emergency plan, such as calling staff, turning on the comfort mode, and starting the safe evacuation procedure.

[0144] The beneficial effects of the above technical solution are: the robotic arm module can provide personalized soothing services when the patient is anxious, helping the patient to stay calm and reduce anxiety. This not only improves the patient's waiting experience, but also reduces the patient's physical discomfort and improves their emotional state through soothing measures. The workload of medical staff is significantly reduced through automated task execution (such as patient movement assistance, environmental disinfection, air purification, etc.). The efficient assistance of the robot enables medical staff to focus on higher priority tasks, reducing repetitive and mechanical labor burdens and improving work efficiency. The disinfection nozzle and air purification module can keep the environment clean and the air clean while the patient enters and leaves the waiting room, reducing the risk of cross infection. This efficient automatic disinfection and air purification technology not only reduces the spread of pathogenic microorganisms such as bacteria and viruses, but also greatly improves the patient's sense of health and safety. The real-time monitoring and warning function of the alarm module can respond in time when sudden abnormal situations occur while ensuring the safety of the waiting environment. This is crucial to ensure the safety of patients and medical staff, and can effectively avoid safety hazards such as fire and gas leakage, and trigger emergency response measures in time.

[0145] In another embodiment, the multimodal sensor includes: an infrared sensor, a pressure sensor, and a biometric recognition camera;

[0146] Infrared sensors are used to accurately locate the patient's movements and postures in the waiting room by detecting changes in the patient's body temperature and thermal radiation patterns, and to determine the patient's current state, which may include being still, walking, or sitting;

[0147] Pressure sensors to monitor changes in a patient’s weight distribution, sitting or lying posture;

[0148] Biometric cameras to monitor patients' facial expressions and physiological responses.

[0149] The working principle of the above technical solution is: Infrared sensor is a device that senses environmental changes by detecting infrared rays (i.e. thermal radiation) emitted by objects. In the PET / CT waiting room patrol service robot, the infrared sensor is mainly used to detect the patient's body temperature distribution and thermal radiation pattern, so as to accurately identify the patient's position and movement status. The following is its specific working method:

[0150] Temperature detection: Infrared sensors can capture infrared radiation emitted by the patient's body and accurately measure the patient's surface temperature. For example, if the sensor detects that the patient's body temperature is too high (such as fever symptoms), the system will automatically trigger an alarm or alert medical staff. Motion and posture judgment: Infrared sensors locate the patient's body parts by analyzing the intensity and distribution pattern of thermal radiation, and identify whether the patient is stationary, walking or sitting. For example, when sitting, the sensor detects that the thermal radiation is concentrated near the seat, while the thermal radiation area moves dynamically when walking. This non-contact detection method ensures the safety and accuracy of data collection, while avoiding the direct contact problem of traditional body temperature measurement.

[0151] The pressure sensor measures the contact pressure between the patient and the surface of the object to provide information about the patient's weight distribution and posture. In the patrol service robot, the pressure sensor is generally embedded in the patient's seat surface or armrest to monitor the following indicators in real time:

[0152] Weight distribution: The pressure sensor can capture the pressure distribution applied by various parts of the patient's body. For example, when the patient sits normally, the seat surface will show a uniform pressure distribution; when the patient tilts or the center of gravity shifts, the sensor can detect asymmetric pressure distribution and prompt possible discomfort or physical abnormalities. Changes in sitting or lying posture: By continuously monitoring pressure data, the system can determine whether the patient is sitting normally, semi-lying, or standing up suddenly. For example, when it is detected that the patient suddenly leaves the seat and the pressure distribution changes rapidly, the system can determine that the patient has stood up and conduct a comprehensive analysis in combination with other sensors. This real-time pressure data feedback is important for assisting in judging the patient's condition and preventing falls or discomfort caused by prolonged improper posture.

[0153] A biometric camera is a device that combines an ordinary camera with an artificial intelligence algorithm to capture a patient's facial expressions, physiological characteristics, and micro-expression changes, and identify their emotions and health conditions. Here's how it works:

[0154] Facial expression analysis: The camera collects the patient's facial data and uses AI algorithms to analyze subtle changes in facial muscles to determine whether the patient has emotions such as anxiety, anger, or sadness. For example, drooping eyebrows and drooping corners of the mouth may be identified as a state of anxiety or dissatisfaction. Physiological response monitoring: In addition to facial expressions, the camera can also capture physiological signals such as changes in skin color and breathing rate. For example, redness of the skin may indicate elevated blood pressure, and facial pallor may be related to low blood pressure or fatigue. Identity confirmation: Combined with biometric recognition technology (such as face recognition), the camera can verify the patient's identity information to ensure that the service robot can provide targeted, personalized services. This module relies on computer vision and machine learning algorithms to efficiently perform non-contact emotion and health monitoring.

[0155] The beneficial effects of the above technical solution are as follows: multimodal sensors (infrared sensors, pressure sensors, biometric recognition cameras) work together to detect the patient's behavior, emotions and health status in real time from multiple dimensions. This comprehensive judgment method enables the patrol robot to accurately understand the patient's dynamic state and avoids misjudgment that may be caused by a single sensor. For example, combining the data of infrared sensors and pressure sensors, the robot can more accurately determine whether the patient is standing or adjusting his sitting posture. All sensors use non-contact technology (such as infrared detection and visual recognition) to complete data collection without interfering with the patient. This method not only improves the patient's comfort, but also reduces the risk of cross-infection. It is very suitable for crowded and highly mobile environments such as waiting rooms. By monitoring the patient's body temperature, posture and emotions in real time, the patrol robot can quickly identify abnormal situations. For example, when the infrared sensor detects that the patient's temperature is abnormal, it can remind medical staff to check whether there is a fever or infection risk; when the pressure sensor detects that the patient suddenly stands up and the center of gravity is unstable, it can trigger an early warning to prevent falls; and when the biometric recognition camera detects that the patient's expression is abnormal (such as pain or fatigue), it can prompt the robot to take the initiative to comfort the patient or provide help. Through the biometric recognition camera, the robot can quickly identify the patient's identity and record the trend of his or her emotional changes, providing more intimate and personalized services.

[0156] In another embodiment, generating an optimized path planning and task allocation solution includes:

[0157] Compare the dynamic data of patients currently in the waiting room with the preset standards in the hospital management system;

[0158] When the patient's motion state or biological characteristics in the current dynamic data exceeds the corresponding preset standard, it is determined that the service demand in the waiting room has increased, the distribution of patients in each area of ​​the waiting room is obtained, and the number of patients in adjacent areas is merged to obtain the regional patient density;

[0159] Compare the patient density in different areas of the waiting room to determine the patient distribution ratio in the waiting room. Based on the patient distribution ratio and hospital management system data, adjust the current path planning and generate a real-time optimization plan.

[0160] Among them, dynamic data include the patient's movement status, heart rate, blood oxygen saturation, body temperature and behavioral norms;

[0161] When the patient's motion status and biological characteristics in the current dynamic data are within the preset standard range, it is determined that the service demand in the waiting room is normal;

[0162] When the patient's motion status and biometrics in the current dynamic data are within the preset standard range, the service demand in the waiting room is determined to be normal, including:

[0163] Get the current time and determine the time interval to which the current time belongs;

[0164] When the current time is in the peak service time interval, the rounds service corresponding to the waiting room will be controlled to maintain or restore to the default rounds strategy;

[0165] When the current time is in the low-peak service time interval, obtain the patient distribution in the low-peak time interval of the waiting room, generate a patient distribution change curve, and based on the patient distribution change curve, determine the concentrated service interval in the low-peak time interval and the average number of patients corresponding to different areas in the concentrated service interval, and take the area with the largest average number of patients as the target area;

[0166] The average number of patients in the target area is obtained, and the optimal service time of the waiting room is obtained by combining the path length, the average moving speed of medical staff and the service start error.

[0167] Based on the optimal service time, a low-peak service strategy is generated, and the patrol service corresponding to the waiting room is controlled to the path planning mode corresponding to the low-peak service strategy;

[0168] Among them, when the current time is in the low peak service time interval, it includes:

[0169] When it is detected that a patient needs emergency services, all rounds of medical services in the waiting room corresponding to the patient's area are taken as control targets, and service extension control targets and service delay control targets are determined based on the area corresponding to the patient's emergency service needs;

[0170] Based on the preset emergency service time corresponding to the waiting room, the corresponding parameters of the service extension control target and the service delay control target are adjusted respectively, and after the emergency service is completed, the low-peak service strategy is restored;

[0171] Among them, the preset emergency service time is less than the optimal service time.

[0172] The working principle of the above technical solution is as follows: the patrol service robot is equipped with a sensor and monitoring module in the waiting room, which can collect the following information of patients in real time:

[0173] Exercise status: whether there is strenuous exercise or long periods of inactivity;

[0174] Heart rate: monitor heart rate, whether it is too fast or too slow;

[0175] Blood oxygen saturation: whether it is lower than the healthy standard (if it is lower than 95%, it may indicate health problems);

[0176] Body temperature: whether it exceeds the normal range (such as a fever exceeding 37.5°C);

[0177] Behavioral norms: Are there any behaviors that are inconsistent with the requirements of the waiting room (such as leaving the area or affecting others).

[0178] For example, if a patient's smart bracelet uploads real-time data showing his or her body temperature is 38.0°C (exceeding the preset standard of 37.5°C), the medical service robot will immediately mark this status as an increased demand for service.

[0179] The robot determines the service demand status of the waiting room based on the comparison results of dynamic data with preset standards: Normal state: When the data of all patients are within the preset standard range, the robot determines that the service demand of the waiting room is normal. Increased service demand: If the dynamic data of any patient exceeds the standard (such as too fast heart rate or abnormal body temperature), the robot determines that the service demand has increased. Once it is determined to be "increased service demand", the robot will further obtain the distribution of patients in each area of ​​the waiting room. For example: the waiting room is divided into four areas: A, B, C, and D; Area A: 12 people, Area B: 8 people, Area C: 5 people, Area D: 15 people. The robot will merge the number of patients in adjacent areas and calculate the patient density of each area: A+B: 20 ​​people, C+D: 20 people. According to the patient density, the current patient distribution ratio of the waiting room is determined (such as 50% in Area A+B and 50% in Area C+D).

[0180] Based on the patient distribution ratio, the patrol service robot adjusts the current path planning. For example: Initial path planning: The robot patrols each area every 10 minutes by default; adjusted path planning: If the patient density in area C+D is higher and the service demand increases, the robot can give priority to covering area C+D, adjust the patrol frequency to once every 5 minutes, and reduce the coverage frequency of area A+B. Through dynamic adjustment of path planning, the patrol robot can achieve efficient allocation of service resources.

[0181] The robot divides the current time into peak service time or off-peak service time: Peak service time (such as 9 am to 11 am): The patrol robot maintains or restores the default patrol strategy and covers all areas regularly. Off-peak service time (such as 2 pm to 4 pm): The robot monitors the changes in patient distribution, generates a patient distribution change curve, and determines the concentrated service interval and target area. For example: During the off-peak period, the average number of patients in area D is the largest, and the robot sets it as the target area. Based on the path length (such as area D is 50 meters away from the center point), the average moving speed of medical staff (such as 1.5 meters / second), and the service startup error (such as 1 second), the robot calculates the optimal service time as 35 seconds, generates a off-peak service strategy, and optimizes path planning.

[0182] During off-peak service hours, if a patient in a certain area needs emergency services (such as sudden fainting), the robot will immediately adjust its strategy: Overall rounds service goal: concentrate all rounds service resources on the patient's area; Emergency service time control: adjust service extension and delay parameters based on the preset emergency service time of the waiting room (such as a response within 20 seconds); Restore off-peak service strategy: After the emergency service is completed, the robot automatically returns to the off-peak service strategy. For example: If a patient suddenly falls in area B, the robot moves to area B by the fastest path, and reminds medical staff to intervene through voice, and notifies other robots to temporarily delay patrols in areas A, C, and D.

[0183] The beneficial effects of the above technical solution are: by real-time monitoring of the patient's movement status and biological characteristics, the service needs can be quickly identified and responded to, so as to avoid the patient not receiving timely attention due to health problems or abnormal behavior. Accurate path planning optimization reduces the waste of medical resources, while ensuring that the coverage and frequency of services are more reasonable. Dynamically adjust the service path and the frequency of rounds to ensure that the resource allocation during peak and off-peak times is in line with the distribution of patient needs. By calculating the optimal service time for the target area, the robot's unnecessary patrol time is reduced and the equipment utilization rate is improved. When the patient needs emergency services, the robot can immediately dispatch resources and respond, greatly reducing the possibility of medical accidents. After the emergency service is completed, the system automatically returns to the off-peak strategy to ensure the continuity and efficiency of waiting room management. Priority services for densely populated areas of patients enable patients to experience higher quality medical care during peak hours. The patrol robot avoids frequent interruptions to patients waiting for treatment through accurate time planning and path optimization, while improving the overall comfort of the waiting room.

[0184] In another embodiment, based on the patient distribution ratio and the hospital management system data, the current path planning of the waiting room rounds service is adjusted to generate a real-time optimization plan, including:

[0185] Based on the patient distribution ratio, determine the relatively concentrated areas and secondary concentrated areas of patients;

[0186] Obtain the length of the first and second rounds of the waiting room's corresponding path, and predict the first and second rounds of the waiting room's corresponding time based on the average moving speed of the medical staff;

[0187] Obtaining a first growth rate of the number of patients corresponding to the relatively concentrated area, and determining a first service growth amount of the waiting room based on the first growth rate, combined with the path lengths of each path corresponding to the relatively concentrated area, the first waiting time, and the preset service speed of the medical staff corresponding to the current time period;

[0188] According to the first service growth amount, the first visit time, the first service time and the service start error of adjacent patients, the first visit extension time corresponding to the relatively concentrated area is obtained;

[0189] At the same time, a second growth rate of the number of patients corresponding to the secondary concentrated area is obtained, and based on the second growth rate, the path length of each path corresponding to the secondary concentrated area, the second waiting time, and the preset service speed of the medical staff corresponding to the current time period, the second service growth amount of the waiting room is determined;

[0190] According to the second service growth amount, the second visit time, the second service time and the service start error of the adjacent patients, the second visit extension time corresponding to the secondary concentrated area is obtained;

[0191] The visit time corresponding to the current path planning of the waiting room visit service is adjusted based on the first visit extension time and the second visit extension time to generate a real-time optimization plan.

[0192] The working principle of the above technical solution is as follows: In the waiting room of a hospital, especially the waiting room of high-tech equipment such as PET / CT, the path planning and time management of the rounds service are very critical due to factors such as the number of patients, waiting time, and rounds route. In order to improve the efficiency of the rounds service and the satisfaction of patients, real-time optimization can be carried out through the patient distribution ratio and the data of the hospital management system.

[0193] First, we need to determine which areas in the hospital waiting room have a relatively concentrated number of patients and which areas have relatively fewer patients based on the distribution ratio of patients. Specifically, assuming that there are two main areas in the waiting room (Area A and Area B), we can get the number of patients in each area through the data of the hospital management system. For example: Area A: There are 40 waiting patients, Area B: There are 10 waiting patients. Through these data, we calculate the relatively concentrated area (Area A) and the secondary concentrated area (Area B). In this case, Area A is a relatively concentrated area, and Area B is a secondary concentrated area.

[0194] In the waiting room, the patrol robot needs to patrol various areas along a predetermined path. Depending on the path, the patrol time is also different. We can obtain the patrol path length of each area through the hospital management system, for example: the patrol path length of area A: 100 meters, the patrol path length of area B: 50 meters. At the same time, considering that the average moving speed of the patrol robot is 1 meter / second, the first and second patrol times of each area can be predicted: the first patrol time (area A): 100 meters ÷ 1 meter / second = 100 seconds, the second patrol time (area B): 50 meters ÷ 1 meter / second = 50 seconds.

[0195] Next, we need to consider the growth rate of the number of patients and adjust the patrol route according to this rate. Suppose the number of patients in area A has increased by 20% in the past hour, while the number of patients in area B has increased by 10%. Based on this data, we can calculate the growth rate of the number of patients, for example: the growth rate of area A: 20% / hour, the growth rate of area B: 10% / hour. Using this growth rate, we can further predict the service growth in each area. The service growth refers to the part of the increase in the number of patients who need service within a specific time. For example, in area A, if 1 new patient joins every minute, then the first service growth is the number of new patients × service time.

[0196] Based on the service growth and the round time of each area, we can further calculate the round extension time. Assume that the service growth of area A requires an additional 20 seconds, while the service growth of area B requires 10 seconds. Then, the round service time will be adjusted accordingly based on these extension times. For example: the first round extension time of area A is 20 seconds, and the second round extension time of area B is 10 seconds.

[0197] After obtaining the extended time of the rounds, we can optimize the rounds path in real time. The adjusted rounds time will take into account the number of patients, waiting time, growth rate and extension time in different areas. For example: the original first round time: 100 seconds, extended time 20 seconds, the new first round time: 120 seconds; the original second round time: 50 seconds, extended time 10 seconds, the new second round time: 60 seconds; through these adjustments, the rounds path will be flexibly adjusted according to the actual situation, thereby improving work efficiency and optimizing the patient's service experience.

[0198] The beneficial effects of the above technical solution are as follows: by real-time adjustment based on the patient distribution ratio, growth rate and path length, the patrol robot can plan the path more efficiently, avoid invalid or repeated patrols, and thus reduce invalid time. By optimizing the path planning, it is possible to more accurately predict which areas of patients need more attention, reduce delays in patrol time, effectively control the patient's waiting time, and improve the patient's medical experience. Through the robot's intelligent patrol, medical staff can reduce unnecessary patrol work, so that they can focus more on the links that require manual intervention, and improve the work efficiency and medical service quality of the entire waiting room. As the number of patients increases or decreases, the system can automatically adjust the patrol path according to real-time data to cope with changes in patient distribution in different situations, thereby improving the flexibility of the system.

[0199] In another embodiment, generating an environment map and a navigation path includes:

[0200] Obtain the robot's current location information, generate a preliminary map of the environment through the SLAM algorithm based on the environment's feature data, and update the real-time location information;

[0201] According to the real-time location information and path planning information, the path navigation operation is performed through the autonomous navigation module;

[0202] In the event that the target path does not match the predetermined path planning information, the navigation path is readjusted and real-time navigation is performed through the autonomous navigation module.

[0203] The working principle of the above technical solution is as follows: when constructing the environmental map and navigation path for the PET / CT waiting room patrol service robot, it is first necessary to generate a preliminary map of the environment based on the robot's current position information and the characteristic data of the surrounding environment, combined with the SLAM (Simultaneous Localization and Mapping) algorithm, and continuously update it in real-time operation.

[0204] The robot's positioning information is obtained by internal sensors. Sensors include laser radar (LiDAR), visual cameras, ultrasonic sensors, etc. The robot uses these sensors to perceive the physical features of the surrounding environment, such as walls, obstacles, and spatial layout. In the PET / CT waiting room scenario, the robot will scan the entire waiting area with LiDAR, obtain distance information, and form point cloud data of the environment (that is, the position of objects in space is mapped by measuring the distance between points). These sensor data will help the robot determine its own position and the obstacles around it.

[0205] The core of the SLAM algorithm is to enable the robot to simultaneously locate and map in an unknown environment. Through the SLAM algorithm, the robot can gradually build a complete map in an initially unknown environment and update it based on real-time data. During the actual operation of the robot, SLAM will constantly use sensor data to determine the current position of the robot and generate or update a map of the current environment. In the PET / CT waiting room, such a map includes the seats, corridors, walls, doors and other facilities in the waiting room, and the map will be continuously updated as the robot moves to cope with dynamic changes in the environment.

[0206] Once the robot knows the current environment map and its own position, it can start path planning. The path planning module will calculate an optimal path based on the target location (such as the area where a patient is located or the equipment). Commonly used path planning algorithms include the A algorithm, the Dijkstra algorithm, etc., which can help the robot find the shortest or safest path from the current location to the target location. Assuming that the target location is a specific area in the PET / CT waiting room, the path planning will take into account factors such as obstacles and channel width to plan a suitable path. As the robot continues to move forward in the environment, the real-time position information will be continuously fed back to the navigation system. The navigation module will adjust the robot's driving route according to the path planning results and control the robot's movement in real time.

[0207] In actual operation, the robot will encounter some unexpected obstacles or path changes. For example, if a patient suddenly walks into the passage, or other objects are mistakenly placed in the passage, the robot will find that the actual path is inconsistent with the planned path. At this time, the robot will recalculate the path and adjust its driving route. For example, the robot may automatically bypass obstacles, choose alternative paths, or replan the optimal path to ensure that it can reach the target location on time. Through this real-time path adjustment, the robot can dynamically adapt to changes in the environment, continuously optimize its navigation process, and ensure that its medical services in the waiting room are not affected.

[0208] The beneficial effects of the above technical solution are as follows: through the introduction of the SLAM algorithm, the robot can efficiently perform autonomous navigation in a complex environment such as a waiting room and generate an accurate environmental map. Real-time updated maps and path planning can ensure that the robot can always find the optimal path, thereby reducing the time for rounds and improving service efficiency. In an environment such as a PET / CT waiting room, the waiting time for patients is often long. The robot can provide scheduled rounds or provide necessary services to patients (such as querying the course of disease, providing comfort suggestions, etc.), effectively improving the quality of service. The robot can obtain environmental change information in real time and respond in time (such as avoiding temporary obstacles and adjusting the driving route). In a complex and changeable waiting room environment, the robot can respond to various emergencies and ensure that the rounds are not interrupted. This adaptive ability enhances the intelligence of the robot, enabling it to provide patients with more personalized and thoughtful services. Automated rounds service can greatly enhance the patient experience. The robot can regularly patrol the waiting room according to the predetermined rounds path, which can not only provide patients with quick reception and guidance, but also reduce the anxiety of patients through continuous interaction and improve their satisfaction during the waiting period. Through accurate positioning and navigation, the robot can also avoid collisions or entering restricted areas by mistake, avoiding possible physical damage or interference with patients. The robot can complete rounds and tasks autonomously, reducing the hospital's reliance on manual rounds. This not only saves labor costs, but also reduces the risks caused by negligence in manual work.

[0209] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A patrol service robot for PET / CT waiting room, characterized in that: include: The sensing and monitoring module is used to monitor the dynamic data of patients and the environment in the waiting room in real time; The control system is used to plan the robot path and assign task instructions based on dynamic data; A mobile platform is used to move the robot to a designated location in the waiting room based on path planning; The interactive module is used to provide human-computer interaction functions and guide patients to complete the preparations before the examination; The task execution module is used to execute the robot's active intervention tasks based on task instructions.

2. A patrol service robot for PET / CT waiting room according to claim 1, characterized in that: The sensing and monitoring module includes: multimodal sensors and patient status monitoring system; Multimodal sensors are used to collect the movement status and biometrics of patients in the waiting room in real time and generate dynamic data reports; The patient status monitoring submodule is used to identify abnormal patient behavior by analyzing dynamic data reports.

3. The robot for PET / CT waiting room patrol service according to claim 1, characterized in that: The control system includes: a central control unit, an edge computing module and a communication module; Central control unit to support remote control and ensure flexibility of robot operation; Edge computing module, used to analyze dynamic data in real time, connect with the hospital management system, and generate optimized path planning and task allocation solutions; Communication module, used to transmit dynamic data to the hospital management system in real time.

4. The robot for PET / CT waiting room patrol service according to claim 1, characterized in that: The mobile platform includes: a tracked or wheeled mobile chassis, a battery pack and an autonomous navigation module; Tracked or wheeled mobile chassis, used to provide stable mobile support for the robot; Battery pack, used to adopt a new power management system to ensure long-term stable operation of the robot; The autonomous navigation module is used to achieve accurate perception and navigation of the waiting room environment based on the SLAM technology combined with lidar and visual sensors, and to generate environmental maps and navigation paths.

5. The robot for PET / CT waiting room patrol service according to claim 1, characterized in that: The interactive module includes: touch screen, speech recognition and synthesis submodule and multi-language support submodule; A touch screen is used to provide an operation interface to help patients obtain examination-related information; The speech recognition and synthesis submodule is used to communicate through voice, play precautions, guide patients to prepare for the examination, and generate voice interaction records; The multi-language support sub-module is used to intelligently identify the patient's language preference and provide multi-language switching and personalized services.

6. The robot for PET / CT waiting room patrol service according to claim 1, characterized in that: The task execution module includes: a robotic arm, a disinfection nozzle or an air purification submodule, and an alarm submodule; A robotic arm to assist with patient mobility and calm agitation, generating patient comfort assessments; Disinfection nozzle or air purification submodule, used to automatically disinfect the area around the patient's seat and generate an environmental hygiene status report; The alarm submodule is used to monitor abnormal situations, provide real-time warnings, and generate safety warning information.

7. The robot for PET / CT waiting room patrol service according to claim 2, characterized in that: Multimodal sensors include: infrared sensors, pressure sensors, biometric recognition cameras; Infrared sensors are used to accurately locate the patient's movements and postures in the waiting room by detecting changes in the patient's body temperature and thermal radiation patterns, and to determine the patient's current state, which may include being still, walking, or sitting; Pressure sensors to monitor changes in a patient’s weight distribution, sitting or lying posture; Biometric cameras to monitor patients' facial expressions and physiological responses.

8. The patrol service robot for PET / CT waiting room according to claim 3, characterized in that: Generate optimized path planning and task allocation solutions, including: Compare the dynamic data of patients currently in the waiting room with the preset standards in the hospital management system; When the patient's motion state or biological characteristics in the current dynamic data exceeds the corresponding preset standard, it is determined that the service demand in the waiting room has increased, the distribution of patients in each area of ​​the waiting room is obtained, and the number of patients in adjacent areas is merged to obtain the regional patient density; Compare the patient density in different areas of the waiting room to determine the patient distribution ratio in the waiting room. Based on the patient distribution ratio and hospital management system data, adjust the current path planning and generate a real-time optimization plan. Among them, dynamic data include the patient's movement status, heart rate, blood oxygen saturation, body temperature and behavioral norms; When the patient's motion status and biometric characteristics in the current dynamic data are within the preset standard range, it is determined that the service demand in the waiting room is normal.

9. The patrol service robot for PET / CT waiting room according to claim 8, characterized in that: Based on the patient distribution ratio and hospital management system data, the current path planning of the waiting room rounds service is adjusted to generate a real-time optimization plan, including: Based on the patient distribution ratio, determine the relatively concentrated areas and secondary concentrated areas of patients; Obtain the length of the first and second rounds of the waiting room's corresponding path, and predict the first and second rounds of the waiting room's corresponding time based on the average moving speed of the medical staff; Obtaining a first growth rate of the number of patients corresponding to the relatively concentrated area, and determining a first service growth amount of the waiting room based on the first growth rate, combined with the path lengths of each path corresponding to the relatively concentrated area, the first waiting time, and the preset service speed of the medical staff corresponding to the current time period; According to the first service growth amount, the first visit time, the first service time and the service start error of adjacent patients, the first visit extension time corresponding to the relatively concentrated area is obtained; At the same time, a second growth rate of the number of patients corresponding to the secondary concentrated area is obtained, and based on the second growth rate, the path length of each path corresponding to the secondary concentrated area, the second waiting time, and the preset service speed of the medical staff corresponding to the current time period, the second service growth amount of the waiting room is determined; According to the second service growth amount, the second visit time, the second service time and the service start error of the adjacent patients, the second visit extension time corresponding to the secondary concentrated area is obtained; The visit time corresponding to the current path planning of the waiting room visit service is adjusted based on the first visit extension time and the second visit extension time to generate a real-time optimization plan.

10. The patrol service robot for PET / CT waiting room according to claim 4, characterized in that: Generates environment maps and navigation paths, including: Obtain the robot's current location information, generate a preliminary map of the environment through the SLAM algorithm based on the environment's feature data, and update the real-time location information; According to the real-time location information and path planning information, the path navigation operation is performed through the autonomous navigation module; In the event that the target path does not match the predetermined path planning information, the navigation path is readjusted and real-time navigation is performed through the autonomous navigation module.

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