Intelligent robotic CPR mechanisms, systems and controllers

Abstract

A robotic CPR mechanism of the present disclosure employs a robotic base (20), robotic humanoid arm (30) and a robotic CPR controller (40). The robotic base (20) is attachable or fixated to a medical platform (10). The robotic humanoid arm (30) extends from the robotic base (20) and include a CPR end-effector (31). In operation, the robotic CPR controller (40) derives a CPR compression assignment for the CPR end-effector (31) in compliance with a CPR protocol specifying rules and guidelines for a robotic humanoid arm (30) to administer CPR to a patient, and commands an autonomous performance of the CPR compression assignment by the robotic humanoid arm (30) on the patient. (FIG. 1)

Description

[0001] 2024PF00656

[0002] INTELLIGENT ROBOTIC CPR MECHANISMS, SYSTEMS AND CONTROLLERS

[0003] The present disclosure generally relates to cardio-pulmonary resuscitation (CPR), and more particularly to robotic based mechanisms, systems and controllers for performing CPR.

[0004] BACKGROUND OF THE INVENTION

[0005] A responder (e.g., a lay person, a paramedic, an emergency medical technician, a firefighter, etc.) can be tasked with delivering multiple physical interventions while, at the same time, maintaining situational awareness during resuscitations, which is a challenging decision and performance environment.

[0006] More particularly, the field of emergency medicine has witnessed substantial advancements in resuscitation techniques, particularly in the administration of cardio-pulmonary resuscitation (CPR). The vital importance of consistent, high-quality CPR in improving survival rates during cardiac arrest situations has led to the development of various mechanical CPR devices, especially for assisting responders in maintaining situational awareness during CPR. However, such existing mechanical CPR devices have limitations that can be addressed with innovative design improvements to enhance efficacy, adaptability, and usability.

[0007] SUMMARY OF THE INVENTION

[0008] The present disclosure is directed to enabling a responder during a resuscitation to delegate tasks to a robotic CPR mechanism that otherwise would be delegated to a human assistant. The delegation can be through verbal, symbolic, and / or digital communications that are terse, natural, unambiguous, and smoothly integrated into the resuscitation.

[0009] The present disclosure can be embodied as:

[0010] (1) a robotic CPR mechanism;

[0011] (2) a robotic CPR system; and

[0012] (3) a robotic CPR controller.

[0013] Various exemplary embodiments of a robotic CPR mechanism of the present disclosure encompass (1) a robotic base attachable or fixated to a medical platform (e.g., a medical gurney, a wall of an ambulance, an IV pole, a backboard, or a stand), (2) a robotic humanoid arm extending from the robotic base and including a CPR end-effector (e.g., a soft robot technology based robot with a robotic hand emulating a human responder).2024PF00656

[0014] Various exemplary embodiments of a robotic CPR mechanism of the present disclosure further encompass (3) a robotic CPR controller configured to (a) derive a CPR compression assignment for the robotic humanoid arm in compliance with a CPR protocol specifying rule(s) / guideline(s) for robotic humanoid arm to administer CPR to the patient, and (b) command an autonomous performance of the CPR compression assignment by the robotic humanoid arm on the patient.

[0015] The robotic CPR controller can be installed in the robotic base or a medical device (e.g., an external defibrillator, a monitor, a monitor / defibrillator or a medical tablet).

[0016] The CPR compression assignment specifies various chest compressions parameters including, but not limited to, a positioning of robotic humanoid arm and CPR end-effector, compression force, compression depth, compression rate, compression duty cycle, compression release and other factors relevant to improving systemic and regional (such as coronary) perfusion.

[0017] The CPR compression assignment can specify additional interventions including, but not limited to, a timing of bag-valve-mask or ventilator breaths, injection of resuscitation drugs (e.g., atropine, epinephrine or amiodarone), and resuscitation holding IV bags or pressure on a wound.

[0018] The robotic CPR controller can operate in verbal, symbolic and / or digital communications with a responder, a medical device and / or additional robotic CPR controller(s) of the present disclosure in support of commanding the autonomous performance of the CPR compression assignment.

[0019] Various exemplary embodiments of a robotic CPR system of the present disclosure encompass a robotic CPR mechanism of the present disclosure and a medical device that communicates with the robotic CPR mechanism during a resuscitation of a patient. While in communication during the resuscitation of the patient, the robotic CPR mechanism and the medical device coordinate a temporal execution of a rescue protocol (e.g., a temporal coordination of a performance of a CPR protocol by the robotic humanoid arm and a performance of a shock protocol by the defibrillator).

[0020] Various exemplary embodiments of a robotic CPR system of the present disclosure can further encompass additional robotic CPR mechanism(s) in support of the performance of the CPR compression assignment.2024PF00656

[0021] Various exemplary embodiments of a robotic CPR controller of the present disclosure encompass a non-transitory machine-readable storage medium encoded with instructions for execution by one or more processors. The non-transitory machine-readable storage medium includes instructions to (a) derive a CPR compression assignment for robotic humanoid arm to administer CPR to the patient in compliance with a CPR protocol specifying rule(s) / guideline(s) for robotic humanoid arm to administer CPR to the patient and (b) command an autonomous performance of the CPR compression assignment by the robotic humanoid arm on the patient.

[0022] The foregoing exemplary embodiments and other exemplary embodiments of the present disclosure as well as various structures and advantages of the present disclosure will become further apparent to one having ordinary skill in the art from the following detailed description of various exemplary embodiments of the present disclosure read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the present disclosure rather than limiting, the scope of the present disclosure being defined by the appended claims and equivalents thereof.

[0023] BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present disclosure will present in detail the following description of exemplary embodiments with reference to the following figures wherein:

[0025] FIG. 1 illustrates an exemplary embodiment of a robotic CPR mechanism in accordance with the present disclosure;

[0026] FIG. 2 illustrates an exemplary embodiment of a robotic CPR system in accordance with the present disclosure;

[0027] FIG. 3 illustrates a flowchart representative of an exemplary embodiment of a CPR protocol in accordance with the present disclosure; and

[0028] FIG. 4 illustrates an exemplary embodiment of a robotic CPR controller in accordance with the present disclosure.

[0029] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0030] The present disclosure is directed to emulate a human assistant during a resuscitation of a patient, with the form factor of a robotic humanoid arm, which can be attached or fixed to various surfaces or supports. The robotic humanoid arm includes a CPR end-effector to emulate2024PF00656

[0031] a CPR performance by another human, supporting ordinary workflow for clinicians and usage that matches the training for lay users.

[0032] For purposes of describing and claiming the present disclosure, the terms of the art of the present disclosure, but not limited to, “cardiopulmonary resuscitation (CPR)”, “shock”, “cardiac rhythm”, “return of spontaneous circulation”, “haptic sensor”, “video sensor”, “bag valve mask”, “physiological sensor”, “medical imager”, “medical scanner” and “network” are to interpreted as known in the art of the present disclosure and as exemplary described in the present disclosure.

[0033] The following terms are particularly defined for purposes of describing and claiming the present disclosure.

[0034] The term “robotic base” broadly encompasses any structure housing the electronic circuits (e.g., a microcontroller) and mechanical devices (e.g., motor, actuators, etc.) necessary to control a manipulation of a robotic humanoid arm of the present disclosure.

[0035] The term “medical platform” broadly encompasses any structure within a medical environment structurally capable of supporting a combined load of a robotic base and a robotic humanoid arm of the present disclosure during a resuscitation of a patient. Non-limiting examples of a medical platform of the present disclosure includes a medical gurney, a wall of an ambulance, an IV pole, a backboard, or a stand customized to support the combined load combined load of a robotic base and a robotic humanoid arm during a resuscitation of a patient.

[0036] The term “robotic humanoid arm” broadly encompasses any robotic arm configured as a human arm functionally capable of performing chest compressions in accordance with a CPR protocol during a resuscitation of a patient. A non-limiting example robotic humanoid arm is a robotic arm emulating a human arm and incorporating artificial muscles and tendons in accordance with soft robot technology as known in the art of the present disclosure or hereinafter conceived.

[0037] The term “CPR end-effector” broadly encompasses any type of end-effector for performing chest compressions of a patient. A non-limiting example of a CPR end-effector is a robotic end-effect resembling a human hand that can include suctions to facilitate active chest compressions and decompressions.

[0038] The term “robotic CPR controller” broadly encompasses any type of controller incorporating electronic circuits, hardware and / or non-transitory mediums(s) programmed to2024PF00656

[0039] derive a CPR compression assignment for a CPR end-effector of the present disclosure in compliance with a CPR protocol and to command an autonomous performance of the CPR compression by the CPR end-effector on the patient as will be further exemplary described in the present disclosure. A non-limiting example of a robotic CPR controller is a controller employing registration module for registering the CPR end-effector to a patient, a resuscitation module for deriving a CPR compression assignment for a CPR end-effector of the present disclosure in compliance with a CPR protocol and a command module for command an autonomous performance of the CPR compression by the CPR end-effector on the patient.

[0040] The term “rescue protocol” broadly encompasses a sanctioned set of rules and guidelines for administering CPR on a patient (i.e., CPR protocol), which can include or exclude delivering defibrillation shock(s) to the patient (i.e., a shock protocol). Non-limiting examples of a CPR protocol includes sanctioned sets of rules and guidelines for performing CPR on a patient that have been established by the American Heart Association, the American College of Surgeons, the Society of Critical Care Medicine. Non-limiting examples of such rules and guidelines include positioning of human arm and hand, compression force, compression depth, compression rate, compression duty cycle, compression release and other factors relevant to improving systemic and regional (such as coronary) perfusion.

[0041] A CPR protocol can also provide rules and guidelines for other interventions including, but not limited to, timing of bag-valve-mask or ventilator breaths, injection of resuscitation drugs (e.g., atropine, epinephrine or amiodarone), and resuscitation holding IV bags or pressure on a wound.

[0042] To facilitate an understanding of the present disclosure, the following description of FIGS. 1-4 teaches exemplary embodiments of robotic CPR mechanisms, systems, controllers and methods in accordance with the present disclosure. From the description of FIGS. 1-4, those having ordinary skill in the art of the present disclosure will appreciate how to apply the present disclosure to make and use additional embodiments of robotic CPR mechanisms, systems, controllers and methods in accordance with the present disclosure.

[0043] Referring to FIG. 1, an exemplary embodiment of a robotic CPR mechanism of the present disclosure employs a robotic base 10 attachable or fixated to a medical platform 20 by any technique as known in the art of the present disclosure and hereinafter conceived (e.g., a2024PF00656

[0044] portable connector for securing portable medical devices as described in International World Application Publication WO 2013 / 093749 Al, hereby incorporated by reference) and a robotic humanoid arm 30 including a CPR end-effector 31 extending from robotic base 10 as known in the art of the present disclosure and hereinafter conceived.

[0045] The robotic CPR mechanism of the present disclosure further employs a robotic CPR controller 40 for deriving a CPR compression assignment for CPR end-effector 31 of the present disclosure in compliance with a CPR protocol and for commanding an autonomous performance of the CPR compression assignment by CPR end-effector 3 Ion the patient. In practice, robotic CPR controller 40 may be installed in robotic base 10, a medical device70 communicable with robotic base 10 or a remote station communicable with robotic base 10 via a network 100.

[0046] Non-limiting examples of medical device 70 include an automatic external defibrillator, a monitor / defibrillator, and a medical table.

[0047] The robotic CPR mechanism of the present disclosure can further employ haptic / video sensor(s) 50, as known in the art of the present disclosure or hereinafter conceived, installed in robotic base 10, robotic humanoid arm 30 and / or CPR end-effector 31 as needed in support registering CPR end-effector 31 to a patient and / or commanding an autonomous performance of the CPR compression assignment by CPR end-effector 31 on the patient.

[0048] The robotic CPR mechanism of the present disclosure can further employ one or more accessories, such as, for example, a bag-valve mask 60.

[0049] Still referring to FIG. 1, in practice, the robotic CPR mechanism as shown can individually execute a CPR protocol or can execute a CPR protocol as a component of a robotic CPR system of the present disclosure employing medical device(s) 70, physiological sensor(s) 80, medical imagers / scanners 90, and / or access to remote data centers via network 100.

[0050] Non-limiting examples of physiological sensor(s) 80 include sensors for measuring blood pressure, exhaled CO2 and 02, systemic and regional blood flow, including cardiac output as well as carotid blood flow, and airway pressures and flows.

[0051] Non-liming examples of medical imager(s) / scanner(s) 90 include ultrasound-based imagers / scanners.

[0052] FIG. 2 illustrates an exemplary embodiment of a robotic CPR system of the present disclosure arranged with robotic CPR controller 40 being in communication with haptic / video2024PF00656

[0053] sensors 50, an Advanced Life Support (ALS) monitor / defibrillator 70a, a CO2 monitor 80a, a wearable ultrasound sensor 90, and electronic health records center via network 100.

[0054] As shown, robotic CPR controller 40a employs speech / voice recognition module 45 to implement speech / voice recognition techniques as known in the art of the present disclosure or hereinafter conceived, and a gesture recognition module 46 to implement gesture recognition techniques as known in the art of the present disclosure or hereinafter conceived.

[0055] Also as shown, robotic CPR controller 40a further employs a CPR protocol manager 41 including a registration module 42, a resuscitation module 42 and a command module 44.

[0056] In practice, registration module 42 implements registration techniques as known in the art of the present disclosure or hereinafter conceived for registering a chest compression position of the robotic humanoid arm 30 within a reference coordinate system of robotic base 10.

[0057] In one exemplary embodiment of registration module 42, robotic humanoid arm 30 (FIG.

[0058] 1) is moved, manually or by remote control, into a chest compression position whereby robotic CPR controller 40a implements registration module 42 to register that position within a reference coordinate system of robotic base 10, or whereby a responder can use a registration tool (e.g., a RFID pointer) to touch the chest of the patient whereby robotic CPR controller 40a implements registration module 42 to register that position within a reference coordinate system of robotic base 10.

[0059] In a second exemplary embodiment of registration module 42, robotic CPR controller 40a receives audible registration commands via a speech / voice recognition module 45 of robotic CPR controller 40a and / or receives registration gestures detectable by a gesture recognition module 46 of robotic CPR controller 40a via video sensor(s) 50, whereby robotic CPR controller 40a will implement registration module 42 to detect and register a chest compression position within a reference coordinate system of robotic base 10 via video sensors 50 and a command module 44 of robotic CPR controller 40a will control an operation of robotic base 10 to thereby more robotic humanoid arm 30 into the chest compression position.

[0060] In a third exemplary embodiment of registration module 42, robotic CPR controller 40a is in communication with ALS monitor / defibrillator 70a whereby ALS monitor / defibrillator 70a can issue a registration command to robotic CPR controller 40a, whereby robotic CPR controller 40a will implement registration module 42 to detect and register a chest compression position2024PF00656

[0061] within a reference coordinate system of robotic base 10 via video sensor(s) 50 and a command module 44 of robotic CPR controller 40a will control an operation of robotic base 10 to thereby more robotic humanoid arm 30 into the chest compression position.

[0062] Still referring to FIG. 2, in practice, resuscitation module 43 implements derives a CPR compression assignment from a CPR protocol as known in the art of the present disclosure or hereinafter conceived.

[0063] In one exemplary embodiment of resuscitation module 43, resuscitation module 43 references a baseline CPR protocol specifying chest compression parameters including, but not limited to, compression force, compression depth, compression rate, compression duty cycle, compression release and other factors as known in the art of the present disclosure. The CPR compression assignment further specifies conditions for executing the CPR protocol including, but not limited to,

[0064] In a second exemplary embodiment of resuscitation module 43, resuscitation module 43 can receive patient specific data (e.g., age, gender, weight) from the responder via a medical tablet or audible information, or receive the patient specific data from network 100 to thereby customize a baseline CPR protocol into a patient-specific CPR protocol. For example, the compression force will be dependent upon an age, a gender and / or a weight of the patient.

[0065] For either the baseline CPR protocol or the patient-specific CPR protocol, the CPR compression assignment can specify additional interventions including, but not limited to, a timing of bag-valve-mask or ventilator breaths, injection of resuscitation drugs (e.g., atropine, epinephrine or amiodarone), and resuscitation holding IV bags or pressure on a wound.

[0066] Still referring to FIG. 2, in practice, command module 44 implement robotic techniques, as known in the art of the present disclosure or hereinafter conceived, for operating the motors and actuators within robotic base 10 to translate, pivot and rotate robotic humanoid are 30 as needed to perform CPR in compliance with the CPR compression assignment.

[0067] An operation of robotic CPR system of FIG. 2 will now be described herein in the context of executing an exemplary American Heart Association (AHA) advanced responder protocol as shown in FIG. 3. In general, this protocol incorporates drug delivery, shock delivery and electrocardiogram (ECG) analysis whereby typically the responder will stop cardiopulmonary resuscitation (CPR) chest compressions to interpret the ECG. The responder2024PF00656

[0068] must also remember / manually record the rhythms of the patient, drugs provided, effect of drugs and which stages of the protocol have been performed by the responder (e.g., how many shocks were delivered). The present disclosure provides a robotic CPR mechanism to assist the responder.

[0069] Referring to FIGS. 1-3, a stage S202 of flowchart 200 encompasses a preparation of an administration of CPR by the responder to a patient experiencing cardiac arrest (e.g., attaching an Advanced Life Support (ALS) monitor / defibrillator 70a to the patient), and more particularly a preparation a robotic humanoid arm of the present disclosure.

[0070] In one exemplary embodiment of stage S202, registration module 42 (FIG. 2) will register the robotic humanoid arm 30 (FIG. 1) with a chest compression position of the patient as previously described in the present disclosure and resuscitation module 43 (FIG. 2) will derive a CPR compression assignment for robotic humanoid arm 30 as previously described in the present disclosure. For this exemplary operation of a robotic CPR system of the present disclosure, the CPR compression assignment is derived from four (4) CPR protocols, which can be identical or different to a degree.

[0071] Still referring to FIGS. 1-3, a stage S204 of flowchart 200 encompasses a determination of whether an initial cardiac rhythm of an electrocardiogram (ECG) of the patient is a shockable cardiac rhythm or a non-shockable cardiac rhythm. If the cardiac rhythm of the ECG of the patient is determined to be a shockable cardiac rhythm during stage S204, then a stage S206 of flowchart 200 encompasses a delivery of a first shock to the patient and a stage S208 of flowchart 200 encompasses an administration of a first CPR protocol to the patient by robotic humanoid arm 30.

[0072] In one exemplary embodiment of stage S206, a biphasic shock energy of 120-200 joules can be delivered to the patient, or alternatively, a maximum available biphasic shock energy. In a second embodiment of stage S206, a biphasic shock energy of 360 joules can be delivered to the patient.

[0073] In one exemplary embodiment of stage S208, resuscitation module 43 will communicate the CPR compression assignment for the first CPR protocol to command module 44, whereby command module 44 commands robotic humanoid arm 30 to administer a quality CPR to the patient for a set time period (e.g., two (2) minutes). For example, during the set time period,2024PF00656

[0074] robotic humanoid arm 30 can be commanded to push hard (e.g., > two (2) inches / five (5) centimeters) and fast (e.g., > 100 compressions / minute) while allowing for a complete chest recoil.

[0075] Furthermore, interruptions in compressions should be minimized, excessive ventilation should be avoided and a compressor, if applicable, should be rotated at the end of the set time period. Moreover, a 30:2 compression-ventilation ratio should be maintained if the patient does not have an advanced airway, a maximum partial pressure of CO2 at the end a breath should be > 10 mm Hg, and a relaxation phase diagnostic pressure should be > 20 mm Hg. Additionally, IV / IO access to the patient can be established. To this end, robotic CPR controller 40a can input sensed data from physiological sensor(s) 80 as well as receive voice commands from the responder to maintain the aforementioned parameters.

[0076] Still referring to FIG. 3, subsequent to an expiration of the set time period of stage S208, a stage S210 of flowchart 200 encompasses a determination of whether an ongoing cardiac rhythm of the ECG of the patient is a shockable cardiac rhythm or a non-shockable cardiac rhythm. If the ongoing cardiac rhythm of ECG of the patient is determined to be a shockable cardiac rhythm during stage S210, then a stage S212 of flowchart 200 encompasses a delivery of a second shock to the patient and a stage S214 of flowchart 200 encompasses an administration of a second CPR protocol to the patient by robotic humanoid arm 30.

[0077] In one embodiment of stage S212, a biphasic shock energy of at least 120-200 joules can be delivered to the patient, or alternatively, a maximum available biphasic shock energy. In a second embodiment of stage S212, a biphasic shock energy of 360 joules can be delivered to the patient.

[0078] In one embodiment of stage S214, resuscitation module 43 will communicate the CPR compression assignment for second CPR protocol to command module 44, whereby command module 44 commands robotic humanoid arm 30 to administer a quality CPR to the patient for a set time period (e.g., two (2) minutes). Additionally, an Epinephrine IV / IO dose of Img can be delivered every 3-5 minutes to the patient by the responder or a robotic CPR mechanism of the present disclosure and advanced airway capnography can be considered (e.g., supraglottic advanced airway or endotracheal intubation, and / or waveform capnography to confirm and2024PF00656

[0079] monitor ET tube placement, and / or 8-10 breaths per minute with continuous chest compressions).

[0080] Still referring to FIG. 3, subsequent to an expiration of the set time period of stage S214, a stage S216 of flowchart 200 encompasses a determination of whether an ongoing cardiac rhythm of the ECG of the patient is a shockable cardiac rhythm or a non-shockable cardiac rhythm. If the ongoing cardiac rhythm of ECG of the patient is determined to be a shockable cardiac rhythm during stage S216, then a stage S218 of flowchart 200 encompasses a delivery of a third shock to the patient and a stage S220 of flowchart 200 encompasses an administration of a third CPR protocol to the patient.

[0081] In one embodiment of stage S218, a biphasic shock energy of at least 120-200 joules can be delivered to the patient, or alternatively, a maximum available biphasic shock energy. In a second embodiment of stage S218, a biphasic shock energy of 360 joules can be delivered to the patient.

[0082] In one embodiment of stage S220, resuscitation module 43 will communicate the CPR compression assignment for the third CPR protocol to command module 44, whereby command module 44 commands robotic humanoid arm 30 to administer a quality CPR to the patient for a set time period (e.g., two (2) minutes). Additionally, an Amiodarone IV / IO dose of 3000 mg bolus can be delivered to the patient by the responder or a robotic CPR mechanism of the present disclosure, and reversible causes can be treated (e.g., hypovolemia, hypoxia, hydrogen ion (acidosis), hypo- / hypercaloric, hypothermia, tension pneumothorax, cardiac tamponade, toxins, pulmonary thrombosis and coronary thrombosis).

[0083] Still referring to FIG. 3, if the ongoing cardiac rhythm of ECG of the patient is determined to be a non-shockable cardiac rhythm during an initial execution or iteration of stage S210 or stage S216, then a stage S230 of flowchart 200 encompasses a determination of a return of spontaneous circulation (ROSC) of the patient or no signs of ROSC of the patient. In one embodiment of stage S230, a determination of ROSC can be derived from pulse and blood pressure of the patient, an abrupt sustained increase in a maximum partial pressure of CO2 at the end a breath should be > 40 mm Hg, and / or a spontaneous arterial wave with intra-arterial monitoring.2024PF00656

[0084] If a ROSC of the patient is determined during S230, then a stage S232 of flowchart 200 encompasses a post-cardiac arrest care of the patient as known in the art of the present disclosure.

[0085] If a ROSC of the patient is not determined during S230, then a stage S222 of flowchart 200 encompasses an administration of the second CPR protocol of stage S214.

[0086] Still referring to FIG. 3, subsequent to an expiration of the set time period of stage S222, a stage S224 of flowchart 200 encompasses a determination of whether an ongoing cardiac rhythm of the ECG of the patient is a shockable cardiac rhythm or a non-shockable cardiac rhythm. If the ongoing cardiac rhythm of ECG of the patient is determined to be a shockable cardiac rhythm during stage S224, then flowchart 200 proceeds to stage S212 or S218 for shock delivery as previously described. If the ongoing cardiac rhythm of ECG of the patient is determined to be a non-shockable cardiac rhythm during stage S224, then a stage S226 of flowchart 200 encompasses resuscitation module 43 resuscitation module 43 will communicate the CPR compression assignment for the fourth CPR protocol to command module 44, whereby command module 44 commands robotic humanoid arm 30 to administer a quality CPR to the patient for a set time period (e.g., two (2) minutes). Additionally, an Amiodarone IV / IO dose of 3000 mg bolus can be delivered to the patient by the responder, and reversible causes can be treated (e.g., hypovolemia, hypoxia, hydrogen ion (acidosis), hypo- / hypercaloric, hypothermia, tension pneumothorax, cardiac tamponade, toxins, pulmonary thrombosis and coronary thrombosis).

[0087] Still referring to FIG. 3, subsequent to an expiration of the set time period of stage S226, a stage S228 of flowchart 200 encompasses a determination of whether an ongoing cardiac rhythm of the ECG of the patient is a shockable cardiac rhythm or a non-shockable cardiac rhythm. If the ongoing cardiac rhythm of ECG of the patient is determined to be a shockable cardiac rhythm during stage S228, then flowchart 200 proceeds to stage S212 or S218 for shock delivery as previously described. If the ongoing cardiac rhythm of ECG of the patient is determined to be a non-shockable cardiac rhythm during stage S224, then flowchart 200 proceeds to stage S230 for ROSC determination or non-existence as previously described.2024PF00656

[0088] Still referring to FIG. 3, subsequent to the CPR prep stage of S202, if the cardiac rhythm of the ECG of the patient is determined to be a non-shockable cardiac rhythm during stage S204, then flowchart 200 proceeds to stage S222 as previously described.

[0089] Referring to FIG. 4, shown is an exemplary embodiment 140 of controller 40 (FIG. 1) that includes one or more processor(s) 141, memory 142, a user interface 143, a network interface 144, and a storage 145 interconnected via one or more system bus(es) 146.

[0090] Each processor 141 can be any hardware device, as known in the art of the present disclosure or hereinafter conceived, capable of executing instructions stored in memory 142 or storage or otherwise processing data. In a non-limiting example, the processor(s) 141 can include a microprocessor, field programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other similar devices.

[0091] The memory 142 can include various memories, as known in the art of the present disclosure or hereinafter conceived, including, but not limited to, LI, L2, or L3 cache or system memory. In a non-limiting example, the memory 142 can include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read only memory (ROM), or other similar memory devices.

[0092] In practice, controller 140 also provides control of the user interface (UI) output functions. Specifically, user interface 143 is the primary means for guiding the responder through the protocols of the present disclosure, and so includes at least one of an aural instruction output and a visual display. In particular, user interface 143 may comprise an audio speaker to issue an aural verbal or signal prompt to the responder regarding a state of the rescue, an instruction as to a next step to be taken in the rescue, or regarding instructions responsive to an execution of a particular protocol (e.g., administering CPR and / or delivering a drug). User interface 143 can also convey audible information via a beeper. User interface 143 can also provide visual text or graphical indications on a display. User interface 143 can also convey visual information via a flashing light LED, which may illuminate adjacent graphics or buttons to be pressed. Preferably, controller 140 controls the user interface 141 such that each of these cues is provided in a manner that optimizes the desired response of the responder in the execution of protocols of the present disclosure.2024PF00656

[0093] Still referring to FIG. 4, network interface 144 can include one or more devices, as known in the art of the present disclosure or hereinafter conceived, for enabling communication with other components of defibrillator (defibrillator 200 of FIG. 6) or another device, particularly a mechanical CPR device or a CPR coaching device, as known in the art of the present disclosure or hereinafter conceived, in the administration of CPR / chest compression to a patient in accordance with the protocols of the present disclosure and / or in the acquisition of CPR data indicative of the quality of CPR being administered to the patient.

[0094] In a non-limiting example, the network interface 144 can include a network interface card (NIC) configured to communicate according to the Ethernet protocol. Additionally, the network interface 414 may implement a TCP / IP stack for communication according to the TCP / IP protocols. Various alternative or additional hardware or configurations for the network interface 144 will be apparent.

[0095] The storage 145 can include one or more machine-readable storage media, as known in the art of the present disclosure or hereinafter conceived, including, but not limited to, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, or similar storage media. In various non-limiting embodiments, the storage 145 can store instructions for execution by the processor(s) 141 or data upon with the processor(s) 141 may operate. For example, the storage 145 may store abase operating system for controlling various basic operations of the hardware.

[0096] The storage 145 can also store application modules 147 in the form of executable software / firmware for implementing the methods of the present disclosure as previously described in the present disclosure. As shown in FIG. 4, application modules 147 include CPR protocol 147(a), speech / voice recognition 147(b) and gesture recognition 147(c).

[0097] From the description of FIGS. 1-4 herein, those having ordinary skill in the art will appreciate the numerous benefits of the present disclosure including, but not limited to, an intelligent robotic CPR mode of operation.

[0098] The present disclosure has been described with reference to the preferred embodiments. Modifications and alterations may occur to others upon reading and understanding the preceding detailed description. It is intended that the invention be construed as including all such2024PF00656

[0099] modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

[0100] Further, as one having ordinary skill in the art shall appreciate in view of the teachings provided herein, features, elements, components, etc. disclosed and described in the present disclosure / specification and / or depicted in the appended Figures and / or recited in the Claims can be implemented in various combinations of hardware and software, and provide functions which can be combined in a single element or multiple elements. For example, the functions of the various features, elements, components, etc. shown / illustrated / depicted in the Figures and / or recited in the Claims can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared and / or multiplexed. Moreover, explicit use of the term “processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor (“DSP”) hardware, memory (e.g., read only memory (“ROM”) for storing software, random access memory (“RAM”), non-volatile storage, etc.) and virtually any means and / or machine (including hardware, software, firmware, combinations thereof, etc.) which is capable of (and / or configurable) to perform and / or control a process.

[0101] Moreover, all statements herein reciting principles, aspects, and exemplary embodiments of the present disclosure, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (e.g., any elements developed that can perform the same or substantially similar functionality, regardless of structure). Thus, for example, it will be appreciated by one having ordinary skill in the art in view of the teachings provided herein that any block diagrams presented herein can represent conceptual views of illustrative system components and / or circuitry embodying the principles of the invention. Similarly, one having ordinary skill in the art should appreciate in view of the teachings provided herein that any flow charts, flow diagrams and the like can represent various processes which can be substantially represented in computer readable storage2024PF00656

[0102] media and so executed by a computer, processor or other device with processing capabilities, whether or not such computer or processor is explicitly shown.

[0103] Having described preferred and exemplary embodiments of the present disclosure, which embodiments are intended to be illustrative and not limiting, it is noted that modifications and variations can be made by persons having ordinary skill in the art in view of the teachings provided herein, including the appended Figures and claims. It is therefore to be understood that changes can be made in / to the preferred and exemplary embodiments of the present disclosure which are within the scope of the present disclosure and exemplary embodiments disclosed, described and taught herein.

[0104] Moreover, it is contemplated that corresponding and / or related systems incorporating and / or implementing the device or such as can be used / implemented in a device in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure. Further, corresponding and / or related method for manufacturing and / or using a device and / or system in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure.

Claims

2024PF00656Claims1. A robotic cardio-pulmonary resuscitation (CPR) mechanism, comprising:a robotic base (20) attachable or fixated to a medical platform (10);a robotic humanoid arm (30) extending from the robotic base (20) and including a CPR end-effector (31); anda robotic CPR controller (40) configured to:derive a CPR compression assignment for the robotic humanoid arm (30) in compliance with a CPR protocol specifying rules and guidelines for robotic humanoid arm (30) to administer CPR to a patient; andcommand an autonomous performance of the CPR compression assignment by the robotic humanoid arm (30) on the patient.

2. The robotic CPR mechanism of claim 1,wherein the robotic CPR controller (40) is further configured to register the robotic humanoid arm (30) to a chest compression position relative to the patient.

3. The robotic CPR mechanism of claim 1,wherein the CPR compression assignment includes a compression force, a compression depth, a compression rate, a compression duty cycle and a compression release.

4. The robotic CPR mechanism of claim 2,wherein the CPR compression assignment further includes one of a timing of bag-valve-mask or ventilator breaths, an injection of a resuscitation, a resuscitation holding IV bags, and a pressure on a wound.

5. The robotic CPR mechanism of claim 1,wherein the robotic CPR controller (40) is further configured to derive the CPR compression assignment for the robotic humanoid arm further from a least one patient specific data, physiological data of the patient and imaging of the patient.2024PF006566. A robotic cardio-pulmonary resuscitation (CPR) system, comprising:a medical device (70); anda robotic CPR mechanism operable to be communication with the medical device (70) during a resuscitation of a patient to coordinate a temporal execution of a rescue protocol during the resuscitation of the patient,wherein, when in the robotic CPR mechanism is in communication with the medical device (70) during the resuscitation of the patient, the robotic CPR mechanism is configured to:derive a CPR compression assignment for the robotic humanoid arm (30) in compliance with a CPR protocol specifying rules and guidelines for robotic humanoid arm (30) to administer CPR to a patient; andcommand an autonomous performance of the CPR compression assignment by the robotic humanoid arm (30) on the patient.

7. The robotic CPR system of claim 6,wherein the robotic CPR controller (40) is further configured to register the robotic humanoid arm (30) to a chest compression position relative to the patient.

8. The robotic CPR system of claim 96,wherein the CPR compression assignment includes a compression force, a compression depth, a compression rate, a compression duty cycle and a compression release.

9. The robotic CPR system of claim 8,wherein the CPR compression assignment further includes one of a timing of bag-valve-mask or ventilator breaths, an injection of a resuscitation, a resuscitation holding IV bags, and a pressure on a wound.2024PF0065610. The robotic CPR system of claim 1,wherein the robotic CPR controller (40) is further configured to derive the CPR compression assignment for the robotic humanoid arm further from a least one patient specific data, physiological data of the patient and imaging of the patient.

11. A robotic cardio-pulmonary resuscitation (CPR) controller (40), comprising:a non-transitory machine-readable storage medium encoded with instructions for execution by one or more processors, wherein the non-transitory machine-readable storage medium includes instructions to:derive a CPR compression assignment for a robotic humanoid arm (30) in compliance with a CPR protocol specifying rules and guidelines for the robotic humanoid arm (30) to administer CPR to a patient; andcommand an autonomous performance of the CPR compression assignment by the robotic humanoid arm (30) on the patient.

12. The robotic CPR controller (40), wherein the non-transitory machine-readable storage medium further includes instructions to;register the robotic humanoid arm (30) to a chest compression position relative to the patient.

13. The robotic CPR controller (40) of claim 11,wherein the CPR compression assignment includes a compression force, a compression depth, a compression rate, a compression duty cycle and a compression release.

14. The robotic CPR controller (40) of claim 13,wherein the CPR compression assignment further includes one of a timing of bag-valve-mask or ventilator breaths, an injection of a resuscitation, a resuscitation holding IV bags, and a pressure on a wound.192024PF0065615 The robotic CPR controller (40) of claim 11, wherein the non-transitory machine-readable storage medium further includes instructions to:derive the CPR compression assignment for the robotic humanoid arm further from a least one patient specific data, physiological data of the patient and imaging of the patient.

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