Service robot system for a radionuclide therapy ward and monitoring method

Abstract

The application relates to the technical field of nuclear medicine equipment, and particularly discloses a service robot system for a nuclide treatment ward and a monitoring method. The system comprises a robot body, a double-door interlocking storage cabin, a modular anti-radiation control electronic system and a self-cleaning chassis. The double-door storage cabin comprises an outer door, an inner door, a HEPA high-efficiency filter screen and a negative pressure air suction port, and the inner and outer doors are interlocked. The chip of the anti-radiation electronic system is a space-grade or industrial-grade reinforced model, the CPU and the memory are covered with shielding materials and filled with radiation gel. The self-cleaning chassis is provided with adhesive cleaning rollers at the bottom. An emergency traction interface is arranged at the bottom of the robot. A server is connected with the robot, used for receiving radiation data, generating a body surface thermal map, fusing the body surface thermal map with an anatomical image and sending the doctor terminal. The application realizes the anti-radiation, anti-pollution, zero-contact rescue and dynamic monitoring of the nuclide ward robot.

Description

Technical Field

[0001] This invention relates to the field of nuclear medicine equipment technology, and in particular to a service robot system and monitoring method for use in radionuclide therapy wards. Background Technology

[0002] Radionuclide therapy wards are used to treat patients receiving radiopharmaceutical therapy. These wards contain high-dose gamma-ray radiation, radioactive aerosols, and radioactive dust from the ground. Currently, there are numerous medical service robots on the market, such as medication delivery robots, food delivery robots, and triage robots. These robots can assist medical staff in completing daily delivery and rounds. Meanwhile, a small number of prototype service robots for use in radionuclide therapy wards have emerged in the field of nuclear medicine, possessing basic functions such as environmental radiation monitoring, vital sign measurement, and material transportation.

[0003] However, existing radionuclide ward service robots have fundamental flaws in practical applications. First, the core control chips of ordinary commercial robots are prone to single-event upsets and total dose effects under long-term gamma irradiation, leading to system crashes or loss of control. Existing radiation protection solutions often employ bulky, monolithic lead enclosures, severely impacting robot mobility and ease of maintenance. Second, the gaps in the outer shell and exposed chassis of existing robots are easily contaminated with radioactive aerosols and dust, causing cross-contamination when entering and exiting wards. Furthermore, the release of contaminated air from the storage compartment when it is opened further spreads the contamination. Third, existing robots lack the ability to dynamically monitor radiation from the patient's skin and cannot correlate radiation data with anatomical images. If a robot malfunctions in a high-radiation area, medical staff must wear lead aprons and manually drag it out, increasing occupational exposure risks. The root cause of these flaws lies in the fact that traditional robot development companies lack understanding of the stringent protection standards of nuclear medicine, while nuclear protection equipment manufacturers lack robot development capabilities. This results in existing solutions failing to systematically address the issues of robot survival, contamination isolation, and emergency recovery in high-radiation environments. Therefore, this invention proposes a service robot system and monitoring method for radionuclide therapy wards. Summary of the Invention

[0004] This invention provides a service robot system and monitoring method for radionuclide therapy wards. Through the collaborative design of dual-chamber negative pressure isolation, distributed anti-radiation shielding, body surface-anatomical image fusion, and zero-contact rescue interface, it systematically solves the problems of pollution prevention, radiation resistance, dynamic monitoring, and safe recovery of robots in radionuclide therapy wards.

[0005] This invention provides a service robot system for radionuclide therapy wards, comprising: The robot body includes a double-door interlocked storage compartment, a modular radiation-resistant control electronic system, and a self-cleaning chassis. The robot body integrates a CZT detector array and a depth camera; The double-door interlocked storage compartment includes an outer door, an inner door, a HEPA high-efficiency filter, and a negative pressure air intake. The outer door and the inner door are interlocked, and the negative pressure air intake establishes directional airflow during operation. The modular radiation-resistant control electronic system contains multiple independent circuit modules. Each circuit module is encapsulated in an independent shielded metal box. Each shielded metal box is connected to the robot body through a blind-plug quick interface. The core control chip of the modular radiation-resistant control electronic system is a radiation-resistant model. The area where the CPU and memory are located is covered with shielding material. Radiation-absorbing gel is filled between the shielding material and the area where the CPU and memory are located. The self-cleaning chassis is equipped with cleaning rollers at the bottom, and the surface of the cleaning rollers is covered with an adhesive material. An emergency towing interface is provided at the bottom of the robot body; The service robot system also includes a server connected to the robot body. The server is configured to receive radiation dose data collected by the CZT detector array, generate a radiation hotspot distribution map of the patient's body surface, and then fuse the radiation hotspot distribution map with the anatomical medical images of the patient collected by the depth camera before sending it to the doctor's terminal.

[0006] Preferably, the multimodal emotion-sensing head integrates a CZT detector array, a depth camera, and a microphone; The multimodal emotion-sensing head also includes an expression analysis unit and a voice analysis unit. The expression analysis unit is connected to a camera and recognizes the facial expression feature of furrowed brows, while the voice analysis unit is connected to a microphone and recognizes speech rate and pain keywords. When the facial expression analysis unit or voice analysis unit identifies anxiety or distress characteristics, the service robot system automatically triggers the push of matching meditation music or preset soothing phrases, and generates a psychological state log from the interaction records and sends it to the medical staff's terminal.

[0007] Preferably, a first electromagnetic lock and a first door magnetic sensor are embedded in the outer door frame, and a second electromagnetic lock and a second door magnetic sensor are embedded in the inner door frame. Both the first electromagnetic lock and the second electromagnetic lock are power-off locking type electromagnetic locks. The double-door interlocked storage compartment has three operating modes: The first working state is when the outer door is closed and the inner door is closed, the negative pressure air intake works to establish a slight negative pressure inside the cabin; The second working state is when the outer door is open and the inner door is forcibly locked by the second electromagnetic lock, the negative pressure air intake draws air inward. The third working state is when the outer door is forcibly locked by the first electromagnetic lock and the inner door is open, the negative pressure air intake provides reverse ventilation and is filtered by a HEPA high-efficiency filter.

[0008] Preferably, the double-door interlocked storage compartment is equipped with a UVC disinfection lamp, which is turned on in the first working state. The double-door interlocked storage compartment is also equipped with a pressure balance sensor, which is connected to the control terminals of the first electromagnetic lock and the second electromagnetic lock respectively.

[0009] Preferably, the air intake flow rate of the negative pressure air intake in the second working state is greater than the reverse ventilation flow rate in the third working state; The micro-negative pressure threshold range in the first working state is -5 Pascal to -20 Pascal.

[0010] Preferably, the shielding material covering the area where the CPU and memory are located is a tungsten alloy sheet or a bismuth-tin alloy sheet; All core control modules of the modular radiation-resistant control electronic system are encapsulated in a shielded metal box, which is connected to the robot body via a blind-plug quick interface. The modular radiation-resistant control electronic system is equipped with three parallel processors and a voting circuit. The three processors are connected to the three input terminals of the voting circuit, and the output terminal of the voting circuit is connected to the execution component of the robot body.

[0011] Preferably, the adhesive material adhering to the surface of the cleaning roller is a replaceable adhesive tape roll; The self-cleaning chassis is also equipped with a miniature dust suction port; The service robot system also includes a base station, which is equipped with a station-type brushing mechanism, UVC lamp and adhesive material peeling device at the bottom, a high-pressure atomizing nozzle at the front of the base station, and a drying module installed inside the base station. The air inlet of the drying module is connected to a HEPA filter. When the robot returns to the base station, the base station peels off the layer of adhesive material that has been used on the self-cleaning chassis.

[0012] Preferably, the service robot system also includes a rescue vehicle, the front end of which is equipped with a remote-controlled mechanical clamp. The remote-controlled mechanical clamp has a mechanical self-locking structure, which maintains the clamping and locking state when the rescue vehicle is powered off. After the rescue vehicle approaches the emergency towing interface, the remote-controlled mechanical clamps grip the emergency towing interface and drag the robot body to the shielded maintenance room. The self-cleaning chassis is equipped with an emergency communication module with an independent power supply. The output of the emergency communication module is connected to the brake release mechanism of the robot body.

[0013] Preferably, the robot body is equipped with a safety paralysis mode. In the safety paralysis mode, the robot body automatically retracts the extended parts, locks the drive wheels, and issues an alarm signal. The double-door interlocking storage compartment is made of stainless steel, with a Teflon coating on the surface. Sealing strips are embedded at all seams of the compartment.

[0014] This invention provides a monitoring method for a service robot system in a radionuclide therapy ward, applicable to any of the above-mentioned service robot systems in a radionuclide therapy ward, comprising the following steps: Step 1: Control the robot body to move in the radionuclide therapy ward according to the predetermined path, and collect radiation dose data of the patient's body surface and surrounding environment in real time through the CZT detector array; Step 2: Transmit the radiation dose data to the server to generate a radiation hotspot distribution map on the patient's body surface; Step 3: Retrieve the patient's pre-stored anatomical medical images from the database, extract the patient's three-dimensional human contour point cloud in real time using a depth camera, identify the patient's acromion, xiphoid process, and patella as spatial reference coordinate points, perform affine transformation processing on the radiation hotspot distribution map and anatomical medical images using a coordinate transformation matrix, use the mutual information method to perform feature fitting on the two modalities of the images, and perform coordinate system overlap and calibration. Step four involves fusing the calibrated surface radiation hotspot distribution map with anatomical medical images to generate a radiation field spatial distribution fusion report, which is then sent to the doctor's terminal.

[0015] The beneficial effects of this invention compared to existing technologies are as follows: This invention overcomes the fundamental shortcomings of existing radionuclide ward service robots, such as their inability to operate stably in high-radiation environments, their inability to effectively isolate radioactive contamination, their inability to achieve dynamic monitoring of patient surface radiation, and their inability to retrieve faulty robots with zero contact. Through the interlocking negative pressure isolation design of the double-door interlocked storage compartment, the cross-contamination path of radioactive aerosols is completely blocked; through the distributed shielding and radiation-absorbing gel filling of the modular anti-radiation control electronic system, radiation hardening of the core electronic system is achieved while ensuring mobility; through the server, the surface radiation thermal map collected by the mobile device is fused with the patient's anatomical medical images, providing doctors with a dynamic and visual treatment monitoring tool; through the emergency traction interface and the mechanical clamps of the rescue vehicle, zero-contact retrieval of faulty robots in high-radiation areas is achieved. The synergistic effect of these technologies allows medical staff to complete robot operation, maintenance, and fault handling without entering the high-radiation area, significantly reducing the risk of occupational exposure.

[0016] Existing technologies cannot simultaneously address the four key challenges of radiation resistance, contamination prevention, dynamic monitoring, and zero-contact retrieval for radionuclide ward robots. This solution addresses these challenges by employing a dual-door interlocked storage compartment with three operating states: inward air intake during patient retrieval, reverse ventilation during medical staff loading, and maintenance of a slight negative pressure during transport. This, coupled with UVC disinfection lamps and HEPA high-efficiency filters, forms a closed-loop control system encompassing "patient retrieval / medical staff loading / transport isolation," achieving full-process contamination isolation for the first time in a radionuclide ward setting. The modular radiation-resistant control electronic system utilizes a collaborative design of distributed shielding and blind-plug interfaces, ensuring radiation protection for the core chip while enabling rapid hot-swappable replacement of faulty modules, overcoming the technical bias of existing technologies where radiation resistance and maintainability are mutually exclusive. The self-cleaning chassis ensures the robot does not become a source of contamination, while the server-side fusion of radiation thermal mapping and anatomical imaging provides doctors with dynamic monitoring tools. An emergency traction interface ensures zero-contact retrieval in case of failure. These features are not simply additive but rather an organic whole formed around the specific technical challenge of "safe operation of radionuclide ward robots."

[0017] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0018] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall architecture of a service robot system for a radionuclide therapy ward according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the working state of the double-door interlocked storage compartment in an embodiment of the present invention; Figure 3 This is a top view cross-section and schematic diagram of the dual-door airlock interlock structure in an embodiment of the present invention; Figure 4 This is a detailed view of the chassis cleaning system in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the process of fusing a patient's surface radiation thermogram with medical images in an embodiment of the present invention. Detailed Implementation

[0020] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0021] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the present invention provides an embodiment of a service robot system for a radionuclide therapy ward, comprising: The robot body includes a double-door interlocked storage compartment, a modular radiation-resistant control electronic system, and a self-cleaning chassis. The robot body integrates a CZT detector array and a depth camera; The double-door interlocked storage compartment includes an outer door, an inner door, a HEPA high-efficiency filter, and a negative pressure air intake. The outer door and the inner door are interlocked, and the negative pressure air intake establishes directional airflow during operation. The modular radiation-resistant control electronic system contains multiple independent circuit modules. Each circuit module is encapsulated in an independent shielded metal box. Each shielded metal box is connected to the robot body through a blind-plug quick interface. The core control chip of the modular radiation-resistant control electronic system is a radiation-resistant model. The area where the CPU and memory are located is covered with shielding material. Radiation-absorbing gel is filled between the shielding material and the area where the CPU and memory are located. The self-cleaning chassis is equipped with cleaning rollers at the bottom, and the surface of the cleaning rollers is covered with an adhesive material. An emergency towing interface is provided at the bottom of the robot body; The service robot system also includes a server connected to the robot body. The server is configured to receive radiation dose data collected by the CZT detector array, generate a radiation hotspot distribution map of the patient's body surface, and then fuse the radiation hotspot distribution map with the anatomical medical images of the patient collected by the depth camera before sending it to the doctor's terminal.

[0022] In this embodiment, the double-door interlocked storage compartment prevents radioactive aerosols from spreading into the ward environment when items are retrieved or placed. The outer door faces the patient's activity area, and the inner door faces the robot's internal storage space. The interlocking of the outer and inner doors means that only one door is allowed to be open at a time. Directional airflow refers to the fixed-direction airflow that causes air to flow from outside the compartment to inside when the negative pressure air intake is working, used to draw air that may contain radioactive aerosols into the filtration system. A HEPA high-efficiency filter is used to filter radioactive particles with a diameter of 0.3 micrometers or larger.

[0023] In this embodiment, the aerospace-grade radiation-hardened chip refers to a chip that has undergone radiation hardening design and can operate normally in radiation environments with a total dose of 100 kiladas (Si) or higher. The industrial-grade hardened chip refers to a chip that has undergone process selection and packaging hardening and can operate normally in radiation environments with a total dose of 30 kiladas (Si) to 100 kiladas (Si). The CPU is the central processing unit, and the memory includes random access memory and read-only memory. The shielding material is a thin metal sheet used to attenuate gamma rays penetrating the areas where the CPU and memory are located. The radiation-absorbing gel is a paste-like substance that fills the gap between the shielding material and the areas where the CPU and memory are located, used to absorb the scattered rays remaining after attenuation by the shielding material.

[0024] In this embodiment, the cleaning roller is installed at the center of the bottom of the self-cleaning chassis and rotates along with the robot body as it moves. An adhesive material is attached to the surface of the cleaning roller to adhere to radioactive dust from the ground that has been run over by the wheel, as well as radioactive particles that have accumulated on the wheel itself.

[0025] In this embodiment, the emergency traction interface is a mechanical connection structure located at the bottom end of the robot body, used to connect with external rescue equipment when the robot body experiences a power outage or malfunction.

[0026] In this embodiment, the emergency towing interface is a cylindrical steel hook, welded and fixed to the crossbeam at the bottom end of the robot body. The diameter of the emergency towing interface is 12 mm to 20 mm, the length is 30 mm to 50 mm, and the axis is perpendicular to the forward direction of the robot body. The outer cylindrical surface of the emergency towing interface is knurled to a depth of 0.2 mm to 0.5 mm to increase the coefficient of friction between it and the mechanical caliper of the rescue vehicle.

[0027] In this embodiment, the server is a computer device independent of the robot body, connected to the robot body via a wireless communication network. Radiation dose data is collected by the CZT detector array on the robot body and transmitted to the server in real time. The server runs an image reconstruction program, mapping the radiation dose values ​​from multiple collection points onto a three-dimensional model of the patient's body surface, generating a radiation hotspot distribution map of the patient's body surface. The patient's anatomical medical images are pre-stored in a database. The server performs coordinate system overlay and calibration between the patient's body surface radiation hotspot distribution map and the patient's anatomical medical images, generating a fused dynamic treatment monitoring report, which is sent to the doctor's workstation terminal via the hospital network.

[0028] The server internally includes an image reconstruction module, a coordinate system registration module, and an image fusion module. The image reconstruction module takes radiation dose data and corresponding spatial coordinates collected by the CZT detector array as input and outputs a radiation hotspot distribution map of the patient's body surface. The coordinate system registration module takes 3D point cloud of human body contours collected by a depth camera and anatomical medical images retrieved from the database as input and outputs a coordinate transformation matrix. The image fusion module transforms the radiation hotspot distribution map with the anatomical medical images using the coordinate transformation matrix and then overlays them to output a fusion report.

[0029] In another embodiment of the present invention, the multimodal emotion-sensing head integrates a CZT detector array, a depth camera, and a microphone; The multimodal emotion-sensing head also includes an expression analysis unit and a voice analysis unit. The expression analysis unit is connected to a camera and recognizes the facial expression feature of furrowed brows, while the voice analysis unit is connected to a microphone and recognizes speech rate and pain keywords. When the facial expression analysis unit or voice analysis unit identifies anxiety or distress characteristics, the service robot system automatically triggers the push of matching meditation music or preset soothing phrases, and generates a psychological state log from the interaction records and sends it to the medical staff's terminal.

[0030] In this embodiment, a multimodal emotion-sensing head is mounted on top of the robot body to collect the patient's visual and auditory information. A CZT detector array, composed of multiple detector units made of cadmium zinc telluride semiconductor material, is used to detect gamma rays emitted from the patient's body surface and convert them into radiation dose data. The input of the CZT detector array is gamma-ray photons, and the output is the radiation dose value obtained by analog-to-digital conversion of an electrical pulse signal. A depth camera, consisting of an infrared projector, an infrared camera, and a color camera, is used to collect three-dimensional spatial coordinate data of the patient's body surface. The input of the depth camera is the infrared light spot reflected from the patient's body surface, and the output is three-dimensional point cloud data of the human body contour, including X-axis, Y-axis, and Z-axis coordinates. A microphone is used to collect the patient's voice signal; the microphone's input is sound waves, and its output is a digital audio signal.

[0031] In this embodiment, the facial expression analysis unit runs an image classification model based on a convolutional neural network. This model is constructed by collecting a sufficient number of face images labeled with a furrowed brow as a training dataset, using ResNet50 as the backbone network, and adjusting the network weights through backpropagation to output a confidence score for a furrowed brow. The input to the facial expression analysis unit is a face region image captured by a depth camera, and the output is the furrowed brow confidence score. In one example, a confidence score greater than 0.7 is considered a recognized furrowed brow expression feature. The speech analysis unit runs a speech emotion recognition model based on a long short-term memory network. This model is constructed by collecting a sufficient number of speech samples labeled with pain keywords and normal speaking speed as a training dataset, extracting speech features using Mel-frequency cepstral coefficients, learning temporal dependencies through a long short-term memory network, and outputting the speech emotion classification result. The input to the speech analysis unit is the digital audio signal collected by the microphone, and the output is the pain keyword matching score and the speech rate abnormality score. In one example, when the pain keyword matching score is greater than 0.6 or the speech rate abnormality score exceeds a preset threshold, it is determined that the pain feature has been identified.

[0032] In this embodiment, anxiety features include a furrowed brow facial expression and rapid speech with repetitive words. Pain features include a furrowed brow facial expression and speech mentioning keywords related to pain and discomfort. When the facial expression analysis unit or the speech analysis unit identifies anxiety or pain features, the service robot system selects matching meditation music from a pre-stored music library or selects preset soothing phrases from a pre-stored corpus and converts them into speech output via a speech synthesis module. The matching method is as follows: for anxiety features, slow-paced meditation music and relaxation prompts are pushed; for pain features, soothing meditation music and comforting prompts are pushed. The interaction log includes a timestamp of the identified anxiety or pain features, the content of the triggered music or prompts, and the patient's subsequent speech responses. The psychological state log is generated by arranging the interaction log in chronological order and sent to the nurse station terminal via a wireless network for clinical reference by medical staff.

[0033] In another embodiment of the present invention, a first electromagnetic lock and a first door magnetic sensor are embedded in the outer door frame, and a second electromagnetic lock and a second door magnetic sensor are embedded in the inner door frame. Both the first electromagnetic lock and the second electromagnetic lock are power-off locking type electromagnetic locks. The double-door interlocked storage compartment has three operating modes: The first working state is when the outer door is closed and the inner door is closed, the negative pressure air intake works to establish a slight negative pressure inside the cabin; The second working state is when the outer door is open and the inner door is forcibly locked by the second electromagnetic lock, the negative pressure air intake draws air inward. The third working state is when the outer door is forcibly locked by the first electromagnetic lock and the inner door is open, the negative pressure air intake provides reverse ventilation and is filtered by a HEPA high-efficiency filter.

[0034] In this embodiment, a first electromagnetic lock is installed at the latch position of the outer door frame. When the first electromagnetic lock is energized, it generates a magnetic force to attract the armature plate on the outer door, keeping the outer door locked. A first door magnetic sensor is installed on the outer door frame opposite to the edge of the outer door. The first door magnetic sensor contains a first reed switch and a first permanent magnet. When the outer door is closed, the first permanent magnet moves closer to the first reed switch, causing the first reed switch to close and outputting a closed signal. When the outer door is open, the first permanent magnet moves away from the first reed switch, causing the first reed switch to open and outputting an open signal. A second electromagnetic lock is installed at the latch position of the inner door frame. A second door magnetic sensor is installed on the inner door frame opposite to the edge of the inner door. The working principle of the second door magnetic sensor is the same as that of the first door magnetic sensor.

[0035] In this embodiment, the sensors are arranged as follows: a first door magnetic sensor is installed on the outer door frame opposite to the edge of the outer door, and the first door magnetic sensor contains a first reed switch and a first permanent magnet; a second door magnetic sensor is installed on the inner door frame opposite to the edge of the inner door, and works on the same principle; a pressure balance sensor is installed inside the double-door interlocked storage compartment, with its first input end located inside the compartment and its second input end located in the atmospheric environment outside the compartment.

[0036] In this embodiment, "micro-negative pressure" refers to a pressure difference between the inside and outside of the cabin that is lower than the outside pressure, with the absolute value of the pressure difference ranging from 5 Pascals to 20 Pascals. In the first operating state, both the outer and inner doors are closed. The negative pressure air intake is activated, drawing air from the cabin and filtering it through a HEPA filter before discharging it outside. Simultaneously, outside air enters the cabin through gaps, maintaining the cabin pressure at a continuously lower micro-negative pressure than the outside pressure. This state is used for continuous isolation during the robot's transport of goods, preventing the leakage of radioactive aerosols from the cabin.

[0037] In this embodiment, in the second operating state, the outer door is open and the inner door is forcibly locked by the second electromagnetic lock. The second electromagnetic lock is a power-off locking type. When the first door magnetic sensor detects the outer door opening signal, the control system cuts off the power supply to the second electromagnetic lock. After the second electromagnetic lock is de-energized, its mechanical locking pin pops out under the action of a spring and locks into the lock hole of the inner door, preventing the inner door from being opened. At the same time, the negative pressure air intake starts the inward air intake mode. Outside air enters the cabin through the outer door opening. After being drawn in by the negative pressure air intake, the air inside the cabin is filtered by a HEPA high-efficiency filter and discharged outside the cabin, making the air pressure inside the cabin lower than the air pressure outside the cabin, preventing radioactive aerosols inside the cabin from spreading outward through the outer door opening when the patient retrieves items.

[0038] In this embodiment, the control logic is as follows: when the first door magnetic sensor detects an open signal from the outer door, the control system determines that the current state is the second working state, cuts off the power supply to the second electromagnetic lock, and forcibly locks the inner door; when the second door magnetic sensor detects an open signal from the inner door, the control system determines that the current state is the third working state, cuts off the power supply to the first electromagnetic lock, and forcibly locks the outer door; when both door magnetic sensors output a closed signal, the control system determines that the current state is the first working state, maintains a slight negative pressure, and turns on the UVC disinfection lamp.

[0039] In this embodiment, in the third operating state, the outer door is forcibly locked by the first electromagnetic lock while the inner door is open. The first electromagnetic lock is a power-off locking type. When the second door magnetic sensor detects the inner door opening signal, the control system cuts off the power supply to the first electromagnetic lock. After the first electromagnetic lock is de-energized, its mechanical locking pin pops out under the action of a spring and locks into the lock hole of the outer door, preventing the outer door from being opened. At the same time, the negative pressure air intake starts the reverse ventilation mode. Outside air is filtered by a HEPA high-efficiency filter and then drawn into the cabin by the negative pressure air intake. The air inside the cabin is discharged outward through the inner door opening, making the air pressure inside the cabin higher than the air pressure outside the cabin, preventing unfiltered outside air from carrying pollutants into the cabin when medical personnel place items from the inside.

[0040] This configuration applies to scenarios where healthcare workers, wearing protective gear, insert items into the storage compartment through the inner door. Since the healthcare worker side is a relatively clean area, and radioactive aerosols may remain inside the compartment, positive pressure exhaust ensures that the air inside is filtered through a HEPA filter before being discharged through the inner door, rather than spreading into the ward environment, aligning with the contamination prevention objective. The pressure differential range for this configuration is specified to be 5 Pascals to 20 Pascals (positive pressure), with the airflow direction from inside the compartment to outside.

[0041] In another embodiment of the present invention, a UVC disinfection lamp is installed inside the double-door interlocked storage compartment, and the UVC disinfection lamp is turned on in the first working state. The double-door interlocked storage compartment is also equipped with a pressure balance sensor, which is connected to the control terminals of the first electromagnetic lock and the second electromagnetic lock respectively.

[0042] In this embodiment, a UVC disinfection lamp is installed on the top of the inner wall of the double-door interlocked storage compartment. The UVC disinfection lamp emits ultraviolet light with a wavelength range of 200 nanometers to 280 nanometers. In the first working state, i.e., when both the outer and inner doors are closed, the UVC disinfection lamp automatically turns on, and the ultraviolet light irradiates the inner surface of the compartment and the outer packaging of the stored items, destroying the molecular structure of ribonucleic acid or deoxyribonucleic acid and killing microorganisms and pathogens attached to the surface. When either the outer or inner door is opened, the UVC disinfection lamp automatically turns off to prevent ultraviolet light leakage from causing harm to the human body.

[0043] In this embodiment, the interlocking relationship between the HEPA high-efficiency filter and the UVC disinfection lamp is as follows: the UVC disinfection lamp automatically turns on only when the system is in the first operating state (outer door closed and inner door closed); when either the first or second door magnetic sensor detects that either door is open, the control system cuts off the power supply to the UVC disinfection lamp within 50 milliseconds, and the UVC disinfection lamp immediately turns off. The HEPA high-efficiency filter remains in operation when the negative pressure air intake is working, and is controlled independently of the UVC disinfection lamp.

[0044] In this embodiment, the pressure balance sensor is a differential pressure transmitter. The first input terminal of the pressure balance sensor is installed inside the double-door interlocked storage compartment, and the second input terminal is installed in the atmospheric environment outside the compartment. The pressure balance sensor measures the pressure difference between the air pressure inside the compartment and the atmospheric pressure outside in real time, and outputs an analog voltage signal or a digital signal to the control system. This pressure difference value is used to determine whether a slight negative pressure state has been successfully established and whether the slight negative pressure threshold range meets the requirements.

[0045] In this embodiment, the differential pressure control method is as follows: A pressure balance sensor measures the pressure difference between the air pressure inside the cabin and the atmospheric pressure outside the cabin in real time, and outputs an analog voltage signal to the control system. The control system compares the collected differential pressure signal with a preset threshold range of -5 Pascal to -20 Pascal: When the absolute value of the differential pressure is less than 5 Pascal, the control system increases the PWM duty cycle of the negative pressure intake fan to increase the intake flow rate; when the absolute value of the differential pressure is greater than 20 Pascal, the control system decreases the PWM duty cycle of the fan to reduce the intake flow rate; when the differential pressure stabilizes within the threshold range, the current fan speed is maintained.

[0046] In this embodiment, the connection of the pressure balance sensor to the control terminals of the first and second electromagnetic locks means that the output signal of the pressure balance sensor is connected to the analog-to-digital converter input of the control system. After receiving the door status signal from the first or second door magnetic sensor, the control system combines the differential pressure signal from the pressure balance sensor to execute the unlocking control of the electromagnetic lock. Specifically, the control logic is as follows: In the first operating state, when the pressure balance sensor detects that a slight negative pressure has been successfully established inside the cabin and the absolute value of the differential pressure is stable within the range of 5 Pascal to 20 Pascals, the control system allows subsequent unlocking operations. In the second operating state, after the outer door is closed, the control system only allows the release of the forced lock on the inner door after the pressure balance sensor detects that the differential pressure inside the cabin has recovered to the slight negative pressure threshold range and the duration has reached a preset time. In the third operating state, after the inner door is closed, the control system only allows the release of the forced lock on the outer door after the pressure balance sensor detects that the differential pressure inside the cabin has recovered to the slight negative pressure threshold range and the duration has reached a preset time.

[0047] In another embodiment of the present invention, the suction flow rate of the negative pressure air intake in the second working state is greater than the reverse ventilation flow rate in the third working state. The micro-negative pressure threshold range in the first working state is -5 Pascal to -20 Pascal.

[0048] In this embodiment, the negative pressure air intake consists of a fan, an air duct, and an air valve. The fan speed is adjusted by the control system via a pulse width modulation signal. The second working state is the patient retrieval state, where the outer door is open and the inner door is forcibly locked by a second electromagnetic lock. The negative pressure air intake draws air inward, with an airflow rate set to 1.5 cubic meters per minute to 2.5 cubic meters per minute. The third working state is the medical staff placing items, where the outer door is forcibly locked by a first electromagnetic lock and the inner door is open. The negative pressure air intake provides reverse ventilation, with a reverse ventilation flow rate set to 0.5 cubic meters per minute to 1.0 cubic meters per minute. The intake flow rate in the second working state is greater than the reverse ventilation flow rate in the third working state. Its function is to establish a stronger negative pressure gradient when the patient retrieves items, ensuring that air containing radioactive aerosols in the cabin is forcibly drawn into the negative pressure intake port when the door is opened on the patient side, preventing it from spreading outward. When medical staff place items, because the medical staff wear protective equipment and the operating environment is relatively controlled, the lower reverse ventilation flow rate is sufficient to maintain directional airflow and discharge the air in the cabin after it is filtered by the HEPA high-efficiency filter.

[0049] In this embodiment, the airflow paths for the three operating states are as follows: First working state (double doors closed): The air inside the cabin is drawn out by the negative pressure air intake, filtered by the HEPA high-efficiency filter and discharged to the outside of the cabin. At the same time, the air outside the cabin is replenished into the cabin through the gaps in the cabin body, forming a circulating filtration. Second working state (patient retrieval): Outside air enters the cabin through the outer door opening, carrying any radioactive aerosols that may be present. It is then drawn in by the negative pressure air intake, filtered by the HEPA high-efficiency filter, and discharged outside the cabin. The airflow direction is from the patient side to the negative pressure air intake. Third working state (medical staff placement): After being filtered by a HEPA high-efficiency filter, the outside air is drawn into the cabin through the negative pressure air intake, and the air inside the cabin is discharged outward through the inner door opening. The airflow direction is from the negative pressure air intake to the medical staff side.

[0050] In this embodiment, micro-negative pressure refers to a state where the air pressure inside the cabin is lower than the air pressure outside the cabin. The micro-negative pressure threshold range is -5 Pascals to -20 Pascals, where the negative sign indicates that the air pressure inside the cabin is lower than the air pressure outside the cabin, and the values ​​5 to 20 represent the absolute value of the pressure difference between the cabin and the outside. When the absolute value of the pressure difference is less than 5 Pascals, the negative pressure gradient is insufficient to effectively prevent radioactive aerosols from spreading outwards at the moment the door is opened; when the absolute value of the pressure difference is greater than 20 Pascals, excessive negative pressure will make it difficult to open the door and may cause the items inside the cabin to be disturbed by the airflow. The control system monitors the pressure difference inside the cabin in real time through a pressure balance sensor. When the pressure difference deviates from the range of -5 Pascals to -20 Pascals, the control system automatically adjusts the fan speed of the negative pressure air intake to restore the pressure difference inside the cabin to the threshold range.

[0051] In another embodiment of the present invention, the shielding material covering the area where the CPU and memory are located is a tungsten alloy sheet or a bismuth-tin alloy sheet. All core control modules of the modular radiation-resistant control electronic system are encapsulated in a shielded metal box, which is connected to the robot body via a blind-plug quick interface. The modular radiation-resistant control electronic system is equipped with three parallel processors and a voting circuit. The three processors are connected to the three input terminals of the voting circuit, and the output terminal of the voting circuit is connected to the execution component of the robot body.

[0052] In this embodiment, the tungsten alloy sheet is made of tungsten-nickel-iron alloy or tungsten-nickel-copper alloy, with a tungsten content of 90% to 97% by mass and a sheet thickness of 0.5 mm to 2.0 mm. The bismuth-tin alloy sheet is made by melting bismuth and tin in a mass ratio of 55% bismuth and 45% tin, and has a sheet thickness of 0.5 mm to 2.0 mm. Both the tungsten alloy sheet and the bismuth-tin alloy sheet have high density and good gamma-ray attenuation capabilities, and are used to cover the CPU chip package surface and the memory chip package surface to attenuate gamma rays penetrating the chip area. The circuit board area outside the CPU and memory areas is not covered with the above-mentioned shielding material to reduce the overall weight.

[0053] In this embodiment, the modular radiation-resistant control electronic system consists of multiple independent circuit modules, each containing specific control functions, including a main control module, a motor drive module, a communication module, and a power management module. All core control modules refer to the key circuit modules responsible for robot motion control, communication protocol processing, and sensor data fusion. The shielding metal box is a hexahedral metal shell made of aluminum alloy, with a wall thickness of 1.5 mm to 3.0 mm. Conductive foam is attached to the inner surface of the shell for electromagnetic shielding and vibration damping. All core control modules are encapsulated in their respective shielding metal boxes, and each shielding metal box is filled with radiation-absorbing gel.

[0054] In this embodiment, the radiation-resistant packaging structure is as follows: Each core control module (including the main control module, motor drive module, communication module, and power management module) is encapsulated in an independent shielded metal box. The shielded metal box has a hexahedral structure, is made of aluminum alloy, and has a wall thickness of 1.5 mm to 3.0 mm. The interior of the shielded metal box is filled with radiation-absorbing gel, covering the area where the CPU and memory are located. A blind-mating quick-connect male connector is installed on the back of the shielded metal box, and a corresponding female connector is installed inside the robot body. When the shielded metal box is pushed into the designated position on the robot body along the guide rail, the spring pin of the male connector automatically contacts and conducts electricity with the planar pad of the female connector.

[0055] In this embodiment, the blind-mating quick interface consists of a male connector mounted on the back of a shielded metal box and a female connector mounted inside the robot body. The male connector includes multiple spring pins, and the female connector includes corresponding planar pads. When the shielded metal box is pushed into the designated position inside the robot body along the guide rail, the spring pins of the male connector automatically contact and conduct electricity with the planar pads of the female connector, eliminating the need for manual cable insertion and removal. The blind-mating quick interface simultaneously transmits power signals, control signals, and data signals, supporting hot-swapping replacement of modular radiation-resistant control electronics in low-radiation areas.

[0056] In this embodiment, the three parallel processors are three identical microcontroller units. Each microcontroller unit independently receives input signals from various sensors on the robot body and independently executes the same control algorithm program. The voting circuit consists of three sets of AND and OR gates, with the output signals of the three processors connected to their respective input terminals. The voting circuit performs a majority vote to determine the calculation results of the three processors. Specifically, when two or three of the three processors produce the same output result, the voting circuit uses that consistent result as its output; when the output results of the three processors are different or only one is correct, the voting circuit outputs a preset safety default value. The output terminal of the voting circuit is connected to the execution components of the robot body, including a drive wheel motor, a negative pressure suction fan, a UVC disinfection lamp, and an electromagnetic lock. When a single processor makes a calculation error due to a single-event upset caused by gamma-ray radiation, the voting circuit uses a majority voting mechanism to mask the erroneous result, ensuring that the control commands output to the execution components are correct.

[0057] In another embodiment of the invention, the adhesive material adhering to the surface of the cleaning roller is a replaceable adhesive tape roll; The self-cleaning chassis is also equipped with a miniature dust suction port; The service robot system also includes a base station, which is equipped with a station-type brushing mechanism, UVC lamp and adhesive material peeling device at the bottom, a high-pressure atomizing nozzle at the front of the base station, and a drying module installed inside the base station. The air inlet of the drying module is connected to a HEPA filter. When the robot returns to the base station, the base station peels off the layer of adhesive material that has been used on the self-cleaning chassis.

[0058] In this embodiment, the adhesive tape reel consists of a central rotating shaft and multiple layers of adhesive tape wound around the central rotating shaft, with the adhesive side of the tape facing outwards. The substrate of the adhesive tape is a polypropylene film or a polyester film. A reel support is installed inside the cleaning roller, and both ends of the central rotating shaft of the adhesive tape reel are inserted into the shaft holes of the reel support. When the cleaning roller rotates, the adhesive tape reel rotates synchronously with the cleaning roller, and the outermost layer of adhesive tape adheres to the radioactive dust it comes into contact with. When the adhesive strength of the outermost layer of adhesive tape decreases, an adhesive material peeling device peels off the outermost layer of tape, exposing the next layer of new tape.

[0059] In this embodiment, a miniature suction port is installed at the bottom of the self-cleaning chassis and behind the cleaning rollers. The miniature suction port has a flat rectangular opening, the width of which is equal to the width of the cleaning rollers. The miniature suction port is connected to a miniature vacuum fan installed inside the self-cleaning chassis via a suction pipe, and the outlet of the miniature vacuum fan is connected to a HEPA filter. The miniature suction port operates continuously as the robot moves, removing loose radioactive particles that are not adhered to the cleaning rollers.

[0060] In this embodiment, the base station is a fixed device placed in the buffer zone or low-radiation area of ​​the radionuclide therapy ward. A concave guide groove is provided at the bottom of the base station to guide the robot body to accurately dock above it. A standing brushing mechanism is installed at the bottom of the concave guide groove. The standing brushing mechanism consists of a rotating brush disc and a drive motor. The surface of the rotating brush disc is covered with stiff nylon bristles. After the robot body docks, the rotating brush disc of the standing brushing mechanism rises and contacts the bottom of the self-cleaning chassis. The rotating brush disc rotates and brushes the bottom surface of the self-cleaning chassis to remove radioactive contaminants adhering to the chassis. UVC lamps of the base station are installed around the standing brushing mechanism to irradiate and disinfect the bottom of the self-cleaning chassis during the brushing process.

[0061] In this embodiment, the adhesive material peeling device is installed at the bottom of the base station and located on one side of the station-type scrubbing mechanism. The adhesive material peeling device consists of a peeling blade and a winding motor. The cutting edge of the peeling blade is in close contact with the adhesive tape on the surface of the cleaning roller. When the cleaning roller rotates, the peeling blade inserts into the interface between the outermost layer of adhesive tape and the next layer of tape, peeling the used outermost layer of adhesive tape from the surface of the cleaning roller. The winding motor drives the winding shaft to rotate, winding and collecting the peeled used adhesive tape on the winding shaft.

[0062] In this embodiment, a high-pressure atomizing nozzle is installed in front of the base station, connected to a detergent reservoir and a high-pressure pump. The nozzle atomizes the detergent into tiny droplets with a particle size of 10 to 50 micrometers, spraying them onto the robot's outer shell and the bottom of its self-cleaning chassis, dissolving and suspending radioactive contaminants adhering to these surfaces. A drying module is installed inside the base station, consisting of a heating wire heater and a centrifugal fan. The drying module's air inlet is connected to a HEPA filter, heating the filtered clean air to 40 to 60 degrees Celsius before blowing it onto the robot's outer shell and the bottom of its self-cleaning chassis, evaporating the detergent droplets and moisture. After drying is complete, the robot departs from the base station, completing one closed-loop cleaning cycle.

[0063] In another embodiment of the present invention, the service robot system further includes a rescue vehicle, the front end of which is provided with a remote-controlled mechanical clamp, the remote-controlled mechanical clamp having a mechanical self-locking structure, the mechanical self-locking structure maintaining a clamping and locking state when the rescue vehicle is powered off. After the rescue vehicle approaches the emergency towing interface, the remote-controlled mechanical clamps grip the emergency towing interface and drag the robot body to the shielded maintenance room. The self-cleaning chassis is equipped with an emergency communication module with an independent power supply. The output of the emergency communication module is connected to the brake release mechanism of the robot body.

[0064] In this embodiment, the rescue vehicle is an independent remote-controlled mobile platform. The vehicle is equipped with four omnidirectional wheels at its bottom and integrates a rechargeable battery, a wireless communication module, and a motor drive controller. A telescopic arm is mounted at the front of the vehicle, with a remote-controlled mechanical caliper installed at the end of the arm. The rescue vehicle receives remote control commands from the operator via the wireless communication module. The operator, located in a control room outside the radionuclide therapy ward, observes the footage captured by the front-end camera on a display screen and remotely controls the movement of the rescue vehicle.

[0065] In this embodiment, the docking method between the rescue vehicle and the emergency towing interface is as follows: A telescopic arm is installed at the front end of the rescue vehicle, and a remote-controlled mechanical caliper is installed at the end of the telescopic arm. The remote-controlled mechanical caliper consists of a left caliper, a right caliper, a caliper drive motor, and a transmission gear set. Semi-circular grooves are provided on the inner surfaces of the left and right calipers, and the diameter of the grooves matches the diameter of the emergency towing interface. When the rescue vehicle approaches the emergency towing interface, the operator starts the caliper drive motor via remote control. The caliper drive motor drives the left and right calipers to rotate relative to each other and close via the transmission gear set. The semi-circular grooves clamp the outer cylindrical surface of the emergency towing interface from both sides. The mechanical self-locking structure is a worm gear mechanism, installed on the output shaft of the transmission gear set. When the caliper drive motor is de-energized, the worm gear is locked by the worm, and the calipers remain closed.

[0066] In this embodiment, the remote-controlled mechanical caliper consists of a left jaw, a right jaw, a jaw drive motor, and a transmission gear set. The inner surfaces of the left and right jaws are provided with semi-circular grooves, the shape of which matches the outer cylindrical surface of the emergency towing interface. When the rescue vehicle approaches the emergency towing interface, the operator activates the jaw drive motor via remote control. The jaw drive motor, through the transmission gear set, drives the left and right jaws to rotate relative to each other, causing the left and right jaws to close. The semi-circular grooves clamp the outer cylindrical surface of the emergency towing interface from both sides. A mechanical self-locking structure is installed on the output shaft of the transmission gear set. The mechanical self-locking structure is a worm gear mechanism, with the worm wheel mounted on the output shaft and the worm connected to the jaw drive motor. The worm gear mechanism has a self-locking characteristic, meaning the worm can drive the worm wheel to rotate, but the worm wheel cannot drive the worm to rotate in the opposite direction. When the rescue vehicle loses power, the gripper drive motor stops rotating, the worm gear remains stationary, and the worm wheel is locked by the worm gear and cannot rotate in the opposite direction. The left and right grippers remain in the closed clamping state before the power loss to prevent the robot body from accidentally falling off during the rescue process.

[0067] In this embodiment, the emergency traction interface is a cylindrical steel hook, welded and fixed to the crossbeam at the bottom end of the robot body. The axis of the emergency traction interface is perpendicular to the forward direction of the robot body, and the outer cylindrical surface of the emergency traction interface is knurled to increase the coefficient of friction with the remote-controlled mechanical caliper. After the remote-controlled mechanical caliper clamps the emergency traction interface, the rescue trolley moves backward, pulling the robot body through the emergency traction interface and dragging it to the shielded maintenance room. The shielded maintenance room is a dedicated maintenance space set up outside the radionuclide therapy ward area. The walls of the shielded maintenance room are embedded with lead plates or barium sulfate coatings to isolate residual radioactivity on the surface of the robot body.

[0068] In this embodiment, the independent power supply is a rechargeable lithium battery pack, installed in a sealed battery compartment inside the self-cleaning chassis. The independent power supply is electrically isolated from the robot's main power system, and its output is connected to the emergency communication module and the brake release mechanism. The emergency communication module is a wireless data transmission module operating in the 433 MHz band. Its antenna is mounted on the bottom of the self-cleaning chassis, facing downwards, allowing the signal to be transmitted outwards via ground reflection. When the robot malfunctions or experiences a power outage, the robot's main power system fails, and the independent power supply powers the emergency communication module. An operator outside the ward sends a brake release command via a handheld remote control. Upon receiving the command, the emergency communication module outputs a high-level signal to the brake release mechanism. The brake release mechanism is an electromagnet; when energized, the electromagnet generates magnetic force to engage the brake pads, releasing the drive wheels from braking and allowing the rescue trolley to tow the robot.

[0069] In another embodiment of the present invention, the robot body is equipped with a safety paralysis mode. In the safety paralysis mode, the robot body automatically retracts the outstretched parts, locks the drive wheels, and issues an alarm signal. The double-door interlocking storage compartment is made of stainless steel, with a Teflon coating on the surface. Sealing strips are embedded at all seams of the compartment.

[0070] In this embodiment, the safety paralysis mode is triggered by the fault detection unit of the robot body. The fault detection unit continuously monitors the watchdog timer status of the core control chip, the connection status of the communication link, and the current feedback values ​​of each drive motor. When the fault detection unit detects that the core control chip fails to respond to the watchdog timer reset signal three times consecutively, the communication link interruption lasts for more than 500 milliseconds, or the current of any drive motor exceeds 200% of the rated current, it determines that a serious fault has occurred in the robot body and automatically triggers the safety paralysis mode.

[0071] In this embodiment, retracting the extended components refers to retracting the movable parts extending outwards from the robot body back to within the robot body's outline. The extended components include the rotating arm of the multimodal emotion-sensing head, the opening support rod for the storage compartment's outer door, and the cleaning brush of the self-cleaning chassis. A return spring and a position sensor are installed inside the robot body. When the safety paralysis mode is triggered, the control system cuts off the power supply to the drive motor of the extended components. The return spring pulls the extended components back to their initial retracted position, and the position sensor sends a confirmation signal to the control system after confirming that the extended components have been fully retracted.

[0072] In this embodiment, locking the drive wheels means simultaneously applying braking force to the brakes of the left and right drive wheels of the robot body. Each drive wheel is equipped with an independent electromagnetic brake, which is a power-off braking type, meaning that the brake is released when the electromagnetic brake coil is energized and applied when the electromagnetic brake coil is de-energized. When the safety paralysis mode is triggered, the control system cuts off the power supply to the electromagnetic brake coil, and the electromagnetic brake immediately locks the drive wheel shaft to prevent the robot body from accidentally sliding or rolling downhill in a faulty state. The alarm signal is an audible and visual alarm signal, emitted by a buzzer and a red flashing light installed on the top of the multimodal emotion-sensing head. The buzzer emits an intermittent beeping sound, and the red flashing light flashes twice per second to indicate to personnel in the ward that the robot body has entered a faulty state and should not be approached.

[0073] In this embodiment, the stainless steel substrate is made of 304 or 316 stainless steel, with a thickness of 1.0 mm to 1.5 mm. The stainless steel substrate possesses corrosion resistance and mechanical strength, enabling it to withstand long-term exposure to UVC disinfection lamps and chemical corrosion from detergents. The Teflon coating is a polytetrafluoroethylene coating with a thickness of 20 to 50 micrometers, applied to the surface of the stainless steel substrate via electrostatic spraying and then cured by high-temperature sintering. The Teflon coating exhibits low surface tension, making it difficult for radioactive dust and detergent droplets to adhere to the surface of the enclosure; even if they do adhere, they can be easily removed by wiping or rinsing with a high-pressure atomizing nozzle.

[0074] In this embodiment, the sealing strip is made of silicone rubber and has a lip-shaped cross-section. The seams of the enclosure include the seam between the outer door and the enclosure, the seam between the inner door and the enclosure, and the seams between the various panels of the enclosure. The sealing strip is embedded in the grooves at each seam. When the outer or inner door is closed, the edge of the door compresses the sealing strip, causing it to elastically deform and fill the tiny gaps between the door and the enclosure. Under slight negative pressure, the sealing strip further expands, enhancing airtightness and preventing radioactive aerosols from leaking from the seams.

[0075] This invention provides a monitoring method for a service robot system in a radionuclide therapy ward, applicable to any of the above-mentioned service robot systems in a radionuclide therapy ward, comprising the following steps: Step 1: Control the robot body to move in the radionuclide therapy ward according to the predetermined path, and collect radiation dose data of the patient's body surface and surrounding environment in real time through the CZT detector array; Step 2: Transmit the radiation dose data to the server to generate a radiation hotspot distribution map on the patient's body surface; Step 3: Retrieve the patient's pre-stored anatomical medical images from the database, extract the patient's three-dimensional human contour point cloud in real time using a depth camera, identify the patient's acromion, xiphoid process, and patella as spatial reference coordinate points, perform affine transformation processing on the radiation hotspot distribution map and anatomical medical images using a coordinate transformation matrix, use the mutual information method to perform feature fitting on the two modalities of the images, and perform coordinate system overlap and calibration. The sampling method involves the robot moving along a predetermined path, with the CZT detector array collecting radiation dose data at a frequency of 10 to 20 times per second. Each sampling point records the three-dimensional spatial coordinates and radiation dose value. The calibration conditions are that the patient remains supine, and the distance between the depth camera and the patient's body surface is 1.0 to 1.5 meters. The registration error is controlled by using an iterative nearest point algorithm to optimize the coordinate transformation matrix, so that the root mean square error of registration is less than 2 millimeters. Step four involves fusing the calibrated surface radiation hotspot distribution map with anatomical medical images to generate a radiation field spatial distribution fusion report, which is then sent to the doctor's terminal.

[0076] In this embodiment, the input and output of the image fusion process are as follows: Input data includes: radiation dose data collected by the CZT detector array (including the three-dimensional spatial coordinates of each sampling point), three-dimensional point cloud of human body contours collected by the depth camera, and anatomical medical images of patients (PET / CT) retrieved from the database. The output data is: a radiation field spatial distribution fusion report, which is presented in the form of a color heat map superimposed with grayscale anatomical images. In the heat map, red areas indicate radiation doses higher than the preset threshold, and blue areas indicate radiation doses lower than the preset threshold. The anatomical images provide a spatial location reference for the lesion organs.

[0077] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of this invention and its equivalents, this invention also intends to include these modifications and variations.

Claims

1. A service robot system for radionuclide therapy wards, characterized in that, include: The robot body includes a double-door interlocked storage compartment, a modular radiation-resistant control electronic system, and a self-cleaning chassis. The robot body integrates a CZT detector array and a depth camera; The double-door interlocked storage compartment includes an outer door, an inner door, a HEPA high-efficiency filter, and a negative pressure air intake. The outer door and the inner door are interlocked, and the negative pressure air intake establishes directional airflow during operation. The modular radiation-resistant control electronic system contains multiple independent circuit modules. Each circuit module is encapsulated in an independent shielded metal box. Each shielded metal box is connected to the robot body through a blind-plug quick interface. The core control chip of the modular radiation-resistant control electronic system is a radiation-resistant model. The area where the CPU and memory are located is covered with shielding material. Radiation-absorbing gel is filled between the shielding material and the area where the CPU and memory are located. The self-cleaning chassis is equipped with cleaning rollers at the bottom, and the surface of the cleaning rollers is covered with an adhesive material. An emergency towing interface is provided at the bottom of the robot body; The service robot system also includes a server connected to the robot body. The server is configured to receive radiation dose data collected by the CZT detector array, generate a radiation hotspot distribution map of the patient's body surface, and then fuse the radiation hotspot distribution map with the anatomical medical images of the patient collected by the depth camera before sending it to the doctor's terminal.

2. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, The multimodal emotion-sensing head integrates a CZT detector array, a depth camera, and a microphone; The multimodal emotion-sensing head also includes an expression analysis unit and a voice analysis unit. The expression analysis unit is connected to a camera and recognizes the facial expression feature of furrowed brows, while the voice analysis unit is connected to a microphone and recognizes speech rate and pain keywords. When the facial expression analysis unit or voice analysis unit identifies anxiety or distress characteristics, the service robot system automatically triggers the push of matching meditation music or preset soothing phrases, and generates a psychological state log from the interaction records and sends it to the medical staff's terminal.

3. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, A first electromagnetic lock and a first door magnetic sensor are embedded in the outer door frame, and a second electromagnetic lock and a second door magnetic sensor are embedded in the inner door frame. Both the first electromagnetic lock and the second electromagnetic lock are power-off locking type electromagnetic locks. The double-door interlocked storage compartment has three operating modes: The first working state is when the outer door is closed and the inner door is closed, the negative pressure air intake works to establish a slight negative pressure inside the cabin; The second working state is when the outer door is open and the inner door is forcibly locked by the second electromagnetic lock, the negative pressure air intake draws air inward. The third working state is when the outer door is forcibly locked by the first electromagnetic lock and the inner door is open, the negative pressure air intake provides reverse ventilation and is filtered by a HEPA high-efficiency filter.

4. The service robot system for radionuclide therapy wards according to claim 3, characterized in that, The double-door interlocked storage compartment is equipped with a UVC disinfection lamp, which is turned on in the first working state. The double-door interlocked storage compartment is also equipped with a pressure balance sensor, which is connected to the control terminals of the first electromagnetic lock and the second electromagnetic lock respectively.

5. The service robot system for radionuclide therapy wards according to claim 3, characterized in that, The air intake flow rate of the negative pressure air intake in the second working state is greater than the reverse ventilation flow rate in the third working state; The micro-negative pressure threshold range in the first working state is -5 Pascal to -20 Pascal.

6. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, The shielding material covering the area where the CPU and memory are located is a thin sheet of tungsten alloy or a thin sheet of bismuth-tin alloy. All core control modules of the modular radiation-resistant control electronic system are encapsulated in a shielded metal box, which is connected to the robot body via a blind-plug quick interface. The modular radiation-resistant control electronic system is equipped with three parallel processors and a voting circuit. The three processors are connected to the three input terminals of the voting circuit, and the output terminal of the voting circuit is connected to the execution component of the robot body.

7. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, The adhesive material adhering to the surface of the cleaning roller is a replaceable adhesive tape roll; The self-cleaning chassis is also equipped with a miniature dust suction port; The service robot system also includes a base station, which is equipped with a station-type brushing mechanism, UVC lamp and adhesive material peeling device at the bottom, a high-pressure atomizing nozzle at the front of the base station, and a drying module installed inside the base station. The air inlet of the drying module is connected to a HEPA filter. When the robot returns to the base station, the base station peels off the layer of adhesive material that has been used on the self-cleaning chassis.

8. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, The service robot system also includes a rescue vehicle. The front end of the rescue vehicle is equipped with a remote-controlled mechanical clamp. The remote-controlled mechanical clamp has a mechanical self-locking structure, which keeps the clamp locked in a clamping state when the rescue vehicle is powered off. After the rescue vehicle approaches the emergency towing interface, the remote-controlled mechanical clamps grip the emergency towing interface and drag the robot body to the shielded maintenance room. The self-cleaning chassis is equipped with an emergency communication module with an independent power supply. The output of the emergency communication module is connected to the brake release mechanism of the robot body.

9. The service robot system for radionuclide therapy wards according to claim 1, characterized in that, The robot body is equipped with a safety paralysis mode. In the safety paralysis mode, the robot body automatically retracts its extended parts, locks the drive wheels, and issues an alarm signal. The double-door interlocking storage compartment is made of stainless steel, with a Teflon coating on the surface. Sealing strips are embedded at all seams of the compartment.

10. A monitoring method for a service robot system used in a radionuclide therapy ward, characterized in that, A service robot system for a radionuclide therapy ward, as described in any one of claims 1 to 9, comprises the following steps: Step 1: Control the robot body to move in the radionuclide therapy ward according to the predetermined path, and collect radiation dose data of the patient's body surface and surrounding environment in real time through the CZT detector array; Step 2: Transmit the radiation dose data to the server to generate a radiation hotspot distribution map on the patient's body surface; Step 3: Retrieve the patient's pre-stored anatomical medical images from the database, extract the patient's three-dimensional human contour point cloud in real time using a depth camera, identify the patient's acromion, xiphoid process, and patella as spatial reference coordinate points, perform affine transformation processing on the radiation hotspot distribution map and anatomical medical images using a coordinate transformation matrix, use the mutual information method to perform feature fitting on the two modalities of the images, and perform coordinate system overlap and calibration. Step four involves fusing the calibrated surface radiation hotspot distribution map with anatomical medical images to generate a radiation field spatial distribution fusion report, which is then sent to the doctor's terminal.

Images