远程巡诊服务机器人系统设计
|
摘要
介绍一个远程巡诊服务机器人系统。该机器人具有自主定位导航功能,能在工作区自由行走,医生可通过手持终端操控机器人行走行为;能跟随固定目标(如:护士/医生)行走;具有触控式交互界面,可实现医生与病人远程音视频交互;内置便携式B超、血压计和体温计等诊断设备,方便获取病人生理体征数据。医生可通过机器人远程实时与病人沟通,及时掌握患者情况并进行动态评估,最终实现机器人在医院病房巡诊、社区与养老院移动医疗、专家远程会诊等领域的应用。
This paper introduces a service robot system for remote medical inspection. The robot is developed with the following functions: it is able to navigate in working area autonomously and be controlled remotely by doctors through a handheld terminal device; it is able to follow a fixed target such as nurses and doctors to reach any area; it has a touch-control interactive interface which can realize remote audio and video interaction between doctors and patients; it is embedded with portable type-B ultrasonic device, sphygmomanometer and thermometer for doctors to obtain physiological data of patients. With the above-mentioned functions, the robot can help doctors communicate with patients in real time, grasp the patients' situation promptly and evaluate the patients' healthiness dynamically, and it can finally be applied in the fields of ward patrol in hospital, mobile medical care in community and nursing home and expert teleconsultation.
This paper introduces a service robot system for remote medical inspection. The robot is developed with the following functions: it is able to navigate in working area autonomously and be controlled remotely by doctors through a handheld terminal device; it is able to follow a fixed target such as nurses and doctors to reach any area; it has a touch-control interactive interface which can realize remote audio and video interaction between doctors and patients; it is embedded with portable type-B ultrasonic device, sphygmomanometer and thermometer for doctors to obtain physiological data of patients. With the above-mentioned functions, the robot can help doctors communicate with patients in real time, grasp the patients' situation promptly and evaluate the patients' healthiness dynamically, and it can finally be applied in the fields of ward patrol in hospital, mobile medical care in community and nursing home and expert teleconsultation.
引文
[1]倪自强,王田苗,刘达.医疗机器人技术发展综述[J].机械工程学报,2015,51(13):45-52.Ni Ziqiang,Wang Tianmiao,Liu Da.Survey on Medical Robotics[J].Journal of mechanical engineering,2015,51(13):45-52.
[2]彭电落,龚建平,邓菊兰,等.社区医疗卫生巡诊服务模式的研究[J].当代医学,2017,23(24):80-82.Peng dianluo,Gong Jianping,Deng Julan,et al.Research on the service model of community medical and health patrol[J].Contemporary Medicine,2017,23(24):80-82.
[3]Annica K,Silvia C,Amy L.A Review of Mobile Robotic Telepresence[J].Advances in Human-Computer Interaction(S1687-5893),2013(3):1-17.
[4]Robotics Technology Consortium.A roadmap For US Robotics from Internet to Robotics[R].USA:Robotics Technology Consortium,2016 edition.2016.
[5]Borenstein J,Wagner A R,Hward A.Overthrust of Pediatric health-care Robots:A Preliminary Survey of Parent Perspectives[J].IEEE Robotics and Automation Magazine(S1070-9932),2018,3(25):46-54.
[6]崔楠,顾海,景抗震.新医改背景下远程医疗发展的SWOT分析[J].卫生经济研究,2018,5(23):44-46.Cui Nan,Gu Hai,Jing Kangzhen.SWOT analysis of telemedicine development in the context of new medical reform[J].Health Economics Research,2018,5(23):44-46.
[7]Mariappan M,Ramu V,Brendan K T T,et al.Medical Tele-diagnosis Robot(MTR)-Internet Based Communication and Navigation[J].Applied Mechanics and Materials(S1662-7482),2014,490/491:1177-1189.
[8]Mariappan M,Nadarajan M,Porle R R,et al.Towards Real-Time Visual Biometric Authentication Using Human Face for Healthcare Telepresence Mobile Robots[J].Journal of Telecommunication,Electronic and Computer Engineering(S2180-1843),2016,8(11):51-56.
[9]Zaka-ul-Haque,Rabia Siddiqui,Rukaiya Javaid,et al.Tele-presence Based Patient Monitoring Robot[J].International Journal of Advanced Science and Technology(S2005-4238),2012,42:151-156.
[10]K M Tsui,K Flynn,A Mc Hugh,et al.Designing Speech-Based Interfaces for Telepresence Robots for People with Disabilities[C]//IEEE International Conference on Rehabilitation Robotics,2013:1-8.
[11]Lorenza Tiberio,Amedeo Cesta,Gabriella Cortellessa,et al.Assessing affective response of older users to a tele-presence robot using a combination of psycho physiological measures[C]//The 21st IEEE International Symposium on Robot and Human Interactive Communication.,2012:833-838.
[12]M Y Shieh,J C Hsieh,C P Cheng.Design of an intelligent hospital service robot and its applications[C]//IEEE International Conference on Systems,Man and Cybernetics,2004,5:4377-4382.
[13]University of Massachusetts Amherst.u Bot-5.[EB/OL][2017-07-23].http://www-robotics.cs.umass.edu/index.php/Robots/UBot-5.
[14]University of Massachusetts Amherst.Robots assist with elder care[EB/OL].[2017-12-03].http://www.cs.umass.edu/csinfo/announce/robots_elder.html.
[15]European information society,TNO innovation for life.Robotics for Healthcare[J/OL].[2018-01-02].http://ec.europa.eu/information_society/activities/health/do cs/studies/robotics_healthcare/robotics-in-healthcare.pdf.
[16]Skilligent.Healthcare/Eldercare Robot based on Skilligent Technology[J/OL].[2017-02-18].http://www.skilligent.com/products/documents/docs/Skill igent-Health-Elder-Care-Robot-Study.pdf.
[17]Touch Health.RP-7i Robot[EB/OL].[2016-12-14].http://www.intouchhealth.com/products-and-services/products/rp-7i-robot/.
[18]Touch Health.Rp-vita remote presence robot[EB/OL].[2016-12-14].http://www.intouchhealth.com/productsand-services/products/rp-vita-robot/.
[19]Hori T,Nishida Y,Murakami S.Pervasive sensor system for evidence-based nursing care support[C]//IEEE International Conference on Robotics&Automation,2006:1680-1685.
[20]Tsai T C,Hsu Y L,Ma A I,et al.Developing a telepresence robot for interpersonal communication with the elderly in a home environment[J].Telemedicine and e-Health,2007,13(4):407424.
[21]陈雪娟.P2P网络实时流媒体分发技术的研究探讨[J].信息与电脑(理论版),2010(11):98-100.Chen Xuejuan.Research and discussion on P2P network real-time streaming media distribution technology[J].China Computer&Communication,2010(11):98-100.
[22]张燕红,王燕,韩庆龙,等.几种常用图像压缩编码方法的研究及C#实现[J].计算机技术与自动化,2013,32(3):60-63.Zhang Yanhong,Wang Yan,Han Qinglong,et al.Research and C#Implementation on Several Commonly Used Image Compression Coding Methods[J].Computing Technology and Automation,2013,32(3):60-63.
[23]李智.JPG图像压缩的编码和解码的设计与实现[D].成都:电子科技大学,2011.Li Zhi.Design and implementation of JPG image compression coding and decoding[D].Chengdu:University of Electronic Science and Technology,2011.
[24]杨果,王亚洁,王晶.Speex编码器中回声消除算法的分析与评估[J].电声技术,2013,37(9):52-55.Yang Guo,Wang Yajie,Wang Jing.Analysis and Evaluation of Echo Cancellation Algorithm in Speex Codec[J].Audio Engineering,2013,37(9):52-55.
[25]钟结实,张科.Speex语音编解码的研究及实现[J].计算机测量与控制,2010,18(8):1883-1885.Zhong Jieshi,Zhang Ke.Research and Implementation of Speech Code Based on Speex[J].Computer Measurement&Control,2010,18(8):1883-1885.
[26]徐治.Direct Sound音频采集技术在虚拟语谱仪中的应用[J].软件,2014(6):73-76.Xu Zhi.The Implementation of Direct Sound Audio Capture Technique In The Virtual Spectrographic Analyzer[J].Software,2014(6):73-76.
[27]李海龙.远程医疗终端信息采集和传输系统的研究与设计[D].成都:电子科技大学,2016.Li Hailong.The Study and Design of Telemedicine Terminal Information Collection and Transmission System[D].Chengdu:University of Electronic Science and Technology,2016.
[2]彭电落,龚建平,邓菊兰,等.社区医疗卫生巡诊服务模式的研究[J].当代医学,2017,23(24):80-82.Peng dianluo,Gong Jianping,Deng Julan,et al.Research on the service model of community medical and health patrol[J].Contemporary Medicine,2017,23(24):80-82.
[3]Annica K,Silvia C,Amy L.A Review of Mobile Robotic Telepresence[J].Advances in Human-Computer Interaction(S1687-5893),2013(3):1-17.
[4]Robotics Technology Consortium.A roadmap For US Robotics from Internet to Robotics[R].USA:Robotics Technology Consortium,2016 edition.2016.
[5]Borenstein J,Wagner A R,Hward A.Overthrust of Pediatric health-care Robots:A Preliminary Survey of Parent Perspectives[J].IEEE Robotics and Automation Magazine(S1070-9932),2018,3(25):46-54.
[6]崔楠,顾海,景抗震.新医改背景下远程医疗发展的SWOT分析[J].卫生经济研究,2018,5(23):44-46.Cui Nan,Gu Hai,Jing Kangzhen.SWOT analysis of telemedicine development in the context of new medical reform[J].Health Economics Research,2018,5(23):44-46.
[7]Mariappan M,Ramu V,Brendan K T T,et al.Medical Tele-diagnosis Robot(MTR)-Internet Based Communication and Navigation[J].Applied Mechanics and Materials(S1662-7482),2014,490/491:1177-1189.
[8]Mariappan M,Nadarajan M,Porle R R,et al.Towards Real-Time Visual Biometric Authentication Using Human Face for Healthcare Telepresence Mobile Robots[J].Journal of Telecommunication,Electronic and Computer Engineering(S2180-1843),2016,8(11):51-56.
[9]Zaka-ul-Haque,Rabia Siddiqui,Rukaiya Javaid,et al.Tele-presence Based Patient Monitoring Robot[J].International Journal of Advanced Science and Technology(S2005-4238),2012,42:151-156.
[10]K M Tsui,K Flynn,A Mc Hugh,et al.Designing Speech-Based Interfaces for Telepresence Robots for People with Disabilities[C]//IEEE International Conference on Rehabilitation Robotics,2013:1-8.
[11]Lorenza Tiberio,Amedeo Cesta,Gabriella Cortellessa,et al.Assessing affective response of older users to a tele-presence robot using a combination of psycho physiological measures[C]//The 21st IEEE International Symposium on Robot and Human Interactive Communication.,2012:833-838.
[12]M Y Shieh,J C Hsieh,C P Cheng.Design of an intelligent hospital service robot and its applications[C]//IEEE International Conference on Systems,Man and Cybernetics,2004,5:4377-4382.
[13]University of Massachusetts Amherst.u Bot-5.[EB/OL][2017-07-23].http://www-robotics.cs.umass.edu/index.php/Robots/UBot-5.
[14]University of Massachusetts Amherst.Robots assist with elder care[EB/OL].[2017-12-03].http://www.cs.umass.edu/csinfo/announce/robots_elder.html.
[15]European information society,TNO innovation for life.Robotics for Healthcare[J/OL].[2018-01-02].http://ec.europa.eu/information_society/activities/health/do cs/studies/robotics_healthcare/robotics-in-healthcare.pdf.
[16]Skilligent.Healthcare/Eldercare Robot based on Skilligent Technology[J/OL].[2017-02-18].http://www.skilligent.com/products/documents/docs/Skill igent-Health-Elder-Care-Robot-Study.pdf.
[17]Touch Health.RP-7i Robot[EB/OL].[2016-12-14].http://www.intouchhealth.com/products-and-services/products/rp-7i-robot/.
[18]Touch Health.Rp-vita remote presence robot[EB/OL].[2016-12-14].http://www.intouchhealth.com/productsand-services/products/rp-vita-robot/.
[19]Hori T,Nishida Y,Murakami S.Pervasive sensor system for evidence-based nursing care support[C]//IEEE International Conference on Robotics&Automation,2006:1680-1685.
[20]Tsai T C,Hsu Y L,Ma A I,et al.Developing a telepresence robot for interpersonal communication with the elderly in a home environment[J].Telemedicine and e-Health,2007,13(4):407424.
[21]陈雪娟.P2P网络实时流媒体分发技术的研究探讨[J].信息与电脑(理论版),2010(11):98-100.Chen Xuejuan.Research and discussion on P2P network real-time streaming media distribution technology[J].China Computer&Communication,2010(11):98-100.
[22]张燕红,王燕,韩庆龙,等.几种常用图像压缩编码方法的研究及C#实现[J].计算机技术与自动化,2013,32(3):60-63.Zhang Yanhong,Wang Yan,Han Qinglong,et al.Research and C#Implementation on Several Commonly Used Image Compression Coding Methods[J].Computing Technology and Automation,2013,32(3):60-63.
[23]李智.JPG图像压缩的编码和解码的设计与实现[D].成都:电子科技大学,2011.Li Zhi.Design and implementation of JPG image compression coding and decoding[D].Chengdu:University of Electronic Science and Technology,2011.
[24]杨果,王亚洁,王晶.Speex编码器中回声消除算法的分析与评估[J].电声技术,2013,37(9):52-55.Yang Guo,Wang Yajie,Wang Jing.Analysis and Evaluation of Echo Cancellation Algorithm in Speex Codec[J].Audio Engineering,2013,37(9):52-55.
[25]钟结实,张科.Speex语音编解码的研究及实现[J].计算机测量与控制,2010,18(8):1883-1885.Zhong Jieshi,Zhang Ke.Research and Implementation of Speech Code Based on Speex[J].Computer Measurement&Control,2010,18(8):1883-1885.
[26]徐治.Direct Sound音频采集技术在虚拟语谱仪中的应用[J].软件,2014(6):73-76.Xu Zhi.The Implementation of Direct Sound Audio Capture Technique In The Virtual Spectrographic Analyzer[J].Software,2014(6):73-76.
[27]李海龙.远程医疗终端信息采集和传输系统的研究与设计[D].成都:电子科技大学,2016.Li Hailong.The Study and Design of Telemedicine Terminal Information Collection and Transmission System[D].Chengdu:University of Electronic Science and Technology,2016.