Medical intelligent robot and patient transfer method based on medical intelligent robot

Abstract

The embodiment of the invention provides a medical intelligent robot and a patient transfer method based on the medical intelligent robot. The medical intelligent robot comprises a moving platform, a mechanical arm array system, a multi-mode supporting device, a control system and a human-computer interaction interface. The moving platform comprises a hydraulic lifting mechanism and an omnidirectional wheel set and is used for multi-directional movement and height adjustment. The mechanical arm array system comprises a plurality of sets of mechanical arms which are alternately arranged in a two-way mode. Each set of mechanical arm comprises a three-level telescopic structure and a distributed pressure sensor. The multi-mode supporting device comprises an intelligent air bag system which is integrated on the surface of the mechanical arm and comprises a multi-cavity air bag, a pressure adjusting module and a temperature control layer. The control system comprises a central controller, a weighing module, an environment sensing unit, a data communication module and a safety monitoring unit; and the human-computer interaction interface is used for displaying the weight of the patient, the height of the bed surface and the transfer state information.

Description

Technical Field

[0001] This document relates to the technical field of medical auxiliary equipment, and in particular to a medical intelligent machine and a patient transfer method based on a medical intelligent robot. Background Art

[0002] In the existing technology, manual transportation of patients can easily cause secondary injuries, lacks intelligent support and adjustment mechanisms, and cannot adapt to patients of different body shapes and conditions. Traditional equipment requires the cooperation of multiple people to operate, lacks automated docking functions, and is difficult to align the bed with the transfer equipment. The labor intensity of nurses is high and time-consuming. In addition, the support surface of the existing transfer equipment is too rigid, which can easily cause local pressure concentration. It lacks dynamic adjustment functions and cannot meet special nursing needs. During the transfer process, the patient's vital signs data cannot be collected and transmitted in real time. There is a lack of effective data interface with the hospital information system (HIS), and it cannot adapt to beds and operating tables of different heights. It lacks environmental perception capabilities and is prone to collisions in complex medical scenarios. Summary of the Invention

[0003] One or more embodiments of this specification provide a medical intelligent robot, including a mobile platform, a robotic arm array system, a multimodal support device, a control system, and a human-machine interaction interface;

[0004] The mobile platform includes a hydraulic lifting mechanism and omnidirectional wheels for multi-directional movement and height adjustment;

[0005] The robotic arm array system includes multiple groups of robotic arms alternately arranged in two directions, each group of robotic arms includes a three-stage telescopic structure and a distributed pressure sensor;

[0006] The multimodal support device includes an intelligent airbag system, which is integrated into the surface of the robotic arm and includes a multi-chamber airbag, a pressure regulation module and a temperature control layer;

[0007] The control system includes a central controller, a weighing module, an environmental sensing unit, a data communication module and a safety monitoring unit;

[0008] The human-computer interaction interface is used to display the patient's weight, bed height and transfer status information.

[0009] Furthermore, the robotic arms of the robotic arm array system are alternately arranged on the left and right sides, the telescopic stroke of the robotic arms is 0-1.2 meters, and the telescopic speed is 0.1-0.5 meters per second.

[0010] Furthermore, the multi-chamber airbag is 8 mm thick and has honeycomb reinforcement ribs inside;

[0011] The pressure regulating module is equipped with a micro air pump for regulating the pressure between 0 and 50 kPa with an adjustment accuracy of 0.05 kPa.

[0012] The temperature control layer has built-in heating wires and temperature sensors for maintaining the medical robot in a constant temperature range of 28-32 degrees Celsius.

[0013] Furthermore, the environmental perception unit includes: an RGB-D camera for three-dimensional environment reconstruction and bed identification; a UWB positioning module with a positioning accuracy of ±2cm; and a millimeter-wave radar for real-time monitoring of patient breathing and heart rate.

[0014] Furthermore, the control system is specifically used for:

[0015] Based on the adaptive transport path planning algorithm, the optimal path is generated through SLAM technology;

[0016] Based on the pressure distribution optimization algorithm, the airbag pressure is dynamically adjusted according to the patient's body characteristics;

[0017] Build a fall prevention prediction model to analyze dynamic stability in real time and trigger safety protection mechanisms.

[0018] Furthermore, a flexible contact layer is provided at the end of the robotic arm, and the flexible contact layer is made of medical silicone material with adjustable thickness.

[0019] Furthermore, the multi-chamber airbag includes three independent air chambers.

[0020] Furthermore, the surface of the flexible contact layer is provided with anti-slip corrugations.

[0021] Furthermore, each of the multi-chamber airbags is provided with 16 pressure detection points.

[0022] One or more embodiments of this specification provide a patient transport method based on a medical intelligent robot, including:

[0023] Automatically align the robot with the bed through UWB positioning and visual SLAM technology;

[0024] Start the hydraulic lifting mechanism and adjust the platform height to the target position;

[0025] Deploy the robotic arm array according to a preset sequence so that the robotic arms are inserted under the patient's body;

[0026] The graded inflation intelligent airbag system completes the patient load transfer;

[0027] Start the transfer process, monitor the patient's vital signs and environmental status in real time, and after arriving at the target location, perform the above 4 steps in reverse order to complete the patient placement.

[0028] The use of the embodiments of the present invention improves transfer efficiency, reduces manual intervention, improves patient comfort, can synchronize real-time vital sign monitoring with medical data, and can adapt to modal switching in different nursing scenarios.

[0029] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are specifically listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate one or more embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A schematic diagram of the structure of a medical intelligent robot provided in one or more embodiments of this specification;

[0032] Figure 2 A flowchart of a patient transfer method based on a medical intelligent robot is provided for one or more embodiments of this specification. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below in conjunction with the drawings in one or more embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this document.

[0034] According to an embodiment of the present invention, a medical intelligent robot is provided. Figure 1 This is a schematic diagram of the structure of a medical intelligent robot provided in one or more embodiments of this specification, such as Figure 1 As shown, the medical intelligent robot according to an embodiment of the present invention specifically includes: a mobile platform 10, a robotic arm array system 12, a multimodal support device 14, a control system 16 and a human-computer interaction interface 18.

[0035] The mobile platform 10 includes a hydraulic lift mechanism and omnidirectional wheels for multi-directional movement and height adjustment. The hydraulic lift mechanism is located at each corner and is marked with telescopic travel scales. In actual operation, the hydraulic lift mechanism receives instructions from a central controller and synchronously adjusts the platform height at a speed of up to 0.5 meters per second, ensuring that the platform and bed height are precisely matched (error <3mm). The omnidirectional wheels support multi-directional movement, allowing the robot to flexibly move within the confined space of the ward and quickly align with the bed. During the intelligent docking stage, with the assistance of the UWB positioning system, the robot can automatically align with the bed with an accuracy of ±2cm.

[0036] The robotic arm array system 12 includes multiple groups of robotic arms that are alternately arranged in two directions. The robotic arms are arranged alternately on the left and right sides, with the left and right robotic arms staggered. Each group of robotic arms includes a three-stage telescopic structure and a distributed pressure sensor. When the robotic arm on one side is in a retracted state, the robotic arm on the other side is in an extended state. The surface of each robotic arm is marked with a pressure sensing grid. In this embodiment, there are 12 groups of robotic arms, 6 groups on the left and 6 groups on the right, and the marked pressure sensing grid is a 5×5 array. The telescopic stroke of the robotic arm is 0-1.2 meters, and the telescopic speed is 0.1-0.5 meters per second. During the adaptive handling process, the robotic arms are deployed according to the optimal path sequence, using an alternating telescopic strategy. When one robotic arm retracts, the other side extends to ensure a smooth handling process.

[0037] A flexible contact layer is provided at the end of each set of robotic arms. The flexible contact layer is made of medical silicone material and the thickness can be adjusted according to actual needs. The surface of the flexible contact layer is provided with anti-slip corrugations to prevent the patient from slipping during the transportation process.

[0038] The multimodal support device 14 includes an intelligent airbag system, which is integrated into the surface of the robotic arm and includes a multi-chamber airbag, a pressure regulating module and a temperature control layer. The multi-chamber airbag is 8 mm thick and is provided with honeycomb reinforcement ribs inside. Each multi-chamber airbag contains 3 independent air chambers and is provided with 16 pressure detection points. The pressure regulating module is provided with a micro air pump for pressure regulation of 0-50 kPa, with an adjustment accuracy of 0.05 kPa. During transportation, the airbag system is inflated in stages (pre-inflation → fine-tuning → locking) to ensure patient comfort and stable support; the temperature control layer has built-in heating wires and temperature sensors to maintain the medical robot in a constant temperature range of 28-32 degrees Celsius to improve patient comfort.

[0039] The control system 16 includes a central controller, a weighing module, an environmental perception unit, and a safety monitoring unit. The central controller is responsible for coordinating the operation of each module. During the transport process, the transport path is planned based on an adaptive transport path planning algorithm, and the optimal path is generated by combining SLAM technology to control the operation of the robotic arm array and mobile platform. Based on the patient's body shape and the results of the weighing module, the airbag pressure is dynamically adjusted using a pressure distribution optimization algorithm to ensure uniform pressure distribution and enhance patient comfort. The weighing module is used to measure the patient's weight with an accuracy of ±0.2 kg. During the transport process, the patient's weight changes are monitored in real time to provide accurate data for airbag pressure adjustment. The environmental perception unit includes a UWB positioning module and an automatic bed identification module. Based on an RGB-D camera, it is used to reconstruct the three-dimensional environment and automatically identify the bed through RFID tag recognition and 3D contour matching, with a positioning accuracy of ±2 cm. The environmental perception module also includes a vital sign detection system that uses millimeter-wave radar to monitor the patient's breathing and heart rate in real time. The data is encrypted and transmitted to the hospital's HIS system with a response time of <200ms. The safety monitoring unit is used to analyze dynamic stability in real time through the constructed anti-fall prediction model. When unstable factors are detected, it triggers safety protection mechanisms such as dual redundant hydraulic control systems, emergency mechanical locking devices and three-level power-off protection systems to ensure patient safety.

[0040] The human-machine interaction interface 18 includes a touch screen display for displaying the current bed height, patient weight data and transfer status information.

[0041] The embodiment of the present invention provides a patient transport method based on a medical intelligent robot. Figure 2 A flowchart of a patient transport method based on a medical intelligent robot is provided for one or more embodiments of this specification, such as Figure 2 As shown, the patient transfer method based on the medical intelligent robot according to an embodiment of the present invention specifically includes:

[0042] S1. Automatically align the robot with the bed through UWB positioning and visual SLAM technology.

[0043] S2. Start the hydraulic lifting mechanism and adjust the platform height to the target position;

[0044] Specifically, the bed surface height is scanned by a three-dimensional vision system, and the hydraulic lifting mechanism is activated to synchronously adjust the platform height.

[0045] S3. Expand the robotic arm array according to a preset sequence and insert the robotic arm under the patient's body;

[0046] Specifically, a pressure sensor array is used to construct a patient's body pressure distribution map, and the robotic arm is deployed according to an optimal path sequence so that the robotic arm is inserted under the patient's body.

[0047] S4. Intelligent airbag system with graded inflation to transfer patient load;

[0048] The intelligent airbag system is inflated in three stages: pre-inflation, fine-tuning, and locking.

[0049] S5. Start the transfer process, monitor the patient's vital signs and environmental conditions in real time, and upon arrival at the target location, perform the above four steps in reverse order to complete the patient placement.

[0050] Specifically, millimeter-wave radar is used to continuously monitor breathing and heart rates, the weighing system has an accuracy of ±0.2kg, and the data is encrypted and transmitted to the hospital's HIS system.

[0051] The beneficial effects of the present invention are as follows:

[0052] The use of the embodiments of the present invention improves transfer efficiency, reduces manual intervention, improves patient comfort, can synchronize real-time vital sign monitoring with medical data, and can adapt to modal switching in different nursing scenarios.

[0053] The embodiment of the present invention is a system embodiment corresponding to the above-mentioned method embodiment. The specific operations of each module can be understood by referring to the description of the method embodiment, which will not be repeated here.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A medical intelligent robot, characterized in that: It includes a mobile platform, a robotic arm array system, a multimodal support device, a control system, and a human-computer interaction interface; The mobile platform includes a hydraulic lifting mechanism and omnidirectional wheels for multi-directional movement and height adjustment; The robotic arm array system includes multiple groups of robotic arms alternately arranged in two directions, each group of robotic arms includes a three-stage telescopic structure and a distributed pressure sensor; The multimodal support device includes an intelligent airbag system, which is integrated into the surface of the robotic arm and includes a multi-chamber airbag, a pressure regulation module and a temperature control layer; The control system includes a central controller, a weighing module, an environmental sensing unit, a data communication module and a safety monitoring unit; The human-computer interaction interface is used to display the patient's weight, bed height and transfer status information.

2. The robot according to claim 1, characterized in that The robotic arms of the robotic arm array system are alternately arranged on the left and right sides, and the telescopic stroke of the robotic arms is 0-1.2 meters, and the telescopic speed is 0.1-0.5 meters per second.

3. The robot according to claim 1, characterized in that The multi-chamber airbag is 8 mm thick and has honeycomb reinforcement ribs inside; The pressure regulating module is equipped with a micro air pump for regulating the pressure between 0 and 50 kPa with an adjustment accuracy of 0.05 kPa. The temperature control layer has built-in heating wires and temperature sensors for maintaining the medical robot in a constant temperature range of 28-32 degrees Celsius.

4. The robot according to claim 1, characterized in that The environmental perception unit includes: an RGB-D camera for three-dimensional environment reconstruction and bed identification; a UWB positioning module with a positioning accuracy of ±2cm; and a millimeter-wave radar for real-time monitoring of patient breathing and heart rate.

5. The robot according to claim 1, characterized in that The control system is specifically used for: Based on the adaptive transport path planning algorithm, the optimal path is generated through SLAM technology; Based on the pressure distribution optimization algorithm, the airbag pressure is dynamically adjusted according to the patient's body characteristics; Build a fall prevention prediction model to analyze dynamic stability in real time and trigger safety protection mechanisms.

6. The robot according to claim 1, characterized in that A flexible contact layer is provided at the end of the robotic arm. The flexible contact layer is made of medical silicone material and has an adjustable thickness.

7. The robot according to claim 1, characterized in that The multi-chamber airbag includes three independent air chambers.

8. The robot according to claim 6, characterized in that The surface of the flexible contact layer is provided with anti-slip corrugations.

9. The robot according to claim 1, characterized in that Each of the multi-chamber airbags is provided with 16 pressure detection points.

10. A patient transport method based on the medical intelligent robot according to any one of claims 1 to 9, characterized in that: include: Automatically align the robot with the bed through UWB positioning and visual SLAM technology; Start the hydraulic lifting mechanism and adjust the platform height to the target position; Deploy the robotic arm array according to a preset sequence so that the robotic arms are inserted under the patient's body; The graded inflation intelligent airbag system completes the patient load transfer; Start the transfer process, monitor the patient's vital signs and environmental status in real time, and after arriving at the target location, perform the above 4 steps in reverse order to complete the patient placement.

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