Intelligent hemodialysis data monitoring method and system

Abstract

The invention provides an intelligent hemodialysis data monitoring method and system. The method comprises the steps that it is determined that an arm limb is placed in a placing groove position located in a mechanical arm, and a pipeline collecting unit is triggered to conduct state recognition on a dialysis pipeline; determining the state of the pipeline as a contraction state, triggering a descending acquisition unit corresponding to the descending adjustment tendency to perform pose acquisition on the arm limb, and determining a first pose tendency corresponding to the arm limb based on an acquisition result; determining that the arm limb is moved to a position and posture collecting cavity communicated with the placing groove position, and triggering a rising collecting unit, a left moving collecting unit and a right moving collecting unit which respectively correspond to a rising adjusting tendency, a left moving adjusting tendency and a right moving adjusting tendency to collect the position and posture of the arm limb. Determining a second pose tendency of the corresponding arm limb based on the collection result; and the mechanical arm is controlled to conduct pose adjustment based on the first pose tendency and the second pose tendency. According to the invention, the safety is at least improved.

Description

Technical Field

[0001] The present invention relates to data processing technology, and in particular to an intelligent hemodialysis data monitoring method and system. Background Art

[0002] In the field of dialysis treatment, dialysis is an important means of life support and is crucial for patients with chronic renal failure. During the dialysis process, the patient needs to be connected to the dialysis machine through a specific dialysis tube to effectively remove waste and excess water from the body. However, in the actual dialysis process, an often overlooked but crucial issue is the natural placement of the patient's arms.

[0003] Since dialysis treatment often lasts for a long time, patients tend to unconsciously assume various inappropriate postures of their arms when they maintain a static posture for a long time, such as excessive bending, twisting or compression. These unnatural arm postures unconsciously increase the risk of dialysis tubing being compressed. Once the dialysis tubing is compressed, it will not only directly affect the circulation of dialysate and reduce dialysis efficiency, but may also cause serious consequences such as tubing blockage and damage, thereby endangering the patient's dialysis treatment effect and physical health.

[0004] Therefore, the inappropriate arm posture of patients during dialysis has become a technical problem that needs to be solved urgently. How to effectively monitor and correct the patient's arm posture to avoid the dialysis line from being crushed and ensure the smooth progress of the dialysis process has become an important issue to improve the dialysis treatment effect and protect the health of patients. Summary of the invention

[0005] Based on the above problems, the present invention is proposed to provide an intelligent hemodialysis data monitoring method and system that overcomes the above problems or at least partially solves the above problems.

[0006] According to one aspect of the present invention, there is provided an intelligent hemodialysis data monitoring method, comprising the following steps: Determine that the arm limb of the corresponding patient is placed in the placement slot inside the robotic arm, trigger the pipeline convergence unit to identify the state of the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline; Determine that the pipeline state is a convergence state, trigger the descending acquisition unit corresponding to the descending adjustment tendency to collect the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result; Determine that the arm limb is moved to a posture collection cavity connected to the placement slot, trigger the rising collection unit, the left-moving collection unit, and the right-moving collection unit corresponding to the rising adjustment tendency, the left-moving adjustment tendency, and the right-moving adjustment tendency respectively to collect the posture of the arm limb, and determine the second posture tendency of the corresponding arm limb based on the collection result; The robot arm is controlled to adjust its posture based on the first posture inclination and the second posture inclination respectively.

[0007] Optionally, in the method according to the present invention, it is determined that the arm limb of the corresponding patient is placed in a placement slot located inside the robotic arm, triggering the pipeline converging unit to identify the state of the dialysis pipeline connected to the arm limb, and determining the pipeline state corresponding to the dialysis pipeline, including: Determine that the primary sensor value output based on distance collection of the primary sensor located at the bottom center of the placement slot is less than or equal to a preset placement threshold, and control the secondary sensors corresponding to the preset total number of deployments located on both sides of the primary sensor and arranged along the extension direction of the robotic arm to perform distance collection; In response to a secondary sensing value outputted by any secondary sensor based on distance acquisition being less than a preset placement threshold, the secondary sensor is determined to have a valid attribute, and a valid deployment quantity corresponding to all valid attributes is determined; Obtaining an effective ratio of the effective deployment quantity to the preset deployment total number, and determining that the arm limb of the corresponding patient is placed in the placement slot of the robotic arm based on the effective ratio being greater than or equal to a preset deployment threshold; Obtaining the dialysis number of the corresponding robotic arm, and determining the dialysis space where the robotic arm is located in the indoor planning diagram of the corresponding dialysis room based on the dialysis number; The pipeline convergence unit located on the indoor ceiling of the dialysis room and corresponding to the dialysis space is controlled to collect images of the dialysis space, and based on the obtained spatial upper view, the state of the dialysis pipeline connected to the arm limb is identified to determine the pipeline state corresponding to the dialysis pipeline.

[0008] Optionally, in the method according to the present invention, the state of the dialysis tubing connected to the arm limb is identified based on the obtained spatial upper view, and the tubing state corresponding to the dialysis tubing is determined, including: Based on the spatial upper view, an outer mechanical region indicating the outer surface of the mechanical arm and a pipeline region indicating the dialysis pipeline connected to the arm limb are determined, and each image pixel point constituting the outer mechanical region is determined as a mechanical pixel group, and each image pixel point constituting the pipeline region is determined as a pipeline pixel group; All image pixel points in the mechanical pixel group that have the same pixel value as the slot pixel points corresponding to the pipeline slot located on the outer surface of the robot arm are divided into the slot pixel group, and adjacent pixels of each image pixel point in the slot pixel group are connected to obtain a slot area corresponding to the pipeline slot; A slot contour of the corresponding slot area and a pipeline contour of the corresponding pipeline area are obtained, and when the slot contour surrounds the pipeline contour, it is determined that the pipeline state corresponding to the dialysis pipeline is a converged state.

[0009] Optionally, in the method according to the present invention, determining that the pipeline state is a convergence state, triggering the descending acquisition unit to collect the posture of the arm limb, and determining the first posture tendency of the corresponding arm limb based on the collection result, includes: Triggering the descending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the slot end of the placement slot to acquire images of the arm limbs to obtain an upper view of the arm; Determine an inner mechanical region indicating an inner surface of the robot arm based on the upper arm view, and determine a remaining region other than the inner mechanical region in the upper arm view as an arm region; determining a palm region indicating a palm limb corresponding to the patient based on the arm region, and performing region segmentation on the arm region based on the palm region; In response to obtaining a segmented region based on the region segmentation, determining the segmented region as a finger region corresponding to a finger limb of the patient; In response to obtaining two segmented regions based on region segmentation, the segmented region having no connection relationship with the top view contour of the top view of the corresponding arm is defined as a finger region of a finger limb of the corresponding patient; In response to the contour similarity between the finger contour of the corresponding finger area and any preset contour in the retrieved preset comparison table being greater than a preset similarity threshold, the first posture tendency of the corresponding arm limb is determined to be a descending adjustment tendency.

[0010] Optionally, in the method according to the present invention, the method further comprises: In response to the contour similarity between the finger contour of the corresponding finger area and each preset contour in the retrieved preset comparison table being less than or equal to a preset similarity threshold, obtaining the image acquisition time of the upper view of the corresponding arm; Taking the image acquisition time as the starting point, controlling the descending acquisition unit to continuously acquire the posture of the arm limb for a preset acquisition time, and determining whether the finger contour of the corresponding finger area changes based on the acquisition result; In response to the finger contour not changing, the robotic arm is controlled to adjust its posture based on a preset adjustment mode.

[0011] Optionally, in the method according to the present invention, it is determined that the arm limb is moved to a posture collection cavity connected to the placement slot, triggering a rise collection unit, a left movement collection unit, and a right movement collection unit corresponding to the rise adjustment tendency, the left movement adjustment tendency, and the right movement adjustment tendency respectively to collect the posture of the arm limb, and determining a second posture tendency corresponding to the arm limb based on the collection result, including: Obtaining a slot depth value corresponding to the placement slot, in response to the primary sensor value and the secondary sensor value outputted by the primary sensor and each secondary sensor being greater than the slot depth value, determining that the arm limb is moved to a posture collection cavity connected to the placement slot, and obtaining a current determination time; The ascending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the midpoint of the slot where the slot is placed, and the leftward-moving acquisition unit and the rightward-moving acquisition unit located on both sides of the posture acquisition cavity are determined as the second posture acquisition group; Triggering each acquisition unit in the second posture acquisition group to respectively acquire the distance of the arm limb based on the current determination time, and obtaining each standard value corresponding to the current determination time based on the distance acquisition; In response to the update value output by any acquisition unit in the second posture acquisition group at any update determination time after the current determination time being greater than the corresponding standard value, the adjustment tendency corresponding to the acquisition unit is determined as the second posture tendency of the corresponding arm limb.

[0012] Optionally, in the method according to the present invention, the method further comprises: A posture adjustment interface is created based on the dialysis display terminal, and the posture adjustment interface is divided based on the horizontal center point of the posture adjustment interface to obtain adjustment interaction areas corresponding to different adjustment tendencies located around the horizontal center point; Acquire adjustment buffers corresponding to the adjustment tendencies, and associate data between adjustment interaction areas and adjustment buffers corresponding to the same adjustment tendency; In response to the patient performing an adjustment interaction on any adjustment interaction area, the robotic arm is controlled to adjust the posture based on the adjustment interaction, and the adjustment interaction area is dynamically adjusted corresponding to the adjustment interaction.

[0013] Optionally, in the method according to the present invention, in response to the patient performing an adjustment interaction in any adjustment interaction area, controlling the robot arm to perform posture adjustment based on the adjustment interaction, and dynamically adjusting the adjustment interaction area corresponding to the adjustment interaction, including: Two adjustment tendencies with opposing relationships are determined as the same adjustment association group; In response to the patient performing adjustment interaction on an adjustment interaction area corresponding to any adjustment tendency in any adjustment association group, the adjustment interaction area is determined as a first interaction area, and adjustment interaction areas corresponding to other adjustment tendencies in the same adjustment association group are determined as second interaction areas; Determine a vertical movement amount of the patient toward the first interaction area based on the adjustment interaction, and determine a movement ratio of the first interaction area corresponding to the vertical movement amount; Determining an adjustment value corresponding to the movement ratio in an adjustment buffer corresponding to the first interaction area, and controlling the robot arm to adjust the posture of the adjustment tendency corresponding to the first interaction area based on the obtained adjustment value; Determine that the robot arm completes posture adjustment, and perform interval interception on the adjustment buffer area corresponding to the first interaction area based on the adjustment value to obtain a high-value buffer area greater than the adjustment value and a low-value buffer area less than or equal to the adjustment value; Associating data for the first interaction area based on the high-value buffers; The low-value buffer area is overlapped with the adjustment buffer area corresponding to the second interaction area, and data association is performed on the second interaction area based on the updated adjustment buffer area.

[0014] Optionally, in the method according to the present invention, the method further comprises: Creating a dialysis display interface based on the dialysis display terminal, and filling the dialysis data of the corresponding patient into the dialysis display interface, wherein the dialysis data includes the duration of dialysis and the standard physiological index interval of the corresponding patient; Based on the sum of the start dialysis time and the dialysis duration of the corresponding patient, the end dialysis time of the corresponding patient is obtained, and the end dialysis time is reduced by the corresponding preset reduction time to obtain the warning dialysis time; Based on the physiological acquisition unit, the patient's physiological data are collected to obtain real-time physiological index values; In response to reaching the warning dialysis time, sending a first warning signal to the medical care management terminal; In response to the real-time physiological indicator value being outside the standard physiological indicator range, a second warning signal is sent to the medical management end.

[0015] According to another aspect of the present invention, there is provided an intelligent hemodialysis data monitoring system, comprising: A state recognition module is configured to determine that the arm limb of the corresponding patient is placed in a placement slot located inside the robotic arm, trigger the pipeline converging unit to perform state recognition on the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline; A first acquisition module is configured to determine that the pipeline state is a convergence state, trigger a descending acquisition unit corresponding to the descending adjustment tendency to acquire the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result; The second acquisition module is configured to determine that the arm limb is moved to a posture acquisition cavity connected to the placement slot, trigger the rising acquisition unit, the left shift acquisition unit, and the right shift acquisition unit corresponding to the rising adjustment tendency, the left shift adjustment tendency, and the right shift adjustment tendency respectively to perform posture acquisition on the arm limb, and determine a second posture tendency of the corresponding arm limb based on the acquisition result; The posture adjustment module is configured to control the robot arm to adjust the posture based on the first posture inclination and the second posture inclination respectively.

[0016] According to the method of the present invention, accurate recognition and automatic adjustment of the arm and limb posture of patients undergoing dialysis treatment are achieved, and significant beneficial effects are brought about: First, the state of the dialysis tube connected to the arm limb is identified through the tube convergence unit, which can determine the state of the dialysis tube in real time, providing an accurate premise for subsequent posture acquisition and adjustment. When the tube state is confirmed to be a convergence state, the server immediately triggers the descending acquisition unit corresponding to the descending adjustment tendency to perform posture acquisition, ensuring the stable placement of the arm limb in the initial state and the accurate identification of the corresponding descending adjustment tendency, effectively avoiding problems such as dialysis tube falling off or patient discomfort caused by inaccurate posture; Secondly, when the arm is moved into the posture acquisition cavity, the server can simultaneously trigger the ascending acquisition unit, the leftward acquisition unit, and the rightward acquisition unit to perform multi-dimensional posture acquisition, and comprehensively obtain the actual posture information of the arm. This multi-dimensional acquisition method not only improves the accuracy of posture recognition, but also can timely detect and correct the slight movement of the arm during the dialysis process, ensuring the continuous stability and effectiveness of dialysis treatment. Finally, based on the precise first posture inclination and second posture inclination, the server can control the robotic arm to perform precise posture adjustment so that the arm limbs can remain in the optimal treatment position. This automated posture adjustment not only reduces the burden on medical staff and improves work efficiency, but also can make personalized adjustments based on the patient's actual situation, thereby improving the patient's treatment experience and comfort. At the same time, precise posture adjustment can also effectively avoid complications during dialysis, such as pipeline blockage, blood reflux, etc., further ensuring the safety and health of patients. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart of an intelligent hemodialysis data monitoring method according to an embodiment of the present invention is shown; Figure 2 A simplified top view of the robotic arm is shown; Figure 3 A structural schematic diagram of the posture adjustment interface is shown; Figure 4 A structural block diagram of an intelligent hemodialysis data monitoring system according to another embodiment of the present invention is shown. DETAILED DESCRIPTION

[0018] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0019] To solve the problems existing in the above-mentioned prior art, the inventor proposes the solution of the present invention. One embodiment of the present invention provides an intelligent hemodialysis data monitoring method, which can be executed in a computing device, wherein the computing device can be understood as a terminal with data processing function, such as a mobile phone or a computer.

[0020] Figure 1 The method flow chart of the intelligent hemodialysis data monitoring method of this embodiment is shown as follows: Figure 1 As shown, the method starts at step S101, wherein step S101 includes the following contents: It is determined that the arm limb of the corresponding patient is placed in the placement slot inside the robotic arm, and the pipeline convergence unit is triggered to identify the state of the dialysis pipeline connected to the arm limb, and the pipeline state corresponding to the dialysis pipeline is determined.

[0021] For example, in this embodiment, the patient can first determine the corresponding dialysis space in the dialysis room, and sit on the dialysis chair pre-set in the dialysis space to wait for the start of dialysis treatment; further, the dialysis space in this embodiment includes the corresponding dialysis equipment and the mechanical arm for carrying the patient's arm limbs, wherein the mechanical arm includes a hollow placement slot, that is, after the patient places the arm limb in the placement slot, the arm limb can be loaded and restricted in movement, so as to avoid the patient's soreness and fatigue caused by the arm limb hanging naturally for a long time during dialysis treatment, and the arm limb can be loaded based on the mechanical arm to prevent the arm limb from being randomly placed, which may cause the dialysis line of the corresponding patient to be folded; further, when the server determines that the arm limb of the corresponding patient is placed in the placement slot, the server will activate the pipeline converging unit to automatically locate and lock the dialysis line connected to the arm limb. The state of the dialysis line is identified to determine the line state of the dialysis line.

[0022] It can be explained that, in this embodiment, in order to be able to perform convergence management on the patient's dialysis circuit, such as Figure 2 As shown, the corresponding robotic arm is also provided with a corresponding pipeline clamping slot, wherein the pipeline clamping slot is mainly used to converge the dialysis pipeline, thereby further ensuring that the corresponding dialysis pipeline is always in a converged state when the patient performs dialysis treatment, avoiding the dialysis pipeline from being compressed and folded, and ensuring the safety of the corresponding dialysis treatment; therefore, the corresponding pipeline converging unit mainly identifies the state of the dialysis pipeline based on whether the dialysis pipeline is converged by the pipeline clamping slot.

[0023] Further, in this embodiment, the above-mentioned "determining that the arm limb of the corresponding patient is placed in the placement slot located inside the robotic arm, triggering the pipeline converging unit to identify the state of the dialysis pipeline connected to the arm limb, and determining the pipeline state corresponding to the dialysis pipeline" may also include the following steps: Determine that the primary sensor value output based on distance collection of the primary sensor located at the bottom center of the placement slot is less than or equal to a preset placement threshold, and control the secondary sensors corresponding to the preset total number of deployments located on both sides of the primary sensor and arranged along the extension direction of the robotic arm to perform distance collection; In response to a secondary sensing value outputted by any secondary sensor based on distance acquisition being less than a preset placement threshold, the secondary sensor is determined to have a valid attribute, and a valid deployment quantity corresponding to all valid attributes is determined; Obtaining an effective ratio of the effective deployment quantity to the preset deployment total number, and determining that the arm limb of the corresponding patient is placed in the placement slot of the robotic arm based on the effective ratio being greater than or equal to a preset deployment threshold; Obtaining the dialysis number of the corresponding robotic arm, and determining the dialysis space where the robotic arm is located in the indoor planning diagram of the corresponding dialysis room based on the dialysis number; The pipeline convergence unit located on the indoor ceiling of the dialysis room and corresponding to the dialysis space is controlled to collect images of the dialysis space, and based on the obtained spatial upper view, the state of the dialysis pipeline connected to the arm limb is identified to determine the pipeline state corresponding to the dialysis pipeline.

[0024] For example, in this embodiment, the state identification of the dialysis circuit is performed in response to the arm limb being placed in the placement slot, which can be specifically implemented based on the following method steps: First, the server needs to initialize and start the primary sensor located at the bottom center of the placement slot. The sensor is configured to output the corresponding primary sensor value based on its own distance collection situation. After obtaining the primary sensor value, the server will further compare this value with the preset placement threshold. When the primary sensor value is less than or equal to the placement threshold, it indicates that an object is approaching or may have been placed in the placement slot, and the next step is triggered immediately; Next, since any human arm or limb generally presents a relatively irregular distribution of thickness along the extension direction of the arm, in order to further determine whether the arm or limb is completely placed in the placement slot, the server needs to control the preset deployment total number of secondary sensors located on both sides of the primary sensor and arranged along the extension direction of the robotic arm to collect distances. These secondary sensors are carefully arranged to cover various key areas of the placement slots to achieve comprehensive distance detection. Among them, when any secondary sensor outputs a secondary sensing value based on its distance collection that is less than a preset placement threshold, it is marked as having a valid attribute, indicating that the sensor has detected the existence of the arm or limb. The server then counts the number of secondary sensors with all valid attributes, that is, the number of valid deployments; Then, the server calculates the ratio of the number of effective deployments to the total number of preset deployments, i.e., the effective ratio. When the effective ratio is greater than or equal to the preset deployment threshold, it can be determined that the patient's arm limb has been correctly placed in the placement slot of the robotic arm. This step ensures the accuracy and stability of the arm placement, laying a solid foundation for subsequent operations; Next, the server can obtain the dialysis number of the current robotic arm, and use the dialysis number to accurately locate the dialysis space where the robotic arm is located in the indoor planning map of the corresponding dialysis room. This function enables the server to accurately identify and associate the relationship between a specific dialysis space and the robotic arm, providing spatial information support for subsequent pipeline status monitoring; Finally, the server starts the image acquisition function by controlling the pipeline convergence unit located on the indoor ceiling of the dialysis room and corresponding to the dialysis space, and obtains the spatial top view of the corresponding dialysis space. Through the corresponding image processing algorithm, the state of the dialysis pipeline connected to the arm limb can be identified based on this top view, and it can be accurately judged whether the pipeline is in a normal state, that is, whether it is converged in the pipeline slot.

[0025] It should be noted that the dialysis room may include multiple dialysis spaces for different patients to receive corresponding dialysis treatments at the same time. Here, each dialysis space will have different dialysis equipment and different robotic arms. In order to determine the pipeline status of each patient's dialysis pipeline, a corresponding independent pipeline bundling unit can be set based on each dialysis space. Here, the pipeline bundling unit can be, for example, a camera.

[0026] Furthermore, in this embodiment, the above-mentioned “identifying the state of the dialysis tubing connected to the arm limb based on the obtained spatial upper view and determining the tubing state corresponding to the dialysis tubing” may also include the following steps: Based on the spatial upper view, an outer mechanical region indicating the outer surface of the mechanical arm and a pipeline region indicating the dialysis pipeline connected to the arm limb are determined, and each image pixel point constituting the outer mechanical region is determined as a mechanical pixel group, and each image pixel point constituting the pipeline region is determined as a pipeline pixel group; All image pixel points in the mechanical pixel group that have the same pixel value as the slot pixel points corresponding to the pipeline slot located on the outer surface of the robot arm are divided into the slot pixel group, and adjacent pixels of each image pixel point in the slot pixel group are connected to obtain a slot area corresponding to the pipeline slot; A slot contour of the corresponding slot area and a pipeline contour of the corresponding pipeline area are obtained, and when the slot contour surrounds the pipeline contour, it is determined that the pipeline state corresponding to the dialysis pipeline is a converged state.

[0027] For example, in this embodiment, after obtaining the spatial top view of the corresponding dialysis space, the pipeline state of the dialysis pipeline can be correspondingly identified according to the following method steps to determine whether the dialysis pipeline is converged by the pipeline slot: First, the server can obtain the dialysis top view of the corresponding dialysis space through the pipeline convergence unit located on the ceiling of the dialysis room and corresponding to the dialysis area. The dialysis top view can clearly show the outer surface of the robotic arm, the dialysis pipeline connected to the arm limb, and the pipeline slot on the robotic arm. Then, based on the image recognition technology, the image pixel points constituting the outer surface of the robotic arm are determined as a mechanical pixel group, and the image pixel points constituting the dialysis pipeline are determined as a pipeline pixel group; Next, the server further analyzes the mechanical pixel group, especially focusing on the slot pixel points corresponding to the pipe slot on the outer surface of the robot arm. It should be noted that in order to facilitate identification of the pipe slot, the pipe slot can be set to the corresponding slot pixel value in advance, so that the server can divide all image pixel points having the same pixel value as the slot pixel point corresponding to the slot pixel value into the slot pixel group to obtain the slot pixel group constituting the pipe slot. Subsequently, the server can perform pixel connection processing between adjacent image pixels in the slot pixel group. Through this step, the slot area corresponding to the pipe slot can be accurately outlined in the indoor top view. Finally, the server obtains the card slot contour of the corresponding card slot area and the pipeline contour of the corresponding pipeline area. By comparing the positional relationship of the two contours, it can determine whether the pipeline is correctly converged in the card slot. Specifically, when the card slot contour completely surrounds the pipeline contour, the server determines that the pipeline state corresponding to the dialysis pipeline is a converged state; this judgment result is crucial to ensuring the safety and effectiveness of dialysis treatment.

[0028] In step S102, the following contents are included: Determine that the pipeline state is a contracted state, trigger the descent acquisition unit corresponding to the descent adjustment tendency to collect the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result.

[0029] For example, in this embodiment, when the corresponding pipeline state is in the converged state, it indicates that the dialysis pipeline has been correctly converged in the corresponding pipeline slot. At this time, the server triggers the descending acquisition unit corresponding to the descending adjustment tendency. The descending acquisition unit is configured to start immediately after receiving the trigger signal and perform posture acquisition of the arm limb. Posture acquisition includes but is not limited to key information such as the position, angle, and degree of bending of the arm limb; then, based on the data collected by the descending acquisition unit, the server can further determine the first posture tendency of the corresponding arm limb. Therefore, the posture of the robotic arm can be adaptively adjusted based on subsequent steps.

[0030] It should be noted that when it is determined that the corresponding pipeline state is in a contracted state, that is, it can be determined that the dialysis pipeline has been contracted by the pipeline slot, then the corresponding dialysis treatment can be started for the patient. In order to improve the user experience for the patient and ensure that the patient undergoes dialysis treatment in a more comfortable posture, a corresponding descending collection unit can be provided on the robotic arm to collect the posture of the arm limb based on the descending collection unit, and the first posture inclination of the corresponding arm limb can be determined based on the collection result, so that in the subsequent process, the robotic arm can drive the arm limb to make corresponding posture adjustments based on the obtained first posture inclination.

[0031] Furthermore, in this embodiment, the above-mentioned “determining that the pipeline state is a convergent state, triggering the descending acquisition unit to collect the posture of the arm limb, and determining the first posture tendency of the corresponding arm limb based on the collection result” may also include the following steps: Triggering the descending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the slot end of the placement slot to acquire images of the arm limbs to obtain an upper view of the arm; Determine an inner mechanical region indicating an inner surface of the robot arm based on the upper arm view, and determine a remaining region other than the inner mechanical region in the upper arm view as an arm region; determining a palm region indicating a palm limb corresponding to the patient based on the arm region, and performing region segmentation on the arm region based on the palm region; In response to obtaining a segmented region based on the region segmentation, determining the segmented region as a finger region corresponding to a finger limb of the patient; In response to obtaining two segmented regions based on region segmentation, the segmented region having no connection relationship with the top view contour of the top view of the corresponding arm is defined as a finger region of a finger limb of the corresponding patient; In response to the contour similarity between the finger contour of the corresponding finger area and any preset contour in the retrieved preset comparison table being greater than a preset similarity threshold, the first posture tendency of the corresponding arm limb is determined to be a descending adjustment tendency.

[0032] For example, in this embodiment, the corresponding first posture tendency acquisition method can be implemented based on the following process: First, the server triggers the descending acquisition unit located on the top surface of the posture acquisition cavity and at the end of the slot corresponding to the placement slot. After receiving the trigger signal, the descending acquisition unit immediately starts and acquires images of the arm limbs, thereby obtaining a clear upper view of the arm. This step ensures the accuracy and timeliness of image acquisition, providing a reliable basis for subsequent analysis and processing; Next, based on the obtained upper view of the arm, the server can determine the inner mechanical area indicating the inner surface of the robotic arm (i.e., the surface area corresponding to the internal space of the robotic arm). Subsequently, in the upper view of the arm, the remaining area except the inner mechanical area is determined as the arm area. The precise division of this step is helpful for the subsequent further analysis of the arm limbs. Then, based on the determined arm region, the palm region indicating the corresponding patient's palm limb is further identified and determined, and the arm region is further segmented based on the position and shape characteristics of the palm region. This step can accurately divide the different parts of the arm and provide key information for the subsequent determination of the finger region. After the region is segmented, different responses can be made based on the segmentation results: If a segmented region is obtained based on the region segmentation, it indicates that only the finger region corresponding to the finger limb and the palm region corresponding to the palm limb exist in the corresponding upper view of the arm. In this case, the server can directly determine the segmented region as the finger region corresponding to the patient's finger limb; If two segmented regions are obtained based on the region segmentation, it indicates that the corresponding upper view of the arm includes a finger region corresponding to the finger limb, a palm region corresponding to the palm limb, and an arm region corresponding to the arm limb. At this time, by comparing the connection relationship between each segmented region and the upper view contour of the upper view of the arm, the segmented region that has no connection relationship with the upper view contour is determined as the finger region corresponding to the patient's finger limb. Here, since the corresponding upper view of the arm has an arm region corresponding to the arm limb, the corresponding arm region should have a connection relationship with the upper view contour, while the corresponding finger region will not have a connection relationship with the upper view contour. Based on this feature, the two can be distinguished accordingly. Finally, the server retrieves a preset comparison table, which stores a variety of preset finger contours. The server calculates and compares the contour similarity between the finger contour of the corresponding finger area and any preset contour in the preset comparison table. If the contour similarity is greater than the preset similarity threshold, the server determines that the first posture tendency of the corresponding arm limb is a downward adjustment tendency. This judgment result is of great significance for subsequent treatment operations and adjustments. It can be explained that although the shapes of the preset contours in the preset comparison table are different, they should all indicate a downward adjustment tendency. For example, when there is a preset contour corresponding to the thumb extending and the other fingers retracted, if the finger contour in the acquired upper view of the arm has the same or similar shape as the preset contour, it is determined that the patient wants to perform a corresponding downward posture adjustment.

[0033] In addition, based on the above content, it can be known that the patient can control the robotic arm based on his own needs, so that the robotic arm can adjust the posture of the arm limb under the patient's operation, so that the arm limb can be in a more comfortable state. In the actual process, since dialysis treatment generally lasts for a long time, the patient may be in a resting state due to physical fatigue, and thus will not adjust the posture of the arm limb from time to time, so that the arm limb is in the same posture for a long time, which may cause blood circulation in the arm limb and produce limb numbness. Therefore, in this embodiment, in order to eliminate the adverse factors brought about by this situation, it can be achieved based on the following method steps: In response to the contour similarity between the finger contour of the corresponding finger area and each preset contour in the retrieved preset comparison table being less than or equal to a preset similarity threshold, obtaining the image acquisition time of the upper view of the corresponding arm; Taking the image acquisition time as the starting point, controlling the descending acquisition unit to continuously acquire the posture of the arm limb for a preset acquisition time, and determining whether the finger contour of the corresponding finger area changes based on the acquisition result; In response to the finger contour not changing, the robotic arm is controlled to adjust its posture based on a preset adjustment mode.

[0034] For example, in this embodiment, the following implementation method can be specifically used to enable the corresponding patient's arm limb to perform corresponding posture adjustment from time to time to ensure that the arm limb is in a state of blood circulation: First, the server calculates the contour similarity between the finger contour of the corresponding finger area and each preset contour in the preset comparison table. If all calculated contour similarities are less than or equal to the preset similarity threshold, it means that the current finger contour does not match the preset contour, which means that the patient currently has no need to adjust the posture of descent. At this time, the next step is entered; Then, the server can obtain the image acquisition time of the upper view of the corresponding arm as the starting point, and control the descending acquisition unit to use this time as the starting point to continuously acquire the posture of the arm limb for a preset acquisition time. This step ensures that the server has enough time to observe the changes in the finger contour, providing sufficient data support for subsequent judgments; During the continuous collection process, the server analyzes in real time whether the finger contour of the corresponding finger area has changed based on the collection results. If the analysis finds that the finger contour has not changed, that is, it remains stable, the server controls the robot arm to adjust its posture according to the preset adjustment mode, such as adjusting upward, left, right or downward based on the current position; thereby helping patients to adjust their posture regularly and achieving the effect of passive movement of the arm limbs.

[0035] In step S103, the following contents are included: Determine that the arm limb is moved to a posture collection cavity connected to the placement slot, trigger the rising collection unit, left movement collection unit, and right movement collection unit corresponding to the rising adjustment tendency, left movement adjustment tendency, and right movement adjustment tendency respectively to perform posture collection on the arm limb, and determine the second posture tendency of the corresponding arm limb based on the collection result.

[0036] For example, in this embodiment, based on the foregoing content, it can be known that the first posture tendency of the arm limb can be obtained based on the descending acquisition unit, and the first posture tendency corresponds to the descending adjustment tendency, that is, the robotic arm is controlled to adjust in the descending direction; and here, the second posture tendency of the arm limb can be obtained based on the ascending acquisition unit, the left movement acquisition unit, and the right movement acquisition unit which are also arranged on the robotic arm to perform posture acquisition on the arm limb; it should be noted that the ascending acquisition unit corresponds to the ascending adjustment tendency, that is, the robotic arm is controlled to adjust in the ascending direction, the left movement acquisition unit corresponds to the left movement adjustment tendency, that is, the robotic arm is controlled to adjust in the left direction, and the right movement acquisition unit corresponds to the right movement adjustment tendency, that is, the robotic arm is controlled to adjust in the right direction; different acquisition units can be used to determine the adjustment tendency of the corresponding robotic arm in different directions, so that the robotic arm can perform multi-directional posture adjustment according to the needs of the patient, thereby improving the patient's user experience.

[0037] Furthermore, in this embodiment, the above-mentioned “determining that the arm limb is moved to a posture collection cavity connected to the placement slot, triggering the rising collection unit, the left movement collection unit, and the right movement collection unit corresponding to the rising adjustment tendency, the left movement adjustment tendency, and the right movement adjustment tendency respectively to collect the posture of the arm limb, and determining the second posture tendency of the corresponding arm limb based on the collection result” may also include the following steps: Obtaining a slot depth value corresponding to the placement slot, in response to the primary sensor value and the secondary sensor value outputted by the primary sensor and each secondary sensor being greater than the slot depth value, determining that the arm limb is moved to a posture collection cavity connected to the placement slot, and obtaining a current determination time; The ascending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the midpoint of the slot where the slot is placed, and the leftward-moving acquisition unit and the rightward-moving acquisition unit located on both sides of the posture acquisition cavity are determined as the second posture acquisition group; Triggering each acquisition unit in the second posture acquisition group to respectively acquire the distance of the arm limb based on the current determination time, and obtaining each standard value corresponding to the current determination time based on the distance acquisition; In response to the update value output by any acquisition unit in the second posture acquisition group at any update determination time after the current determination time being greater than the corresponding standard value, the adjustment tendency corresponding to the acquisition unit is determined as the second posture tendency of the corresponding arm limb.

[0038] For example, in this embodiment, the second posture tendency of the corresponding arm limb is determined based on the posture collection performed by the lifting collection unit, the left movement collection unit, and the right movement collection unit, which can be specifically implemented based on the following implementation method: First, the server can obtain the slot depth value of the corresponding placement slot in advance. This value represents the maximum depth that the slot can accommodate the arm limb. Furthermore, the server receives the sensor values ​​from the primary sensor and each secondary sensor in real time, and compares these sensor values ​​with the slot depth value. When all the sensor values ​​are greater than the slot depth value, it is determined that the arm limb has been completely moved from the placement slot to the posture collection cavity connected to the placement slot. At this time, the server can record this determination time as the current determination time to provide a time reference for subsequent distance collection. Then, according to the structure and layout of the posture acquisition cavity, the server can determine the rising acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the midpoint of the slot where the slot is placed, as well as the left-moving acquisition unit and the right-moving acquisition unit located on both sides of the posture acquisition cavity as the second posture acquisition group. This combination ensures that the arm and limb can be comprehensively collected from multiple angles and positions. Next, the server triggers each acquisition unit in the second posture acquisition group to simultaneously start distance acquisition of the arm limbs at the current determined time. During the acquisition process, each acquisition unit accurately measures the distance between the arm limb and the acquisition unit based on distance measurement technology, such as laser distance measurement, ultrasonic distance measurement, etc., and outputs the corresponding standard value. These standard values ​​reflect the static posture state of the arm limb at the current determined time; Finally, the server enters the dynamic monitoring stage. At any update determination time after the current determination time, the server receives and compares the update value output by each acquisition unit with the previous standard value in real time. If the update value output by any acquisition unit in the second posture acquisition group is greater than its corresponding standard value, it means that the arm or limb has displaced or changed its posture in the direction corresponding to the acquisition unit. At this time, the server can determine the adjustment tendency of the corresponding acquisition unit as the second posture tendency of the corresponding arm or limb, thereby providing accurate guidance for subsequent posture adjustments.

[0039] In step S104, the following steps are included: The robot arm is controlled to adjust its posture based on the first posture inclination and the second posture inclination respectively.

[0040] For example, in this embodiment, after posture acquisition is performed based on the above-mentioned acquisition units to obtain the corresponding first posture tendency and second posture tendency, the server can control the robotic arm to perform corresponding posture adjustment, so that the arm and limbs can be synchronously adjusted through the posture adjustment of the robotic arm, so that the patient's arm and limbs can be in a more comfortable posture, thereby improving the patient's user experience; it should be noted that, in this embodiment, posture adjustment based on the first posture tendency and the second posture tendency should not be understood as synchronously adjusting the posture of the robotic arm only after the first posture tendency and the second posture tendency are obtained at the same time, but the posture of the robotic arm can be adjusted when at least one of the first posture tendency and the second posture situation is obtained.

[0041] In addition, from the above content, it can be known that the patient can control the robotic arm to move synchronously by moving the arm limbs. In some cases, if the patient's arm limbs for dialysis treatment are inconvenient to move, the robotic arm can also be controlled based on the interface interaction based on the following method steps: A posture adjustment interface is created based on the dialysis display terminal, and the posture adjustment interface is divided based on the horizontal center point of the posture adjustment interface to obtain adjustment interaction areas corresponding to different adjustment tendencies located around the horizontal center point; Acquire adjustment buffers corresponding to the adjustment tendencies, and associate data between adjustment interaction areas and adjustment buffers corresponding to the same adjustment tendency; In response to the patient performing an adjustment interaction on any adjustment interaction area, the robotic arm is controlled to adjust the posture based on the adjustment interaction, and the adjustment interaction area is dynamically adjusted corresponding to the adjustment interaction.

[0042] For example, in this embodiment, the posture adjustment of the robot arm based on the interface interaction can be specifically performed based on the following methods: First, the server can create a posture adjustment interface on the dialysis display terminal, which is used to intuitively display the current posture state of the robotic arm and allow patients to make interactive adjustments. Furthermore, the server can finely divide the interface based on the horizontal center point of the posture adjustment interface to obtain adjustment interaction areas located around the horizontal center point, corresponding to different adjustment tendencies. The design of these adjustment interaction areas enables patients to easily identify and select the appropriate adjustment direction, thereby improving the convenience and accuracy of interaction. Then, the server obtains the adjustment buffers corresponding to the adjustment tendencies. These adjustment buffers are preset by the server to ensure that the robot arm can smoothly transition during the posture adjustment process to avoid sudden or violent displacements causing discomfort to the patient. The server associates these adjustment buffers with the adjustment interaction areas corresponding to the same adjustment tendency to ensure that the server can accurately identify and respond to the patient's adjustment intentions when the patient makes interactive adjustments. Next, the server can enter the interactive adjustment stage. In response to the patient's adjustment interaction on any adjustment interaction area, such as sliding, the server can immediately control the robot arm to adjust the posture based on the patient's adjustment interaction. During the adjustment process, the server will adjust the buffer zone to ensure that the displacement of the robot arm is smooth and meets the patient's expectations. At the same time, the server can also dynamically adjust the corresponding adjustment interaction of the adjustment interaction area. This means that as the posture of the robotic arm changes, the adjustment buffer area corresponding to the adjustment interaction area will also be adjusted accordingly, improving the intuitiveness and flexibility of the interaction.

[0043] like Figure 3 As shown, Figure 3 The corresponding posture adjustment interface is shown, and it can be seen that: Figure 3 It includes an adjustment interaction area A corresponding to the upward adjustment tendency, an adjustment interaction area B corresponding to the downward adjustment tendency, an adjustment interaction area C corresponding to the left adjustment tendency, and an adjustment interaction area D corresponding to the right adjustment tendency.

[0044] Further, in this embodiment, the above-mentioned “in response to the patient performing adjustment interaction in any adjustment interaction area, controlling the robot arm to adjust the posture based on the adjustment interaction, and dynamically adjusting the adjustment interaction area corresponding to the adjustment interaction” may also include the following steps: Two adjustment tendencies with opposing relationships are determined as the same adjustment association group; In response to the patient performing adjustment interaction on an adjustment interaction area corresponding to any adjustment tendency in any adjustment association group, the adjustment interaction area is determined as a first interaction area, and adjustment interaction areas corresponding to other adjustment tendencies in the same adjustment association group are determined as second interaction areas; Determine a vertical movement amount of the patient toward the first interaction area based on the adjustment interaction, and determine a movement ratio of the first interaction area corresponding to the vertical movement amount; Determining an adjustment value corresponding to the movement ratio in an adjustment buffer corresponding to the first interaction area, and controlling the robot arm to adjust the posture of the adjustment tendency corresponding to the first interaction area based on the obtained adjustment value; Determine that the robot arm completes posture adjustment, and perform interval interception on the adjustment buffer area corresponding to the first interaction area based on the adjustment value to obtain a high-value buffer area greater than the adjustment value and a low-value buffer area less than or equal to the adjustment value; Associating data for the first interaction area based on the high-value buffers; The low-value buffer area is overlapped with the adjustment buffer area corresponding to the second interaction area, and data association is performed on the second interaction area based on the updated adjustment buffer area.

[0045] For example, in this embodiment, the dynamic adjustment of the adjustment interaction area corresponding to the adjustment interaction can be implemented in the following manner: First, the server can perform correlation analysis on the adjustment tendencies and determine two adjustment tendencies with opposite relationships as the same adjustment association group. This step ensures that the logical relationship and mutual constraints between the adjustment tendencies are fully considered. For example, the corresponding downward adjustment tendency and upward adjustment tendency can be determined as the same adjustment association group, and the corresponding leftward adjustment tendency and rightward adjustment tendency can also be determined as the same adjustment association group. Next, in response to the patient's adjustment interaction on an adjustment interaction area corresponding to any adjustment tendency in any adjustment association group, the server immediately identifies and determines the adjustment interaction area as the first interaction area. At the same time, the server can also determine the adjustment interaction area corresponding to other adjustment tendencies in the same adjustment association group as the second interaction area. This step achieves accurate capture of the patient's adjustment intention and clarifies the direction for subsequent posture adjustment; Then, based on the patient's adjustment interaction, the server determines the vertical movement amount toward the first interaction area, and further calculates the movement ratio of the vertical movement amount to the first interaction area. This step provides an accurate numerical basis for subsequent posture adjustment by quantifying the patient's adjustment action; Subsequently, the server determines the corresponding adjustment value according to the movement ratio in the adjustment buffer area corresponding to the first interaction area. Based on this adjustment value, the server can control the robot arm to make a posture adjustment corresponding to the adjustment tendency of the first interaction area, thereby achieving refinement and real-time posture adjustment, and ensuring that the robot arm can accurately respond to the patient's adjustment needs; After the robot arm completes the posture adjustment, the server may further perform interval interception on the adjustment buffer space corresponding to the first interaction area to obtain a high-value buffer space greater than the adjustment value and a low-value buffer space less than or equal to the adjustment value; Finally, the server associates data with the first interaction area based on the high-value buffers, ensuring that the patient can continue to make fine adjustments based on the current posture state in subsequent adjustments. At the same time, the server can superimpose the low-value buffers with the adjustment buffers corresponding to the second interaction area, and associate data with the second interaction area based on the updated adjustment buffers. This step realizes the dynamic update and association between the adjustment buffers, and enhances the coordination and coherence between the adjustment tendencies.

[0046] It should be noted that, in this embodiment, for example, when the specific value of the adjustment buffer corresponding to any first interaction area is [0cm~10cm], the adjustment buffer corresponding to the second interaction area should be [-10cm~0], and when the patient's movement proportion in the first interaction area is 50%, it can be determined that the corresponding robot arm needs to perform a posture adjustment based on 5cm. At this time, the server can determine the adjustment value based on 5cm, and adjust the above-mentioned adjustment buffer based on 5cm to obtain a high-value buffer corresponding to the first interaction area and a low-value buffer corresponding to the second interaction area, wherein the specific value of the high-value buffer is [5cm~10cm], and the specific value of the low-value buffer is [-10cm~5cm]. Since the area corresponding to the first interaction area and the second interaction area has no occurrence area, therefore, when the patient needs to adjust the corresponding first interaction area again, for example, the posture adjustment is performed based on 5cm again, then the patient needs to perform a corresponding 100% movement proportion in the first interaction area. Compared with the first interaction area that has not been updated, the movement proportion has been increased, that is, the vertical movement amount has been increased.

[0047] Therefore, through the above scheme, the corresponding interactive area can be updated in real time based on the posture adjustment performed by the patient, so as to achieve buffering for the posture adjustment, improve the patient's controllability of the posture adjustment, and further improve the convenience of cold therapy patients.

[0048] In addition, it can be explained that, since the corresponding dialysate needs to be input into the patient's body through the patient's arm and limbs through the dialysis line when the patient is undergoing dialysis treatment, each patient should have a corresponding dialysis treatment duration when undergoing the corresponding dialysis treatment. In this embodiment, in order to remind medical staff to pay attention to the dialysis situation in time based on the duration of the dialysis treatment, the following steps can be further included: Creating a dialysis display interface based on the dialysis display terminal, and filling the dialysis data of the corresponding patient into the dialysis display interface, wherein the dialysis data includes the duration of dialysis and the standard physiological index interval of the corresponding patient; Based on the sum of the start dialysis time and the dialysis duration of the corresponding patient, the end dialysis time of the corresponding patient is obtained, and the end dialysis time is reduced by the corresponding preset reduction time to obtain the warning dialysis time; Based on the physiological acquisition unit, the patient's physiological data are collected to obtain real-time physiological index values; In response to reaching the warning dialysis time, sending a first warning signal to the medical care management terminal; In response to the real-time physiological indicator value being outside the standard physiological indicator range, a second warning signal is sent to the medical management end.

[0049] For example, in this embodiment, the reminder of the dialysis situation can be implemented based on the following specific implementation methods: First, the server can create an intuitive and easy-to-use dialysis display interface based on the dialysis display terminal, which is designed to comprehensively display the patient's dialysis data. Furthermore, the server can accurately fill the dialysis data of the corresponding patient, including the duration of dialysis and the standard physiological index interval determined according to the patient's condition and treatment plan, into the dialysis display interface, thereby realizing the visualization of the corresponding dialysis data; Then, the server accurately obtains the patient's end dialysis time based on the sum of the patient's start dialysis time and dialysis duration. In order to further improve safety, the server can also reduce the end dialysis time by a preset reduction time to obtain a warning dialysis time. This step enables the server to issue a warning in advance before the end of dialysis, providing medical staff with sufficient preparation time to deal with possible abnormal situations.

[0050] Next, the server uses the physiological acquisition unit to collect real-time physiological data from the patient and obtain the patient's real-time physiological indicator values. This step ensures that the server can grasp the patient's physiological state in real time and provides a reliable data basis for subsequent early warning and intervention.

[0051] Then, finally, it can enter the early warning stage. When the early warning dialysis time is reached, the server immediately sends the first early warning signal to the medical management end, reminding medical staff that the dialysis is about to end and to make corresponding preparations. At the same time, the server can also monitor the patient's real-time physiological indicator values ​​in real time. Once it is found that the real-time physiological indicator values ​​exceed the standard physiological indicator range, the server immediately sends the second early warning signal to the medical management end, prompting medical staff to pay attention to and deal with the patient's abnormal physiological state in time.

[0052] It can be explained that, in this embodiment, the medical management terminal can be understood as a terminal with data processing functions, such as a mobile phone or a computer, and specifically, the medical management terminal should be used by medical staff to facilitate medical staff to obtain corresponding warning information in a timely manner.

[0053] In summary, this embodiment achieves accurate recognition and automatic adjustment of the arm and limb posture of patients undergoing dialysis treatment, and brings significant beneficial effects: First, the state of the dialysis tube connected to the arm limb is identified through the tube convergence unit, which can determine the state of the dialysis tube in real time, providing an accurate premise for subsequent posture acquisition and adjustment. When the tube state is confirmed to be a convergence state, the server immediately triggers the descending acquisition unit corresponding to the descending adjustment tendency to perform posture acquisition, ensuring the stable placement of the arm limb in the initial state and the accurate identification of the corresponding descending adjustment tendency, effectively avoiding problems such as dialysis tube falling off or patient discomfort caused by inaccurate posture; Secondly, when the arm is moved into the posture acquisition cavity, the server can simultaneously trigger the ascending acquisition unit, the leftward acquisition unit, and the rightward acquisition unit to perform multi-dimensional posture acquisition, and comprehensively obtain the actual posture information of the arm. This multi-dimensional acquisition method not only improves the accuracy of posture recognition, but also can timely detect and correct the slight movement of the arm during the dialysis process, ensuring the continuous stability and effectiveness of dialysis treatment. Finally, based on the precise first posture inclination and second posture inclination, the server can control the robotic arm to perform precise posture adjustment so that the arm limbs can remain in the optimal treatment position. This automated posture adjustment not only reduces the burden on medical staff and improves work efficiency, but also can make personalized adjustments based on the patient's actual situation, thereby improving the patient's treatment experience and comfort. At the same time, precise posture adjustment can also effectively avoid complications during dialysis, such as pipeline blockage, blood reflux, etc., further ensuring the safety and health of patients.

[0054] Figure 4 FIG. 4 shows a system block diagram of an intelligent hemodialysis data monitoring system according to another embodiment of the present invention. Figure 4 As shown, the system includes: A state recognition module is configured to determine that the arm limb of the corresponding patient is placed in a placement slot located inside the robotic arm, trigger the pipeline converging unit to perform state recognition on the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline; A first acquisition module is configured to determine that the pipeline state is a convergence state, trigger a descending acquisition unit corresponding to the descending adjustment tendency to acquire the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result; The second acquisition module is configured to determine that the arm limb is moved to a posture acquisition cavity connected to the placement slot, trigger the rising acquisition unit, the left shift acquisition unit, and the right shift acquisition unit corresponding to the rising adjustment tendency, the left shift adjustment tendency, and the right shift adjustment tendency respectively to perform posture acquisition on the arm limb, and determine a second posture tendency of the corresponding arm limb based on the acquisition result; The posture adjustment module is configured to control the robot arm to adjust the posture based on the first posture inclination and the second posture inclination respectively.

[0055] In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system or other device. Various general purpose systems can also be used together with the examples of the present invention. According to the above description, it is obvious that the structure required for constructing such systems. In addition, the present invention is not directed to any specific programming language either. It should be understood that various programming languages ​​can be utilized to implement the content of the present invention described herein, and the above description of specific languages ​​is for the purpose of disclosing the preferred embodiment of the present invention.

[0056] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0057] Similarly, it should be understood that in order to streamline the present disclosure and aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof.

[0058] Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in the devices described in the embodiment, or alternatively may be located in one or more devices different from the devices in the examples. The modules in the foregoing examples may be combined into one module or may be divided into multiple submodules.

[0059] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and furthermore may be divided into a plurality of submodules or subunits or subcomponents.

[0060] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present invention and to form different embodiments.

[0061] In addition, some of the embodiments are described herein as methods or combinations of method elements that can be implemented by a processor of a computer system or by other devices that perform the functions. Therefore, a processor with necessary instructions for implementing the method or method elements forms a device for implementing the method or method elements. In addition, the elements described herein of the device embodiments are examples of devices for implementing the functions performed by the elements for the purpose of implementing the invention.

[0062] As used herein, unless otherwise specified, the use of ordinal numbers "first," "second," "third," etc. to describe common objects merely indicates that different instances of similar objects are involved, and is not intended to imply that the objects so described must have a given order in time, space, order, or in any other manner.

[0063] Although the present invention has been described according to a limited number of embodiments, it will be apparent to those skilled in the art, with the benefit of the above description, that other embodiments may be envisioned within the scope of the invention thus described. In addition, it should be noted that the language used in this specification is primarily selected for readability and instructional purposes, rather than for explaining or limiting the subject matter of the present invention.

Claims

1. An intelligent hemodialysis data monitoring method, characterized in that: The following steps are involved: Determine that the arm limb of the corresponding patient is placed in the placement slot inside the robotic arm, trigger the pipeline convergence unit to identify the state of the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline; Determine that the pipeline state is a convergence state, trigger the descending acquisition unit corresponding to the descending adjustment tendency to collect the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result; Determine that the arm limb is moved to a posture collection cavity connected to the placement slot, trigger the rising collection unit, the left-moving collection unit, and the right-moving collection unit corresponding to the rising adjustment tendency, the left-moving adjustment tendency, and the right-moving adjustment tendency respectively to collect the posture of the arm limb, and determine the second posture tendency of the corresponding arm limb based on the collection result; The robot arm is controlled to adjust its posture based on the first posture inclination and the second posture inclination respectively.

2. The intelligent hemodialysis data monitoring method according to claim 1, characterized in that: Determine that the arm limb of the corresponding patient is placed in the placement slot inside the robotic arm, trigger the pipeline convergence unit to identify the state of the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline, including: Determine that the primary sensor value output based on distance collection of the primary sensor located at the bottom center of the placement slot is less than or equal to a preset placement threshold, and control the secondary sensors corresponding to the preset total number of deployments located on both sides of the primary sensor and arranged along the extension direction of the robotic arm to perform distance collection; In response to a secondary sensing value outputted by any secondary sensor based on distance acquisition being less than a preset placement threshold, the secondary sensor is determined to have a valid attribute, and a valid deployment quantity corresponding to all valid attributes is determined; Obtaining an effective ratio of the effective deployment quantity to the preset deployment total number, and determining that the arm limb of the corresponding patient is placed in the placement slot of the robotic arm based on the effective ratio being greater than or equal to a preset deployment threshold; Obtaining the dialysis number of the corresponding robotic arm, and determining the dialysis space where the robotic arm is located in the indoor planning diagram of the corresponding dialysis room based on the dialysis number; The pipeline convergence unit located on the indoor ceiling of the dialysis room and corresponding to the dialysis space is controlled to collect images of the dialysis space, and based on the obtained spatial upper view, the state of the dialysis pipeline connected to the arm limb is identified to determine the pipeline state corresponding to the dialysis pipeline.

3. The intelligent hemodialysis data monitoring method according to claim 2, characterized in that: Based on the obtained spatial upper view, the state of the dialysis tube connected to the arm limb is identified to determine the tube state corresponding to the dialysis tube, including: Based on the spatial upper view, an outer mechanical region indicating the outer surface of the mechanical arm and a pipeline region indicating the dialysis pipeline connected to the arm limb are determined, and each image pixel point constituting the outer mechanical region is determined as a mechanical pixel group, and each image pixel point constituting the pipeline region is determined as a pipeline pixel group; All image pixel points in the mechanical pixel group that have the same pixel value as the slot pixel points corresponding to the pipeline slot located on the outer surface of the robot arm are divided into the slot pixel group, and adjacent pixels of each image pixel point in the slot pixel group are connected to obtain a slot area corresponding to the pipeline slot; A slot contour of the corresponding slot area and a pipeline contour of the corresponding pipeline area are obtained, and when the slot contour surrounds the pipeline contour, it is determined that the pipeline state corresponding to the dialysis pipeline is a converged state.

4. The intelligent hemodialysis data monitoring method according to claim 1, characterized in that: Determine that the pipeline state is a convergence state, trigger the descending acquisition unit to collect the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the collection result, including: Triggering the descending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the slot end of the placement slot to acquire images of the arm limbs to obtain an upper view of the arm; Determine an inner mechanical region indicating an inner surface of the robot arm based on the upper arm view, and determine a remaining region other than the inner mechanical region in the upper arm view as an arm region; determining a palm region indicating a palm limb corresponding to the patient based on the arm region, and performing region segmentation on the arm region based on the palm region; In response to obtaining a segmented region based on the region segmentation, determining the segmented region as a finger region corresponding to a finger limb of the patient; In response to obtaining two segmented regions based on region segmentation, the segmented region having no connection relationship with the top view contour of the top view of the corresponding arm is defined as a finger region of a finger limb of the corresponding patient; In response to the contour similarity between the finger contour of the corresponding finger area and any preset contour in the retrieved preset comparison table being greater than a preset similarity threshold, the first posture tendency of the corresponding arm limb is determined to be a descending adjustment tendency.

5. The intelligent hemodialysis data monitoring method according to claim 4, characterized in that: The method further comprises: In response to the contour similarity between the finger contour of the corresponding finger area and each preset contour in the retrieved preset comparison table being less than or equal to a preset similarity threshold, obtaining the image acquisition time of the upper view of the corresponding arm; Taking the image acquisition time as the starting point, controlling the descending acquisition unit to continuously acquire the posture of the arm limb for a preset acquisition time, and determining whether the finger contour of the corresponding finger area changes based on the acquisition result; In response to the finger contour not changing, the robotic arm is controlled to adjust its posture based on a preset adjustment mode.

6. The intelligent hemodialysis data monitoring method according to claim 2, characterized in that: Determining that the arm limb is moved to a posture collection cavity connected to the placement slot, triggering an ascending collection unit, a leftward collection unit, and a rightward collection unit corresponding to the ascending adjustment tendency, the leftward adjustment tendency, and the rightward adjustment tendency to collect postures of the arm limb, and determining a second posture tendency of the corresponding arm limb based on the collection results, including: Obtaining a slot depth value corresponding to the placement slot, in response to the primary sensor value and the secondary sensor value outputted by the primary sensor and each secondary sensor being greater than the slot depth value, determining that the arm limb is moved to a posture collection cavity connected to the placement slot, and obtaining a current determination time; The ascending acquisition unit located on the top surface of the posture acquisition cavity and corresponding to the midpoint of the slot where the slot is placed, and the leftward-moving acquisition unit and the rightward-moving acquisition unit located on both sides of the posture acquisition cavity are determined as the second posture acquisition group; Triggering each acquisition unit in the second posture acquisition group to respectively acquire the distance of the arm limb based on the current determination time, and obtaining each standard value corresponding to the current determination time based on the distance acquisition; In response to the update value output by any acquisition unit in the second posture acquisition group at any update determination time after the current determination time being greater than the corresponding standard value, the adjustment tendency corresponding to the acquisition unit is determined as the second posture tendency of the corresponding arm limb.

7. The intelligent hemodialysis data monitoring method according to claim 1, characterized in that: The method further comprises: A posture adjustment interface is created based on the dialysis display terminal, and the posture adjustment interface is divided based on the horizontal center point of the posture adjustment interface to obtain adjustment interaction areas corresponding to different adjustment tendencies located around the horizontal center point; Acquire adjustment buffers corresponding to the adjustment tendencies, and associate data between adjustment interaction areas and adjustment buffers corresponding to the same adjustment tendency; In response to the patient performing an adjustment interaction on any adjustment interaction area, the robotic arm is controlled to adjust the posture based on the adjustment interaction, and the adjustment interaction area is dynamically adjusted corresponding to the adjustment interaction.

8. The intelligent hemodialysis data monitoring method according to claim 7, characterized in that: In response to the patient performing an adjustment interaction in any adjustment interaction area, the robot arm is controlled to perform posture adjustment based on the adjustment interaction, and the adjustment interaction area is dynamically adjusted corresponding to the adjustment interaction, including: Two adjustment tendencies with opposing relationships are determined as the same adjustment association group; In response to the patient performing adjustment interaction on an adjustment interaction area corresponding to any adjustment tendency in any adjustment association group, the adjustment interaction area is determined as a first interaction area, and adjustment interaction areas corresponding to other adjustment tendencies in the same adjustment association group are determined as second interaction areas; Determine a vertical movement amount of the patient toward the first interaction area based on the adjustment interaction, and determine a movement ratio of the first interaction area corresponding to the vertical movement amount; Determining an adjustment value corresponding to the movement ratio in an adjustment buffer corresponding to the first interaction area, and controlling the robot arm to adjust the posture of the adjustment tendency corresponding to the first interaction area based on the obtained adjustment value; Determine that the robot arm completes posture adjustment, and perform interval interception on the adjustment buffer area corresponding to the first interaction area based on the adjustment value to obtain a high-value buffer area greater than the adjustment value and a low-value buffer area less than or equal to the adjustment value; Associating data for the first interaction area based on the high-value buffers; The low-value buffer area is overlapped with the adjustment buffer area corresponding to the second interaction area, and data association is performed on the second interaction area based on the updated adjustment buffer area.

9. The intelligent hemodialysis data monitoring method according to claim 1, characterized in that: The method further comprises: Creating a dialysis display interface based on the dialysis display terminal, and filling the dialysis data of the corresponding patient into the dialysis display interface, wherein the dialysis data includes the duration of dialysis and the standard physiological index interval of the corresponding patient; Based on the sum of the start dialysis time and the dialysis duration of the corresponding patient, the end dialysis time of the corresponding patient is obtained, and the end dialysis time is reduced by the corresponding preset reduction time to obtain the warning dialysis time; Based on the physiological acquisition unit, the patient's physiological data are collected to obtain real-time physiological index values; In response to reaching the warning dialysis time, sending a first warning signal to the medical care management terminal; In response to the real-time physiological indicator value being outside the standard physiological indicator range, a second warning signal is sent to the medical management end.

10. An intelligent hemodialysis data monitoring system, characterized in that: include: A state recognition module is configured to determine that the arm limb of the corresponding patient is placed in a placement slot located inside the robotic arm, trigger the pipeline converging unit to perform state recognition on the dialysis pipeline connected to the arm limb, and determine the pipeline state corresponding to the dialysis pipeline; A first acquisition module is configured to determine that the pipeline state is a convergence state, trigger a descending acquisition unit corresponding to the descending adjustment tendency to acquire the posture of the arm limb, and determine the first posture tendency of the corresponding arm limb based on the acquisition result; The second acquisition module is configured to determine that the arm limb is moved to a posture acquisition cavity connected to the placement slot, trigger the rising acquisition unit, the left shift acquisition unit, and the right shift acquisition unit corresponding to the rising adjustment tendency, the left shift adjustment tendency, and the right shift adjustment tendency respectively to perform posture acquisition on the arm limb, and determine a second posture tendency of the corresponding arm limb based on the acquisition result; The posture adjustment module is configured to control the robot arm to adjust the posture based on the first posture inclination and the second posture inclination respectively.

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