A Visualization Manipulator for Cardiopulmonary Resuscitation

Abstract

The present invention discloses a visual robotic arm for cardiopulmonary resuscitation, which belongs to the field of medical device technology. A visual robotic arm for cardiopulmonary resuscitation includes a joint control arm assembly and a bionic palm. A cabinet is provided below the joint control arm assembly, and a main control chassis is provided inside the cabinet. A vital sign monitoring screen is provided on one side of the cabinet, and the vital sign monitoring screen is rotatably connected to the cabinet through a rotating shaft. In order to solve the problem that the existing chest compression is mostly achieved by manual compression, but long-term chest compression can make the rescuer fatigued, and the pressing force and pressing posture will change, thereby reducing the rescue efficiency, a flexible robotic arm is used in combination with a bionic palm to perform cardiopulmonary resuscitation compression operations on patients. The pressing force and frequency are adjusted in real time through pressure, displacement and other sensing elements to avoid the reduction of compression quality due to manual fatigue.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a visual robotic arm for cardiopulmonary resuscitation. Background Art

[0002] After the external chest compression method was proposed in 1960, it was believed that chest compression squeezed the heart between the sternum and the spine, causing an increase in ventricular pressure and the closure of the atrioventricular valve, thereby promoting blood flow to the pulmonary artery and aorta. When the compression was relaxed, the heart "relaxed" and filled again. This was the "heart pump mechanism". However, this concept was seriously challenged by the "thoracic pump mechanism" after 1980. The latter believed that when the chest was compressed, the intrathoracic pressure increased and was evenly transmitted to all the chambers and large blood vessels in the chest cavity. Since the arteries did not collapse, blood flowed from the chest cavity to the aorta. The blood flows to the periphery, while the pressure cannot be transmitted to the veins outside the chest due to the collapse of the veins and the obstruction of the one-way venous valves, that is, there is no blood reflux in the veins; when the compression is relaxed, the intrathoracic pressure decreases. When the intrathoracic pressure is lower than the venous pressure, the venous blood returns to the heart, filling the ventricles, and this cycle is repeated; regardless of the "heart pump mechanism" or the "thoracic pump mechanism", an effective artificial circulation can be established. The International Cardiopulmonary Resuscitation Guidelines emphasize continuous and effective chest compressions, which should be fast, powerful, and as uninterrupted as possible, because excessive interruptions in compressions will interrupt coronary and cerebral blood flow, significantly reducing the success rate of resuscitation.

[0003] Existing chest compressions are mostly performed manually, but prolonged chest compressions can cause the rescuer to become fatigued, and changes in compression force and posture may occur, leading to a decrease in rescue efficiency. Summary of the Invention

[0004] The purpose of the present invention is to provide a visual robotic arm for cardiopulmonary resuscitation, which uses a combination of a flexible robotic arm and a bionic palm to perform cardiopulmonary resuscitation compression operations on patients. Through pressure, displacement and other sensing elements, the compression intensity and frequency can be adjusted in real time to avoid the decline in compression quality caused by manual fatigue, which can solve the problems in the existing technology.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a visualization robotic arm for cardiopulmonary resuscitation, comprising a linkage arm assembly and a bionic palm, a cabinet frame is provided below the linkage arm assembly, a main control chassis is provided inside the cabinet frame, wherein a vital sign monitoring screen is provided on one side of the cabinet frame, and the vital sign monitoring screen is rotatably connected to the cabinet frame through a rotating shaft, a visual probe is provided on one side of the bottom of the linkage arm assembly, and a data port is provided on the other side of the bottom of the linkage arm assembly, the linkage arm assembly comprises a support arm, a swivel arm and a front swing arm, wherein the support arm is arranged as a three-section linkage structure, and the two ends of the swivel arm are rotatably connected to the support arm and the front swing arm respectively.

[0006] Furthermore, the front swing arm includes a crank arm, and a transfer sleeve is provided at the front end of the crank arm, and the transfer sleeve is rotatably connected to the crank arm, wherein a hydraulic component is provided inside the transfer sleeve, and the bionic palm is connected to the linkage arm component through the transfer sleeve.

[0007] Furthermore, the bionic palm includes four bionic fingers and a bionic thumb. A telescopic spring-loaded button cap is provided on the surface of the bionic palm. The telescopic spring-loaded button cap is connected to the bionic palm through a slot. A locking shaft is provided at one end of the bionic palm. The locking shaft is connected to the adapter sleeve shaft in combination. The front ends of the four bionic fingers and the bionic thumb are provided with motion sensing elements.

[0008] Furthermore, the bionic four fingers and the bionic thumb are internally provided with joint shafts, and rotating teeth are provided between the bionic thumb and the bionic palm, wherein the bionic thumb is rotationally connected to the bionic palm through the rotating teeth, and a chip component is provided inside the adapter sleeve shaft.

[0009] Furthermore, a micro motor is provided inside the bionic palm, and there are four micro motors. A pulley is provided on one side of the micro motor, and the pulley corresponds to the four bionic fingers. The pulley and the four bionic fingers are connected by a traction belt, and the telescopic spring button cap is electrically connected to the chip component.

[0010] Furthermore, the retractable spring-loaded button cap includes a pressure sensor element and a displacement sensor element. The pressure sensor element is used to monitor the depth and force of compression in real time. The compression depth for adults is 5-6 cm, avoiding complications caused by insufficient or excessive compression. During the first aid process, the sensor element can immediately prompt the rescuer to adjust the compression parameters, especially to maintain compression quality when fatigued or nervous.

[0011] The displacement sensor element directly quantifies the compression depth by measuring the displacement of the sternum, avoiding the error of traditional visual estimation;

[0012] Dynamic feedback: The sensor element can be integrated into the retractable spring button cap to display the compression depth data in real time, guiding the rescuer to adjust the pressure;

[0013] Threshold alarm: Triggers an alarm when compressions are too shallow (<5cm) or too deep (>6cm) to prevent complications such as ineffective compressions or rib fractures.

[0014] Furthermore, the visual probe includes an infrared body temperature module and a motion capture module, wherein the infrared body temperature module can quickly and contactlessly screen abnormal body temperature through infrared body temperature monitoring to prevent hypothermia from aggravating metabolic disorders;

[0015] During CPR or after resuscitation, real-time monitoring of signs of elevated body temperature is performed, and continuous temperature curves are used to assess the patient's metabolic status and resuscitation efficiency;

[0016] The dynamic capture module uses motion sensing elements to dynamically capture the three-dimensional motion trajectory of the rescuer's hand, ensuring that the compression direction is perpendicular to the sternum, reducing energy loss caused by angle deviation, and detecting irregular movements such as the rescuer's arm bending and body tilting.

[0017] Furthermore, the visual probe and motion sensing element interact with the vital signs monitoring screen. The motion sensing element integrates an accelerometer and a gyroscope to monitor the rescuer's hand angle, torso position and vertical pressing trajectory in real time, correct incorrect postures such as bent or tilted arm pressing, and construct a 3D model of the pressing action through the motion sensing element data to analyze the mechanical efficiency of the rescuer's action.

[0018] Furthermore, the vital sign monitoring screen interacts bidirectionally with the main control chassis, and the main control chassis interacts with the mobile terminal through the 5G module, wherein the mobile terminal includes a mobile phone APP and a handheld tablet.

[0019] Furthermore, the main control chassis includes a drive control unit, through which the main control chassis interacts with the bionic palm. The drive control unit is used to control the start-up control of the micro motor inside the bionic palm and the angle control of the linkage arm assembly.

[0020] Furthermore, the visual probe is also provided with a dust removal device, which performs intelligent dust removal by detecting the clarity of the visual probe, specifically including the following steps:

[0021] Collect visual inspection images from the visual probe, perform clarity analysis on the visual inspection images, and determine whether the working environment of the visual probe is qualified based on the analysis results;

[0022] If qualified, it is confirmed that dust removal is not necessary; if unqualified, it is confirmed that dust removal is necessary and the dust particle distribution parameters of the visual probe lens are tested;

[0023] According to the dust particle distribution parameters, multiple dust types are determined, and the visual impact effect index of each type of dust is obtained. Based on the visual impact effect index of each type of dust, the dust removal requirement coefficient of the visual probe is determined:

[0024]

[0025] Among them, F represents the dust removal requirement coefficient of the visual probe, Expressed as the dust particle distribution area, Expressed as the lens area of the visual probe, Expressed as the material dust absorption gain of the visual probe, It is represented by the number of dust types on the visual probe lens, i represents the i-th type of dust, Expressed as the visual impact effect index of the i-th type of dust, It is expressed as the aggregation intensity factor of the i-th type of dust, ln is expressed as the natural logarithm, Expressed as the cleanliness requirement index of the visual probe lens;

[0026] Determine the dust removal urgency based on the dust removal demand coefficient of the visual probe, and determine the dust removal efficiency requirement based on the dust removal urgency;

[0027] Select a dust removal method based on the dust removal efficiency requirements and the difficulty of removing various types of dust, and use dust removal equipment to remove dust from the visual probe based on the dust removal method.

[0028] Furthermore, the visual probe includes a front end and a rear end, the infrared body temperature module and the motion capture module are arranged in the front end, and a micro-motion component is arranged between the front end and the rear end to adjust the front and rear position of the visual probe. The micro-motion component includes a drive disk and a micro-motion motor, the drive disk is eccentrically arranged on the micro-motion motor, and a drive slot is opened on the drive disk. A drive block is provided at the front end, and the drive block is located in the drive slot. The micro-motor rotates to drive the front end to move forward and backward to change the distance between the infrared body temperature module and the motion capture module and the rescuer, thereby expanding the monitored field of view. A grating disk is also provided in the micro-motor to determine the rotation angle of the micro-motor, thereby accurately controlling the length of the visual probe.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] 1. This invention uses a flexible robotic arm in combination with a bionic hand to perform cardiopulmonary resuscitation compressions on patients. Through pressure, displacement, and other sensing elements, the compression force and frequency are adjusted in real time to avoid degradation of compression quality due to manual fatigue. The patient only needs to lie flat on the bed frame at a height within the detection range of the visual probe. The visual probe is used to detect the patient's external vital signs, including the patient's current body temperature and the distribution of external injuries. The visual probe can also monitor the movement trajectory and state of the bionic hand, providing supporting data for posture adjustment.

[0031] 2. This invention automatically adjusts compression force based on the patient's body shape or real-time physiological feedback to achieve individualized treatment. It also sets a pressure limit and triggers an alarm when compressions are too deep or too fast to prevent secondary injuries. The displacement sensor element can detect whether the chest cavity has fully rebounded to its initial position after compressions, preventing a decrease in cardiac output caused by partial rebound. The system records compression-rebound curves, analyzes energy transfer efficiency during the compression cycle, and optimizes rescue strategies. It can also identify compression quality degradation caused by a decrease in the rescuer's physical strength through amplitude attenuation or frequency fluctuations in acceleration signals.

[0032] 3. In the present invention, the motion sensing element assists in controlling the compression path and rebound speed of the joint control arm to adapt to the chest elasticity of patients of different body sizes. By combining acceleration data with feedback from the pressure sensing element, the impact force of the mechanical compression is adjusted in real time to avoid excessive compression and damage to internal organs. In the automatic compression device, the dynamic capture module provides real-time feedback on the chest displacement and the rescuer's action intention to achieve human-machine collaborative operation. Based on the dynamic capture data of the chest, including rebound speed and local deformation, the mechanical compression parameters are automatically adjusted to avoid excessive compression or uneven force. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is the overall front view of the present invention;

[0034] Figure 2 This is a structural diagram of the linkage arm assembly of the present invention;

[0035] Figure 3 Schematic diagram of the bionic palm structure of the present invention;

[0036] Figure 4 This is a schematic diagram of the telescopic spring button cap structure of the present invention;

[0037] Figure 5 Schematic diagram of the internal structure of the bionic palm of the present invention;

[0038] Figure 6 Schematic diagram of the internal structure of the micro-motion assembly of the present invention;

[0039] Figure 7 This is a flow chart of cardiopulmonary resuscitation sign monitoring of the present invention.

[0040] Figure: 1, cabinet frame; 2, main control chassis; 3, joint control arm assembly; 4, bionic palm; 5, mobile terminal; 101, vital sign monitoring screen; 201, drive control unit; 301, visual probe; 302, data port; 303, support arm; 304, swivel arm; 305, front swing arm; 306, micro-motion assembly; 3011, infrared body temperature module; 3012, motion capture module; 3013, front end; 3014, back end; 3061, drive Disc; 3062, micro motor; 3051, crank arm; 3052, adapter sleeve; 3053, hydraulic assembly; 401, bionic four fingers; 402, bionic thumb; 403, locking shaft; 404, telescopic spring button cap; 405, motion sensing element; 4011, joint shaft; 4012, micro motor; 4013, pulley; 4021, rotating gear; 4031, chip assembly; 4041, pressure sensing element; 4042, displacement sensing element. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] In order to solve the problem that the existing chest compression is mostly achieved by manual compression, but long-term chest compression will make the rescuer fatigued, and the compression force and compression posture will change, which will lead to a decrease in rescue efficiency; please refer to Figure 1-7 , this embodiment provides the following technical solutions:

[0043] A visualization robotic arm for cardiopulmonary resuscitation includes a joint control arm assembly 3 and a bionic palm 4. A cabinet frame 1 is provided below the joint control arm assembly 3, and a main control chassis 2 is provided inside the cabinet frame 1. A vital sign monitoring screen 101 is provided on one side of the cabinet frame 1, and the vital sign monitoring screen 101 is rotatably connected to the cabinet frame 1 through a rotating shaft. A visual probe 301 is provided on one side of the bottom of the joint control arm assembly 3, and a data port 302 is provided on the other side of the bottom of the joint control arm assembly 3. When in use, the patient is placed on the bed frame, and the height of the patient after lying flat needs to be within the detection range of the visual probe 301. The visual probe 301 is used to detect the patient's external vital signs, the patient's current body temperature status, and the distribution of external injuries. At the same time, the visual probe 301 can also monitor the movement trajectory and movement status of the bionic palm 4, providing support data for posture adjustment. The joint control arm assembly 3 includes The support arm 303, the rotary arm 304 and the front swing arm 305, wherein the support arm 303 is set to a three-section linkage structure, the two ends of the rotary arm 304 are rotatably connected to the support arm 303 and the front swing arm 305 respectively, the front swing arm 305 includes a curved arm 3051, the front end of the curved arm 3051 is provided with an adapter sleeve 3052, the adapter sleeve 3052 is rotatably connected to the curved arm 3051, wherein the interior of the adapter sleeve 3052 is provided with a hydraulic component 3053, the bionic palm 4 is connected to the joint control arm component 3 through the adapter sleeve 3052, and the cardiopulmonary resuscitation compression operation is performed on the patient by using the combination of the joint control arm component 3 and the bionic palm 4. The compression intensity and frequency are adjusted in real time through pressure, displacement and other sensing elements to avoid the decline in compression quality caused by manual fatigue, thereby solving the problems of human fatigue, irregular operation and monitoring blind spots in traditional CPR;

[0044] In one embodiment, the visual probe 301 includes a front end 3013 and a rear end 3014. The infrared body temperature module 3011 and the motion capture module 3012 are disposed within the front end 3013. A micro-motion assembly 306 is disposed between the front end 3013 and the rear end 3014 to adjust the front-to-back position of the visual probe 301. The micro-motion assembly 306 includes a drive disk 3061 and a micro-motor 3062. The drive disk 3061 and the micro-motor 3062 are eccentrically disposed. The drive disk 3061 defines a drive slot located on a sidewall of the drive disk 3061 and along the edge of the drive disk 3061. A drive block is disposed on the front end 3013 and is located within the drive slot. The micro-motor 3062 rotates to drive the front end 3013 to move forward and backward, thereby changing the distance between the infrared body temperature module 3011 and the motion capture module 3012 and the rescuer, thereby expanding the monitored field of view.

[0045] In this embodiment, at least two limit bars extend from the front end 3013 , and a limit groove is provided inside the rear end 3014 . The limit bars are slidably connected inside the rear end 3014 to ensure a sliding connection between the front end 3013 and the rear end 3014 .

[0046] In this embodiment, a bellows is provided between the front end 3013 and the rear end 3014 to prevent dust from entering between the front end 3013 and the rear end 3014 and to maintain cleanliness between the front end 3013 and the rear end 3014 .

[0047] In this embodiment, a grating disk is further provided in the micro-motor 3062 to determine the rotation angle of the micro-motor 3062 , thereby precisely controlling the length of the visual probe 301 .

[0048] The beneficial effect of the above technical solution is: when the rescuer is too large, the distance between the front end 3013 and the rear end 3014 is adjusted through the micro-motion component 306 to adjust the length of the visual probe 301, and then adjust the distance between the infrared body temperature module 3011 and the dynamic capture module 3012 in the visual probe 301 and the rescuer, and adjust the monitoring field of view between the visual probe 301 and the rescuer to adapt to rescuers of different sizes.

[0049] The bionic palm 4 includes four bionic fingers 401 and a bionic thumb 402. A telescopic elastic button cap 404 is provided on the surface of the bionic palm 4. The telescopic elastic button cap 404 is connected to the bionic palm 4 through a card slot. A locking shaft 403 is provided at one end of the bionic palm 4. The locking shaft 403 is combined with the adapter sleeve 3052. The front ends of the bionic four fingers 401 and the bionic thumb 402 are both provided with motion sensing elements 405. The interiors of the bionic four fingers 401 and the bionic thumb 402 are both provided with joint rotating shafts 4011. A rotating gear 4021 is provided between the bionic thumb 402 and the bionic palm 4. The over-rotating gear 4021 is rotationally connected to the bionic palm 4. The adapter sleeve 3052 is provided with a chip assembly 4031 inside. The bionic palm 4 is provided with four micro-motors 4012. A pulley 4013 is provided on one side of the micro-motors 4012. The pulley 4013 corresponds to the four bionic fingers 401. The rotation of the pulley 4013 can achieve the tightening and releasing operation of the traction belt, thereby achieving the bending and stretching movement of the four fingers. The pulley 4013 and the bionic four fingers 401 are connected by the traction belt. The telescopic spring button cap 404 is electrically connected to the chip assembly 4031.

[0050] The telescopic spring button cap 404 includes a pressure sensing element 4041 and a displacement sensing element 4042. The pressure sensing element 4041 is used to monitor the depth and force of compression in real time. The compression depth for adults is 5-6 cm to avoid complications caused by insufficient or excessive compression. During the first aid process, the sensing element can immediately prompt the rescuer to adjust the compression parameters, especially to maintain the compression quality under fatigue or tension. The interior of the telescopic spring button cap 404 integrates the pressure sensing element 4041 and the displacement sensing element 4042. When performing chest compression operations through the bionic palm 4, the telescopic spring button cap 4041 is located in the palm area. When the button cap 404 is pressed, it contacts the patient's chest. Two sets of sensor elements automatically adjust the compression force according to the patient's body shape or real-time physiological feedback, achieving individualized treatment. An upper limit for pressure is set, and an alarm is triggered when the compression is too deep or too fast to prevent secondary injury. The displacement sensor element 4042 can detect whether the chest has completely rebounded to its initial position after compression, avoiding a decrease in cardiac output caused by partial rebound. The compression-rebound curve is recorded, and the energy transfer efficiency during the compression cycle is analyzed to optimize the rescue strategy. The amplitude attenuation or frequency fluctuation of the acceleration signal can be used to identify the deterioration of compression quality caused by the rescuer's physical decline.

[0051] The displacement sensor element 4042 directly quantifies the compression depth by measuring the displacement of the sternum, thus avoiding the error of traditional visual estimation.

[0052] Dynamic feedback: The sensor element can be integrated into the retractable spring button cap 404 to display the compression depth data in real time, guiding the rescuer to adjust the pressure;

[0053] Threshold alarm: triggers an alarm when the compression is too shallow (<5cm) or too deep (>6cm), preventing complications such as ineffective compression or rib fractures;

[0054] The visual probe 301 includes an infrared body temperature module 3011 and a motion capture module 3012. The infrared body temperature module 3011 can quickly and contactlessly screen abnormal body temperatures through infrared body temperature monitoring to prevent hypothermia from exacerbating metabolic disorders.

[0055] During CPR or after resuscitation, real-time monitoring of signs of elevated body temperature is performed, and continuous temperature curves are used to assess the patient's metabolic status and resuscitation efficiency;

[0056] The motion capture module 3012 uses the motion sensor element 405 to dynamically capture the three-dimensional motion trajectory of the rescuer's hand, ensuring that the compression direction is perpendicular to the sternum, reducing energy loss caused by angle deviation, and detecting irregular movements such as bending the rescuer's arm and tilting the body;

[0057] The visual probe 301 and the motion sensor element 405 interact with the vital signs monitoring screen 101. The motion sensor element 405 integrates an accelerometer and a gyroscope to monitor the rescuer's hand angle, torso position, and vertical compression trajectory in real time, correcting incorrect compression postures such as bent or tilted arms. A 3D model of the compression action is constructed using the motion sensor data to analyze the mechanical efficiency of the rescuer's action.

[0058] The vital sign monitoring screen 101 interacts with the main control chassis 2 in a two-way manner, guiding non-professionals in temporary operations through a visual interface. The main control chassis 2 interacts with the mobile terminal 5 through a 5G module, wherein the mobile terminal 5 includes a mobile phone APP and a handheld tablet, enabling experts to remotely control the robotic arm through a low-latency network to support emergency treatment in remote areas. The main control chassis 2 includes a drive control unit 201, and the main control chassis 2 interacts with the bionic palm 4 through the drive control unit 201. The drive control unit 201 is used to control the start control of the micro motor 4012 inside the bionic palm 4 and the angle control of the inter-control arm assembly 3.

[0059] In one embodiment, the visual probe 301 is further provided with a dust removal device, which performs intelligent dust removal by detecting the clarity of the visual probe 301, specifically including the following steps:

[0060] Collecting visual inspection images of the visual probe 301, performing clarity analysis on the visual inspection images, and determining whether the working environment of the visual probe 301 is qualified based on the analysis results;

[0061] If qualified, it is confirmed that dust removal is not required. If unqualified, it is confirmed that dust removal is required and the dust particle distribution parameters of the visual probe 301 lens are tested;

[0062] According to the dust particle distribution parameters, multiple dust types are determined, and the visual impact effect index of each type of dust is obtained. According to the visual impact effect index of each type of dust, the dust removal requirement coefficient of the visual probe 301 is determined:

[0063]

[0064] Wherein, F represents the dust removal requirement coefficient of the visual probe 301, Expressed as the dust particle distribution area, It is represented by the lens area of the visual probe 301, It is expressed as the material dust absorption gain of the visual probe 301, It is represented by the number of dust types on the lens of the visual probe 301, i represents the i-th type of dust, Expressed as the visual impact effect index of the i-th type of dust, It is expressed as the aggregation intensity factor of the i-th type of dust, ln is expressed as the natural logarithm, It is expressed as the cleanliness requirement index of the vision probe 301 lens;

[0065] Determine the dust removal urgency based on the dust removal requirement coefficient of the visual probe 301, and determine the dust removal efficiency requirement based on the dust removal urgency;

[0066] A dust removal method is selected based on the dust removal efficiency requirements and the difficulty of removing various types of dust, and the visual probe 301 is dusted using dust removal equipment based on the dust removal method.

[0067] In this embodiment, the dust removal requirement coefficient is expressed as a coefficient used to describe the urgency of the dust removal requirement for the visual probe;

[0068] In this embodiment, the material dust absorption gain is expressed as the positive gain of the material of the visual probe lens for dust absorption;

[0069] In this embodiment, the visual impact effect index is expressed as the impact index of each type of dust on the visual normal effect when the visual probe performs image acquisition;

[0070] In this embodiment, the aggregation intensity factor is expressed as a factor describing the intensity trend of the accumulation of various types of dust as the number increases over time;

[0071] In this embodiment, the cleanliness requirement index is expressed as the basic requirement for cleanliness for ensuring the normal operation of the visual probe;

[0072] In this embodiment, the dust removal methods include but are not limited to: dust adsorption, wet dust removal, electrostatic dust removal, etc.

[0073] The working principle of the above technical solution is: before the visual probe 301 works, the clarity of the recently collected images of the visual probe 301 is first analyzed by the built-in processor to determine whether the collected images of the visual probe 301 are qualified, thereby judging whether there is dust accumulation on the lens of the visual probe 301 and whether the clarity has deteriorated due to dust accumulation. Then, the urgency of dust removal is calculated by collecting the distribution of dust, thereby determining the dust removal timing and dust removal efficiency requirements. The dust removal method is selected based on the dust removal efficiency requirements, which can not only maximize the dust removal effect but also meet the timeliness requirements of dust removal.

[0074] The beneficial effect of the above technical solution is: by calculating the dust removal requirement coefficient of the visual probe 301, the urgency and method of dust removal can be accurately evaluated based on the dust distribution on the lens of the visual probe 301, thereby achieving accurate and targeted dust removal work and ensuring dust removal efficiency and stability.

[0075] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0076] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that various changes, modifications, substitutions, and alterations can be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. A visual robotic arm for cardiopulmonary resuscitation, characterized in that: The invention comprises a joint control arm assembly (3) and a bionic palm (4), wherein a cabinet (1) is provided below the joint control arm assembly (3), and a main control box (2) is provided inside the cabinet (1), wherein a vital sign monitoring screen (101) is provided on one side of the cabinet (1), and the vital sign monitoring screen (101) is rotatably connected to the cabinet (1) via a rotating shaft, a visual probe (301) is provided on one side of the bottom of the joint control arm assembly (3), and a data port (302) is provided on the other side of the bottom of the joint control arm assembly (3), and the joint control arm assembly (3) comprises a support arm (303), a slewing arm (304) and a front swing arm (305), wherein the support arm (303) is configured as a three-stage linkage structure, and the two ends of the rotary arm (304) are rotatably connected to the support arm (303) and the front swing arm (305), respectively. The front swing arm (305) includes a crank arm (3051), and a transfer sleeve (3052) is provided at the front end of the crank arm (3051). The transfer sleeve (3052) is rotatably connected to the crank arm (3051), wherein a hydraulic assembly (3053) is provided inside the transfer sleeve (3052), and the bionic palm (4) is connected to the linkage arm assembly (3) via the transfer sleeve (3052);The bionic palm (4) comprises four bionic fingers (401) and a bionic thumb (402); a telescopic elastic button cap (404) is provided on the surface of the bionic palm (4); the telescopic elastic button cap (404) is connected to the bionic palm (4) via a slot; a locking shaft (403) is provided at one end of the bionic palm (4); the locking shaft (403) is combined and connected with an adapter sleeve shaft (3052); the four bionic fingers (401) and the bionic thumb (402) are The front ends of the bionic four fingers (401) and the bionic thumb (402) are each provided with a joint shaft (4011), and a rotating gear (4021) is provided between the bionic thumb (402) and the bionic palm (4), wherein the bionic thumb (402) is rotatably connected to the bionic palm (4) via the rotating gear (4021), and the interior of the adapter sleeve (3052) is provided with a chip assembly (4011). 31), a micro motor (4012) is provided inside the bionic palm (4), and there are four micro motors (4012). A pulley (4013) is provided on one side of the micro motor (4012), and the pulley (4013) corresponds to the bionic four fingers (401), wherein the pulley (4013) and the bionic four fingers (401) are connected by a traction belt, and the telescopic elastic button cap (404) is electrically connected to the chip component (4031), and the telescopic elastic button cap (404) includes a pressure sensing element (4041) and a displacement sensing element (4042), wherein the pressure sensing element (4041) is used to monitor the depth and force of compression in real time, and the compression depth for adults is 5-6 cm. During the first aid process, the pressure sensing element (4041) and the displacement sensing element (4042) immediately prompt the rescuer to adjust the compression parameters to maintain the compression quality under fatigue or tension; The displacement sensor element (4042) measures the displacement of the sternum to quantify the compression depth, thus avoiding the error of traditional naked eye estimation; Dynamic feedback: the sensor element can be integrated into the telescopic spring button cap (404) to display the pressing depth data in real time and guide the rescuer to adjust the force; Threshold alarm: triggers an alarm when the compression is too shallow (<5cm) or too deep (>6cm).

2. A visual robotic arm for cardiopulmonary resuscitation according to claim 1, characterized in that: The visual probe (301) is also provided with a dust removal device for detecting the dust distribution of the visual probe (301) and performing dust removal processing. Intelligent dust removal is performed by detecting the clarity of the visual probe (301), specifically comprising the following steps: Collecting a visual detection image of the visual probe (301), performing a clarity analysis on the visual detection image, and determining whether the working environment of the visual probe (301) is qualified based on the analysis result; If qualified, it is confirmed that dust removal is not required; if unqualified, it is confirmed that dust removal is required, and the dust particle distribution parameters of the visual probe (301) lens are detected; According to the dust particle distribution parameters, multiple dust types are determined, the visual impact effect index of each type of dust is obtained, and the dust removal requirement coefficient of the visual probe (301) is determined according to the visual impact effect index of each type of dust: Wherein, F represents the dust removal requirement coefficient of the visual probe (301), Expressed as the dust particle distribution area, It is represented by the lens area of the visual probe (301), It is expressed as the material dust absorption gain of the visual probe (301), It represents the number of dust types on the lens of the visual probe (301), i represents the i-th type of dust, Expressed as the visual impact effect index of the i-th type of dust, It is expressed as the aggregation intensity factor of the i-th type of dust, ln is expressed as the natural logarithm, It is expressed as the cleanliness requirement index of the lens of the visual probe (301); Determining the dust removal urgency based on the dust removal requirement coefficient of the visual probe (301), and determining the dust removal efficiency requirement based on the dust removal urgency; A dust removal method is selected based on dust removal efficiency requirements and the difficulty of removing various types of dust, and dust removal equipment is used to perform dust removal processing on the visual probe (301) based on the dust removal method.

3. A visual robotic arm for cardiopulmonary resuscitation according to claim 2, characterized in that: The visual probe (301) includes an infrared body temperature module (3011) and a motion capture module (3012), wherein the infrared body temperature module (3011) can quickly screen abnormal body temperature without contact through infrared body temperature monitoring, thereby preventing hypothermia from aggravating metabolic disorders; During CPR or after resuscitation, real-time monitoring of signs of elevated body temperature is performed, and continuous temperature curves are used to assess the patient's metabolic status and resuscitation efficiency; The dynamic capture module (3012) dynamically captures the three-dimensional motion trajectory of the rescuer's hand through the motion sensing element (405) to ensure that the pressing direction is perpendicular to the sternum.

4. A visual robotic arm for cardiopulmonary resuscitation according to claim 3, characterized in that: The visual probe (301) and the motion sensing element (405) interact with the vital signs monitoring screen (101). The motion sensing element (405) integrates an accelerometer and a gyroscope to monitor the rescuer's hand angle, torso position and vertical pressing trajectory in real time, correct the incorrect posture of arm bending or tilting pressing, and construct a 3D model of the pressing action through the data of the motion sensing element (405) to analyze the mechanical efficiency of the rescuer's action.

5. The visual robotic arm for cardiopulmonary resuscitation according to claim 4, characterized in that: The visual probe (301) includes a front end (3013) and a rear end (3014), the infrared body temperature module (3011) and the dynamic capture module (3012) are arranged in the front end (3013), and a micro-motion component (306) is provided between the front end (3013) and the rear end (3014) to adjust the front and rear positions of the visual probe (301), the micro-motion component (306) includes a drive disk (3061) and a micro-motion motor (3062), the drive disk (3061) is eccentrically arranged with respect to the micro-motion motor (3062), and the micro-motion component (306) is provided between the front end (3013) and the rear end (3014). A driving slot is provided on the driving disk (3061), and a driving block is provided on the front end (3013), and the driving block is located in the driving slot. The micro-motor (3062) rotates to drive the front end (3013) to move back and forth to change the distance between the infrared body temperature module (3011), the dynamic capture module (3012) and the rescuer, thereby expanding the monitoring field of view. A grating disk is also provided in the micro-motor (3062) to determine the rotation angle of the micro-motor (3062), thereby accurately controlling the length of the visual probe (301).

6. The visual robotic arm for cardiopulmonary resuscitation according to claim 5, characterized in that: The vital sign monitoring screen (101) interacts bidirectionally with the main control chassis (2), and the main control chassis (2) interacts with the mobile terminal (5) via a 5G module, wherein the mobile terminal (5) includes a mobile phone APP and a handheld tablet, and the main control chassis (2) includes a drive control unit (201), and the main control chassis (2) interacts with the bionic palm (4) via the drive control unit (201), and the drive control unit (201) is used to control the start-up of the micro motor (4012) inside the bionic palm (4) and the angle of the joint control arm assembly (3).

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