Nursing auxiliary device based on mechanical arm

Abstract

The invention relates to the technical field of nursing auxiliary devices, and discloses a nursing auxiliary device based on a mechanical arm. The mechanical arm main body is arranged at the end part of one side of the nursing bed, and the mechanical arm main body is detachably connected with the nursing bed; the auxiliary nursing assembly is arranged at the end part of the mechanical arm main body; the first sensor assembly is arranged on the nursing bed and used for collecting posture information and pressure distribution information of a patient; the second sensor assembly is arranged at the auxiliary nursing assembly and the joint of the auxiliary nursing assembly and the mechanical arm body and used for collecting contact information between the auxiliary nursing assembly and the patient; the control assembly is connected with the nursing bed, the mechanical arm body, the auxiliary nursing assembly, the first sensor assembly and the second sensor assembly. According to the invention, automation and intellectualization of patient nursing are realized.

Description

Technical Field

[0001] This invention relates to the field of nursing assistive devices, and more specifically, to a nursing assistive device based on a robotic arm. Background Technology

[0002] Currently, many nursing procedures require manual operation by nursing staff, which is quite labor-intensive. For example, when performing procedures such as turning or moving patients with limited mobility, multiple nursing staff often need to work together. This not only consumes a lot of manpower, but also may cause discomfort or even secondary injury to the patient due to uneven force during the operation.

[0003] Meanwhile, traditional nursing aids have relatively limited functions and cannot be flexibly adjusted according to the patient's specific condition and nursing needs. For example, some simple support devices cannot dynamically adjust the support force in real time based on characteristics such as the contact pressure of the patient's body, making it difficult to provide precise and effective nursing assistance. This leads to low efficiency in nursing work, difficulty in effectively ensuring the quality of care, and increases the time and difficulty of patient recovery.

[0004] Therefore, it is necessary to design a robotic arm-based nursing aid to address the problems existing in current technology. Summary of the Invention

[0005] In view of this, the present invention proposes a nursing assistance device based on a robotic arm, which aims to solve the problem that the current support device cannot dynamically adjust the support force in real time according to the characteristics such as the contact pressure of the patient's body, making it difficult to provide accurate and effective nursing assistance.

[0006] This invention proposes a nursing assistance device based on a robotic arm, comprising: nursing bed; The main body of the robotic arm is located at one end of the nursing bed, and the main body of the robotic arm is detachably connected to the nursing bed; An auxiliary care component is disposed at the end of the main body of the robotic arm; A first sensor assembly is disposed on the nursing bed for collecting patient posture information and pressure distribution information; A second sensor assembly is disposed at the connection between the auxiliary nursing component and the robotic arm body, and is used to collect contact information between the auxiliary nursing component and the patient. The control component is connected to the nursing bed, the robotic arm body, the auxiliary nursing component, the first sensor component, and the second sensor component.

[0007] Furthermore, the main body of the robotic arm includes: The base is located at one end of the side, and the main body of the robotic arm is detachably connected to the nursing bed; The first support rod is arranged vertically, and the bottom end of the first support rod is fixedly connected to the base; The first adjusting rod has one end rotatably connected to the first support rod; The second adjusting rod has one end rotatably connected to the other end of the first adjusting rod; The third adjusting rod has one end rotatably connected to the other end of the second adjusting rod; The second support rod has one end fixedly connected to the other end of the third adjusting rod, and the other end of the second support rod is rotatably connected to the auxiliary care component.

[0008] Furthermore, the assistive care component includes: One end of the support shaft is rotatably connected to the other end of the second support rod; A support ring is disposed at the other end of the support shaft and is fixedly connected to the support shaft; A silicone protective layer covers the side of the support ring facing the patient, and the second sensor assembly is disposed between the silicone protective layer and the support ring.

[0009] Further, the first sensor assembly includes: A pressure sensor array is disposed on the mattress surface of the nursing bed to collect pressure distribution information between the patient and the mattress; An infrared camera is installed at the head of the nursing bed to collect the patient's posture information.

[0010] Furthermore, the second sensor assembly includes: A force sensor array is disposed between the silicone protective layer and the support ring for collecting contact information between the auxiliary care component and the patient; A displacement sensor is installed at the rotatable connection between the support shaft and the second support rod to collect the rotation angle and displacement information of the support shaft relative to the second support rod.

[0011] Furthermore, the control component includes: The data acquisition and judgment unit is configured to acquire the posture information and pressure distribution information, analyze the posture information and pressure distribution information, and determine whether to turn the patient over based on the analysis results. The determining unit is configured to collect the patient's weight parameters when it is determined that the patient should be turned over, and to determine the initial support force of the support ring based on the posture information and weight parameters; The execution judgment unit is configured to collect the contact information, extract features from the contact information, obtain contact feature values, and determine whether to compensate the initial support force based on the contact feature values. The compensation unit is configured to determine a compensation coefficient based on the contact characteristic value when it is determined that compensation should be made for the initial support force, obtain a compensation support force, and perform nursing operations on the patient with the compensation support force.

[0012] Furthermore, when determining whether to turn the patient over based on the analysis results, the process includes: The posture information is analyzed to obtain the patient's body orientation and limb flexion degree; The pressure distribution information is analyzed to obtain the pressure values ​​and pressure distribution areas of different parts of the patient's body in contact with the mattress. The body orientation and limb flexion degree are compared with preset posture thresholds, and the pressure value and pressure distribution area are compared with preset pressure thresholds. Based on the comparison results, it is determined whether to turn the patient over. When the body orientation remains unchanged within a preset time period, or when the pressure value in the pressure distribution area exceeds the pressure threshold, it is determined that the patient should be turned over.

[0013] Further, when determining the initial support force of the support ring based on the posture information and weight parameters, the following steps are included: The weight parameters are analyzed to obtain the patient's weight value; The initial support force is determined based on the degree of limb flexion and body weight. The degree of limb flexion is compared with the threshold value of limb flexion, and the weight value is compared with the threshold value of weight value. The initial support force is determined based on the comparison results. When the degree of limb flexion is greater than or equal to the threshold of limb flexion, and the weight value is greater than or equal to the threshold of weight value, the initial support force is determined to be the first support force; When the degree of limb flexion is less than the threshold for the degree of limb flexion, and the weight value is less than the threshold for the weight value, the initial support force is determined to be the second support force. When the degree of limb flexion is greater than or equal to the threshold value of limb flexion, and the weight value is less than the threshold value of weight, the initial support force is determined to be the third support force. When the degree of limb bending is less than the threshold for limb bending, and the weight value is greater than or equal to the threshold for weight value, the initial support force is determined to be the fourth support force.

[0014] Further, when determining whether to compensate for the initial support force based on the contact characteristic value, the process includes: The contact feature value is compared with the contact feature threshold, and the initial support force is compensated based on the comparison result. If the contact feature value exceeds the contact feature threshold range, it is determined that the initial support force needs to be compensated. Otherwise, it is determined that no compensation for the initial support force is required.

[0015] Further, when determining the compensation coefficient based on the contact characteristic values ​​to obtain the compensation support force, the process includes: Obtain the center value of the contact feature threshold, and obtain the difference between the contact feature value and the center value, which is denoted as the contact difference; The contact difference is compared with a preset compensation coefficient mapping table, and the compensation coefficient is obtained based on the comparison result. The product of the compensation coefficient and the initial support force is taken as the compensation support force.

[0016] Compared with existing technologies, the beneficial effects of this invention are as follows: The robotic arm-based nursing assistance device provided by this invention achieves automation and intelligence in patient care. On the one hand, the first sensor component can accurately collect the patient's posture and pressure distribution information in real time. The control component uses this information to determine whether the patient needs to be turned over, avoiding problems such as pressure sores caused by the patient maintaining the same posture for a long time, thus improving patient comfort and the quality of care. On the other hand, the second sensor component can collect contact information between the auxiliary nursing component and the patient. The control component uses this information to determine whether the initial support force needs to be compensated, ensuring that the patient is given appropriate support during nursing operations. This ensures that the nursing action is not impossible to complete due to insufficient support, nor does it cause discomfort or even injury to the patient due to excessive support. Attached Figure Description

[0017] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of a robotic arm-based nursing assistance device provided in an embodiment of the present invention.

[0018] In the diagram: 100, nursing bed; 111, base; 112, first support rod; 113, first adjusting rod; 114, second adjusting rod; 115, third adjusting rod; 116, second support rod; 121, support shaft; 122, support ring. Detailed Implementation

[0019] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features in the embodiments of the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] See Figure 1 As shown in some embodiments of this application, this embodiment provides a nursing assistance device based on a robotic arm, including: 100 nursing beds; The main body of the robotic arm is located at one end of the nursing bed 100, and the main body of the robotic arm is detachably connected to the nursing bed 100; An auxiliary care component is located at the end of the robotic arm body; The first sensor assembly, installed on the nursing bed 100, is used to collect the patient's posture information and pressure distribution information; The second sensor assembly is located at the connection point between the auxiliary nursing component and the robotic arm body, and is used to collect contact information between the auxiliary nursing component and the patient. The control component is connected to the nursing bed 100, the robotic arm body, the auxiliary nursing component, the first sensor component, and the second sensor component.

[0021] It is understood that the robotic arm-based nursing assistance device provided in this embodiment achieves automation and intelligence in patient care. On one hand, the first sensor component can accurately collect the patient's posture and pressure distribution information in real time. The control component uses this information to determine whether the patient needs to be turned over, avoiding problems such as pressure sores caused by the patient maintaining the same posture for a long time, thus improving patient comfort and quality of care. On the other hand, the second sensor component can collect contact information between the nursing assistance component and the patient. The control component uses this information to determine whether the initial support force needs to be compensated, ensuring that the patient is given appropriate support during the nursing operation. This ensures that the nursing action is not impossible to complete due to insufficient support, nor does it cause discomfort or even injury to the patient due to excessive support.

[0022] Specifically, the main body of the robotic arm includes: The base 111 is located at one end of the side, and the main body of the robotic arm is detachably connected to the nursing bed 100; The first support rod 112 is arranged in a vertical direction, and the bottom end of the first support rod 112 is fixedly connected to the base 111; The first adjusting rod 113 is rotatably connected at one end to the first support rod 112; The second adjusting rod 114 is rotatably connected at one end to the other end of the first adjusting rod 113; The third adjusting rod 115 is rotatably connected at one end to the other end of the second adjusting rod 114; The second support rod 116 is fixedly connected at one end to the other end of the third adjusting rod 115, and the other end of the second support rod 116 is rotatably connected to the auxiliary care component.

[0023] Understandably, the structural design of this robotic arm body endows the auxiliary care component with flexible and diverse movement modes and a wide range of motion. Through the rotatable connection between the first adjusting rod 113, the second adjusting rod 114, and the third adjusting rod 115, the position and angle of the auxiliary care component can be precisely adjusted according to actual care needs. For example, when performing body wiping care on a patient, the auxiliary care component can be adjusted to a suitable height and angle to complete the wiping action comprehensively and meticulously. Simultaneously, the rotatable connection between the second support rod 116 and the auxiliary care component further increases operational flexibility, allowing the auxiliary care component to better conform to different parts of the patient's body. Moreover, the detachable connection between the base 111 and the nursing bed 100 facilitates the installation, disassembly, and movement of the device, enabling rapid deployment and use in different care scenarios.

[0024] Specifically, assistive care components include: One end of the support shaft 121 is rotatably connected to the other end of the second support rod 116; A support ring 122 is disposed at the other end of the support shaft 121 and is fixedly connected to the support shaft 121; A silicone protective layer covers the side of the support ring 122 facing the patient, and a second sensor assembly is disposed between the silicone protective layer and the support ring 122.

[0025] Understandably, the design of this assistive care component fully considers patient comfort and safety. The rotatable connection between the support shaft 121 and the second support rod 116 allows the support ring 122 to be flexibly adjusted according to the patient's body shape and care needs, further enhancing the precision and adaptability of nursing procedures. The support ring 122 provides a stable support structure for nursing procedures, ensuring accurate support and assistance to the patient during the care process. The presence of the silicone protective layer is crucial; silicone's soft and skin-friendly properties effectively prevent discomfort or injury that may occur when the support ring 122 comes into direct contact with the patient's body. Simultaneously, the second sensor assembly positioned between the silicone protective layer and the support ring 122 can monitor the contact between the assistive care component and the patient in real time.

[0026] Specifically, the first sensor assembly includes: A pressure sensor array is installed on the mattress surface of the nursing bed 100 to collect pressure distribution information between the patient and the mattress; An infrared camera is installed at the head of the nursing bed 100 to collect the patient's posture information.

[0027] Understandably, the coordinated operation of the pressure sensor array and the infrared camera enables comprehensive and accurate acquisition of relevant patient information. The pressure sensor array can sense the magnitude and distribution of pressure between different parts of the patient's body and the mattress in real time. By analyzing this pressure data, the control components can determine whether the patient has been pressing on the same area for an extended period, and thus decide whether nursing procedures such as turning the patient over are necessary. The infrared camera, on the other hand, can capture the patient's posture information from a visual perspective, including whether the patient is lying flat, on their side, or curled up. The information collected by these two types of sensors complements each other, providing the control components with a more accurate and comprehensive basis for decision-making.

[0028] Specifically, the second sensor component includes: A force sensor array, positioned between the silicone protective layer and the support ring 122, is used to collect contact information between the auxiliary care components and the patient. A displacement sensor is installed at the rotatable connection between the support shaft 121 and the second support rod 116 to collect the rotation angle and displacement information of the support shaft 121 relative to the second support rod 116.

[0029] Understandably, the combination of force sensor array and displacement sensor provides crucial information to the control component. The force sensor array accurately senses the magnitude and direction of the force when the assistive care component comes into contact with the patient's body. When the assistive care component supports or assists the patient, it transmits the contact force information to the control component in real time. The control component then determines whether to adjust the support force to ensure appropriate care intensity. The displacement sensor monitors the rotation angle and displacement information of the support shaft 121 relative to the second support rod 116. During care, the assistive care component needs to flexibly adjust its position and angle. The displacement sensor feeds back relevant information to the control component, which then precisely controls its movement trajectory and posture, making care operations more precise and efficient. For example, when turning a patient over, the force sensor array monitors the contact force to avoid improper force application; the displacement sensor transmits rotation angle and displacement information, allowing the control component to precisely control the movement of the assistive care component, ensuring a smooth and stable turn, reducing impact on the patient, and improving care safety and comfort.

[0030] Specifically, the control components include: The data acquisition and judgment unit is configured to acquire posture information and pressure distribution information, analyze the posture information and pressure distribution information, and determine whether to turn the patient over based on the analysis results. The determining unit is configured to collect the patient's weight parameters when it is determined that the patient should be turned over, and to determine the initial support force of the support ring 122 based on the posture information and weight parameters; The execution judgment unit is configured to collect contact information, extract features from the contact information, obtain contact feature values, and determine whether to compensate the initial support force based on the contact feature values. The compensation unit is configured to determine a compensation coefficient based on contact characteristic values ​​when it is determined that compensation should be made for the initial support force, obtain a compensation support force, and perform nursing procedures on the patient with the compensation support force.

[0031] Understandably, the design of this control component makes the operation of the entire nursing aid more scientific and intelligent. The data acquisition and judgment unit can use the posture and pressure distribution information collected by the first sensor component to determine whether the patient needs to be turned over through a precise analytical algorithm. This process is based on a large amount of clinical data and experience, ensuring the accuracy and timeliness of the judgment. When turning over is required, the determination unit combines the patient's weight parameters and posture information, and uses mechanical principles and mathematical models to determine the initial support force of the support ring 122, providing a reliable basis for subsequent nursing operations. The execution and judgment unit extracts features from the contact information collected by the second sensor component. Through advanced signal processing and machine learning technology, it obtains feature values ​​that accurately reflect the contact situation, thereby determining whether compensation of the initial support force is needed, making the nursing operation more in line with the patient's actual needs. When compensation is needed, the compensation unit determines a reasonable compensation coefficient based on the contact feature values, thereby obtaining a precise compensation support force, ensuring that the support force for the patient is always within an appropriate range during the nursing process.

[0032] Specifically, when determining whether to turn the patient over based on the analysis results, this includes: The posture information is analyzed to obtain the patient's body orientation and the degree of limb flexion; The pressure distribution information is analyzed to obtain the pressure values ​​and pressure distribution areas of different parts of the patient's body in contact with the mattress; The body orientation and limb flexion degree are compared with preset posture thresholds, and the pressure value and pressure distribution area are compared with preset pressure thresholds. Based on the comparison results, it is determined whether to turn the patient over. When the body orientation remains unchanged within a preset time, or when the pressure value in the pressure distribution area exceeds the pressure threshold, it is determined that the patient should be turned over.

[0033] Understandably, this turning-over judgment mechanism is highly scientific and practical. Through multi-dimensional analysis of posture and pressure distribution information, a comprehensive understanding of the patient's physical condition can be obtained. Comparing body orientation and limb flexion with preset posture thresholds can promptly detect situations where patients maintain a fixed posture for extended periods, as prolonged adherence to the same posture can cause excessive pressure on specific areas of the body, increasing the risk of complications such as pressure sores. Comparing pressure values ​​and pressure distribution areas with preset pressure thresholds allows for precise location of areas of excessive pressure on the patient's body. When the body orientation remains unchanged within a preset time, it indicates that the patient may be unable to turn over independently; timely turning in this situation can effectively improve blood circulation and reduce localized pressure. When pressure values ​​in a pressure distribution area exceed the pressure threshold, it means that the area is under excessive pressure, which can easily lead to tissue ischemia and hypoxia; timely turning can alleviate this pressure and reduce the possibility of tissue damage.

[0034] Specifically, when determining the initial support force of the support ring 122 based on posture information and weight parameters, the following steps are included: The weight parameters are analyzed to obtain the patient's weight value; The initial support force is determined based on the degree of limb flexion and body weight. The degree of limb flexion is compared with the threshold of limb flexion, and the weight value is compared with the weight value threshold. The initial support force is determined based on the comparison results. When the degree of limb flexion is greater than or equal to the limb flexion threshold and the weight value is greater than or equal to the weight value threshold, the initial support force is determined as the first support force. When the degree of limb flexion is less than the limb flexion threshold and the weight value is less than the weight value threshold, the initial support force is determined as the second support force. When the degree of limb flexion is greater than or equal to the limb flexion threshold and the weight value is less than the weight value threshold, the initial support force is determined as the third support force. When the degree of limb flexion is less than the limb flexion threshold and the weight value is greater than or equal to the weight value threshold, the initial support force is determined as the fourth support force.

[0035] Understandably, the initial support force should be determined in the following order: first support force > fourth support force > third support force > second support force. This is because when the limb is more bent and the patient is heavier, the patient's center of gravity distribution is more complex, requiring greater support force to ensure a smooth and safe turning process; therefore, the first support force is the greatest. When the limb is less bent but the patient is heavier, although the center of gravity distribution is relatively simpler, the weight still necessitates greater support force, hence the fourth support force is the next greatest. When the limb is more bent but the patient is lighter, although the weight is lighter, the bent limb increases the difficulty and instability of the procedure, requiring a certain amount of support force to ensure smooth nursing care; therefore, the third support force is the next greatest. Conversely, when the limb is less bent and the patient is lighter, the patient's physical condition is relatively stable, requiring the least support force, i.e., the second support force is the least. This detailed method of determining the initial support force better adapts to different patients' physical conditions, improves the accuracy and safety of nursing procedures, further enhances the performance and reliability of nursing aids, and provides patients with higher quality and more attentive nursing care.

[0036] Specifically, when determining whether to compensate for the initial support force based on contact characteristic values, the following applies: The contact feature value is compared with the contact feature threshold, and the initial support force is compensated based on the comparison result. If the contact characteristic value exceeds the contact characteristic threshold range, it is determined that the initial support force needs to be compensated. Otherwise, it is determined that no compensation for the initial support force is required.

[0037] Understandably, the contact characteristic value is preferably the maximum contact force, and comparing it with the contact characteristic threshold is a scientifically rigorous judgment method. The contact characteristic threshold is determined based on a large amount of clinical practice and experimental data, representing the reasonable range of contact between the auxiliary nursing component and the patient's body during nursing operations. If the contact characteristic value exceeds the threshold range, it indicates an abnormal contact situation. For example, excessive contact force may injure the patient, while insufficient force may prevent the completion of nursing actions. In this case, the initial support force needs to be compensated to adjust it to an appropriate range, ensuring safe and effective nursing care. Conversely, if the contact characteristic value is within the threshold range, it indicates good contact, the initial support force meets the requirements, and no additional compensation is needed. This judgment mechanism can dynamically adjust the support force, avoiding the adverse effects of blindly increasing or decreasing the support force, and improving the intelligence level of nursing auxiliary devices and the quality of nursing care.

[0038] Specifically, when determining the compensation coefficient based on contact characteristic values ​​to obtain the compensation support force, the following steps are included: Obtain the center value of the contact feature threshold and the difference between the contact feature value and the center value, which is denoted as the contact difference. The contact difference is compared with the preset compensation coefficient mapping table, and the compensation coefficient is obtained based on the comparison result. The product of the compensation coefficient and the initial support force is used as the compensation support force.

[0039] Understandably, this method of determining compensating support force based on contact characteristic values ​​is scientifically sound and reasonable. The center value of the contact characteristic threshold represents the ideal state of contact, while the contact difference reflects the degree of deviation between the current contact situation and the ideal state. The preset compensation coefficient mapping table, derived from extensive experiments and data analysis, establishes a correspondence between contact difference and compensation coefficient, enabling accurate determination of the appropriate compensation coefficient based on the contact difference. Multiplying the compensation coefficient by the initial support force yields the compensating support force, allowing for precise adjustment of the initial support force. If the contact difference is positive, it indicates excessive contact force; a negative compensating support force reduces the support force on the patient, preventing harm. Conversely, if the contact difference is negative, it indicates insufficient contact force; a positive compensating support force increases the support force on the patient, ensuring smooth completion of nursing procedures. Through this precise compensation mechanism, the nursing aid can adjust the support force in real time according to the patient's actual contact situation, providing safer, more comfortable, and more effective nursing services. This further enhances the performance and reliability of the nursing aid, reflecting its intelligent and human-centered design.

[0040] It should also be noted that this embodiment can provide standing assistance for patients. When a patient needs to stand, they can slowly rise with the support of the support ring 122. During the patient's rising process, the force sensor array monitors the contact force between the support ring 122 and the patient's body in real time and feeds the information back to the control component. Based on this feedback information, the control component dynamically adjusts the magnitude and direction of the support force of the support ring 122 to adapt to the needs of the patient at different stages of rising. For example, when the patient first starts to stand up, their center of gravity is low and requires a larger upward support force. The control component will appropriately increase the support force of the support ring 122 based on the data from the force sensor array. As the patient gradually stands up, their center of gravity rises and becomes more stable, and the control component will correspondingly reduce the support force to avoid excessive support force causing unnecessary restraint to the patient.

[0041] It is understood that the steps for assisted turning over provided in this embodiment using the robotic arm-based nursing aid device are as follows: First, the data acquisition and analysis unit begins operation. A pressure sensor array collects real-time pressure distribution information between the patient and the mattress, while an infrared camera captures the patient's posture. For example, for a patient who is bedridden for an extended period, the pressure sensor array detects the pressure magnitude and distribution at the point where the patient's back contacts the mattress, while the infrared camera captures the patient lying flat. The data acquisition and analysis unit then analyzes this information to obtain the patient's body orientation, limb flexion degree, and the pressure values ​​and pressure distribution areas of different parts of the patient's body in contact with the mattress.

[0042] Next, the data acquisition and judgment unit compares the body orientation and limb flexion with preset posture thresholds, and also compares the pressure value and pressure distribution area with preset pressure thresholds. Assuming a preset duration of 2 hours, if the patient's body orientation remains unchanged while lying flat during these 2 hours, or if the pressure value in a certain part of the pressure distribution area exceeds the pressure threshold, the data acquisition and judgment unit determines that the patient needs to be turned over.

[0043] When it is determined that the patient should be turned over, the determination unit begins to operate. It collects the patient's weight parameters, assuming the patient weighs 70 kg. Simultaneously, it combines this with the previously analyzed limb curvature, assuming the limb curvature is relatively small. The determination unit compares the limb curvature with a limb curvature threshold and the weight with a weight value threshold. If the limb curvature is less than the limb curvature threshold and the weight is greater than or equal to the weight value threshold, the determination unit determines the initial support force of the support ring 122 as the fourth support force.

[0044] During assisted turning, the second sensor assembly plays a crucial role. A force sensor array collects real-time contact information between the assistive care component and the patient, while a displacement sensor collects the rotation angle and displacement information of the support shaft 121 relative to the second support rod 116. The execution judgment unit extracts features from the collected contact information to obtain contact feature values, assuming these values ​​represent the maximum contact force. Then, the contact feature values ​​are compared with a contact feature threshold. If the contact feature value exceeds the threshold range, the execution judgment unit determines that compensation for the initial support force is necessary.

[0045] When it is determined that compensation for the initial support force is required, the compensation unit begins operation. It acquires the center value of the contact characteristic threshold, assuming it is 50 Newtons. If the current contact characteristic value is 60 Newtons, then the contact difference is 10 Newtons. The compensation unit compares the contact difference with a preset compensation coefficient mapping table and obtains the compensation coefficient based on the comparison result, assuming the compensation coefficient is 0.2. Then, the compensation coefficient is multiplied by the initial support force to obtain the compensated support force. Finally, the compensated support force is used to perform nursing procedures on the patient, enabling the patient to successfully complete the turning process, thus ending the entire assisted turning process.

[0046] The specific steps for providing nursing care to patients using compensatory support are as follows: After calculating the compensating support force, the robotic arm precisely adjusts its range of motion and force based on the compensating support force. The support ring 122 on the robotic arm conforms to the patient's body at an appropriate angle and force, ensuring that the pressure is evenly distributed during the turning process and avoiding localized compression of the patient's body.

[0047] During the turning process, the sensors continue to operate. The pressure sensor array monitors the pressure changes between the patient's body, the support ring 122, and the mattress in real time. If any abnormal pressure distribution is detected, such as a sudden increase in pressure in a certain area, the information will be promptly fed back to the control component. The control component will quickly analyze the data and determine whether it is necessary to readjust the compensating support force to ensure a smooth turning process and the patient's safety.

[0048] Infrared cameras closely monitor changes in the patient's posture to ensure that the turning motion meets preset safety standards. If the patient's limbs bend or move unnaturally during the turning process, the infrared camera captures this information and transmits it to the control unit. The control unit then fine-tunes the robotic arm's movements accordingly to prevent unnecessary pulling or collisions to the patient's limbs.

[0049] Meanwhile, the displacement sensor monitors the rotation angle and displacement information of the support shaft 121 relative to the second support rod 116 in real time to ensure that the movement of the robotic arm is within a reasonable range. If the rotation angle is too large or the displacement exceeds the preset value, the control component will immediately issue a command to adjust the movement of the robotic arm to prevent injury to the patient due to excessive movement.

[0050] After the patient successfully completes the turning motion, the control component will again collect and analyze the patient's posture and pressure distribution information. The data acquisition and judgment unit will reassess whether the patient's body condition is stable and whether the pressure distribution is uniform. If everything is normal, the control component will control the robotic arm to slowly remove the support ring 122 from the patient's body, ending the nursing operation.

[0051] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0052] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0053] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0054] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not 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 modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A mechanical arm-based care assisting apparatus characterized by comprising: The utility model relates to a nursing bed, a mechanical arm body, an auxiliary nursing assembly, a first sensor assembly, a second sensor assembly and a control assembly. The mechanical arm body comprises a base, a first supporting rod, a first adjusting rod, a second adjusting rod, a third adjusting rod and a second supporting rod. The auxiliary nursing assembly comprises a supporting shaft, a supporting ring and a silica gel protective layer. The first sensor assembly comprises a pressure sensor array and an infrared camera. The second sensor assembly comprises a force sensor array and a displacement sensor. The control assembly comprises an acquisition and judgment unit, a determination unit and an execution judgment unit. The acquisition and judgment unit is configured to acquire the posture information and the pressure distribution information, analyze the posture information and the pressure distribution information, and determine whether to turn over the patient based on the analysis result.

2. The mechanical arm based care assistant device according to claim 1, characterized in that, The determination unit is configured to acquire the weight parameter of the patient when it is determined to turn over the patient, and determine the initial supporting force of the supporting ring based on the posture information and the weight parameter. The execution judgment unit is configured to acquire the contact information, extract features from the contact information, obtain a contact feature value, and determine whether to compensate the initial supporting force based on the contact feature value. ​ ​ ​ ​ ​ 3. The mechanical arm based care assistant device according to claim 2, characterized in that, ​ ​ ​ ​ 4. The mechanical arm-based care assistant of claim 3, wherein, ​ ​ ​ 5. The mechanical arm-based care assistant of claim 4, wherein, ​ ​ ​ 6. The mechanical arm-based care assistant of claim 5, wherein, ​ ​ ​ ​ The compensation unit is configured to determine a compensation coefficient based on the contact characteristic value when it is determined to compensate the initial support force, obtain a compensation support force, and perform a nursing operation on the patient with the compensation support force.

7. The mechanical arm-based care assistant of claim 6, wherein, Based on the analysis result, it is determined whether to turn over the patient, including: analyzing the posture information to obtain the body orientation and limb bending degree of the patient; analyzing the pressure distribution information to obtain the pressure value and pressure distribution area of each part of the patient's body in contact with the mattress; comparing the body orientation and limb bending degree with the preset posture threshold, and comparing the pressure value and pressure distribution area with the preset pressure threshold, and determining whether to turn over the patient according to the comparison result; when the body orientation remains unchanged within a preset time length, or when the pressure value in the pressure distribution area exceeds the pressure threshold, it is determined to turn over the patient.

8. The mechanical arm-based care assistant of claim 7, wherein, Based on the posture information and the body weight parameter, the initial support force of the support ring is determined, including: analyzing the body weight parameter to obtain the body weight value of the patient; determining the initial support force according to the limb bending degree and the body weight value; comparing the limb bending degree with the limb bending degree threshold, and comparing the body weight value with the body weight value threshold, and determining the initial support force according to the comparison result; when the limb bending degree is greater than or equal to the limb bending degree threshold, and the body weight value is greater than or equal to the body weight value threshold, the initial support force is determined as the first support force; when the limb bending degree is less than the limb bending degree threshold, and the body weight value is less than the body weight value threshold, the initial support force is determined as the second support force; when the limb bending degree is greater than or equal to the limb bending degree threshold, and the body weight value is less than the body weight value threshold, the initial support force is determined as the third support force; when the limb bending degree is less than the limb bending degree threshold, and the body weight value is greater than or equal to the body weight value threshold, the initial support force is determined as the fourth support force.

9. The mechanical arm-based care assistant of claim 8, wherein, According to the contact characteristic value, it is determined whether to compensate the initial support force, including: comparing the contact characteristic value with the contact characteristic threshold, and determining whether to compensate the initial support force according to the comparison result; if the contact characteristic value exceeds the contact characteristic threshold range, it is determined that the initial support force needs to be compensated; otherwise, it is determined that the initial support force does not need to be compensated.

10. The mechanical arm-based care assistant of claim 9, wherein, Based on the contact characteristic value, the compensation coefficient is determined, and the compensation support force is obtained, including: obtaining the center value of the contact characteristic threshold, and obtaining the difference value between the contact characteristic value and the center value, denoted as the contact difference value; comparing the contact difference value with the preset compensation coefficient mapping table, and obtaining the compensation coefficient according to the comparison result; the product value of the compensation coefficient and the initial support force is taken as the compensation support force.

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