CN218652007U

CN218652007U - Cardiovascular anesthesia robot

Info

Publication number: CN218652007U
Application number: CN202221918794.6U
Authority: CN
Inventors: 高宇晨; 敖虎山
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-07-23
Filing date: 2022-07-23
Publication date: 2023-03-21
Anticipated expiration: 2032-07-23

Abstract

The utility model relates to a cardiovascular anesthesia robot relates to the robotechnology field, including the frame, connect the organism on the frame, connect the aircraft nose in the organism upper end, the robot still includes, operation image acquisition module, data information input module, storage module, wireless communication module, host system is connected with operation image acquisition module, data information input module, storage module and wireless communication module respectively for control the robot. This application is through setting up operation image acquisition module, utilizes wireless communication module to send real-time image information, patient's data information and operation feedback information to the server for experienced doctor can know the operation situation through the robot, so that experienced doctor looks over the back record, thereby have the advantage that basic doctor's operation is looked over to experienced doctor of being convenient for.

Description

Cardiovascular anesthesia robot

Technical Field

The application relates to the technical field of robots, in particular to a cardiovascular anesthesia robot.

Background

At present, the cardiovascular disease rate is still in a continuous rising stage, and the cardiovascular disease mortality is still the first place. Over 21 million patients receiving cardiac surgery every year, and simultaneously, the development of cardiovascular surgery technology is rapidly progressing, and the changes all present higher requirements and challenges for cardiovascular surgery anesthesia.

As is well known, the study period of cardiovascular surgery anesthesia is longer, the difficulty is higher, and the study period is always a part which is difficult to master in the field of anesthesia. Therefore, in order to improve the success rate of cardiovascular surgery anesthesia, the existing anesthesia robot mainly focuses on controlling the infusion speed and the infusion amount of the anesthetic drug, and when a patient is operated, an experienced doctor usually observes a primary doctor on site to perform clinical surgery, records the advantages and disadvantages of the primary doctor during the surgery, and performs timely teaching after the surgery.

With respect to the above-described related art, the inventors found that: when the experienced doctors are far away from the operating room, the experienced doctors need to spend more time in the course, and the experienced doctors are troublesome to check the primary doctor operation.

SUMMERY OF THE UTILITY MODEL

In order to facilitate experienced doctors to check basic doctor operations, the application aims to provide a cardiovascular anesthesia robot.

The application provides a kind of cardiovascular anesthesia robot adopts following technical scheme:

the robot comprises a base, a machine body connected on the base, a machine head connected at the upper end of the machine body, and the robot also comprises a machine head,

the operation image acquisition module is used for acquiring real-time image information in an operating room;

the data information input module is used for inputting patient data information and operation feedback information;

the storage module is connected with the operation image acquisition module and the data information input module and is used for receiving and storing the real-time image information, the patient data information and the operation feedback information;

the wireless communication module is connected with the storage module and used for sending the real-time image information, the patient data information and the operation feedback information to a server;

and the main control module is respectively connected with the operation image acquisition module, the data information input module, the storage module and the wireless communication module and is used for controlling the robot.

By adopting the technical scheme, when the robot is used, the main control module controls the surgical image acquisition module of the robot to timely record real-time image information in an operating room, and sends the recorded factual image information to the storage module for storage. Then in the process of a doctor operation, the data information input module inputs patient data information and operation feedback information into the storage module, and then the storage module stores the real-time image information, the patient data information and the operation feedback information. The wireless communication module sends the real-time image information, the patient data information and the operation feedback information to the server through the storage module so that a doctor with rich experience can check the operation process at the server terminal. And then make the doctor that experiences far away apart from the operating room can know on-the-spot real-time image information, patient's data information and operation feedback information through the robot to record after the doctor that experiences sees, thereby the doctor that is convenient for experience sees basic doctor's operation.

Optionally, the surgical image acquisition module includes a 4k ultra-high-definition main camera disposed on a three-axis pan-tilt, and the 4k ultra-high-definition main camera is disposed on a circumferential side wall of the handpiece.

By adopting the technical scheme, when the operation condition in the operating room is shot, the definition of operation image acquisition is enhanced by adopting the three-axis pan-tilt-4 k ultra-high-definition main camera, and the image acquisition range is enlarged on the handpiece, so that doctors with abundant experience can check operation pictures of primary doctors in time.

Optionally, the data information entry module includes,

the display screen is used for displaying the data information options and the operation information options;

and the key operation unit is used for receiving a key operation command of a user and inputting patient data information and operation feedback information according to the key operation command.

Through adopting above-mentioned technical scheme, utilize the button operating unit to type patient's data information, operation feedback information, then in time show patient's data information option and operation information option through the display screen to in time know the condition of patient's operation in-process, thereby be convenient for doctor and medical personnel in time look over patient's health data.

Optionally, the robot further comprises a robot body,

the driving module is used for driving the robot to move;

the mobile state detection module is used for detecting the mobile state of the robot and outputting a mobile state detection signal;

the main control module is respectively connected to the driving module and the moving state detection module and is used for controlling the driving module to drive the robot to move according to the moving state detection signal.

By adopting the technical scheme, when the robot moves in a hospital, the main control module controls the driving module to drive the robot to move, and the movement detection module outputs the movement state detection module signal to the main control module in the moving process, so that the main control module controls the driving module to drive the robot to move through the movement state detection signal, and the robot can automatically move in an operating room and change the camera shooting visual angle.

Optionally, the driving module includes a driving motor and a driving wheel rotating at the bottom of the machine body, and the driving motor is used for driving the driving wheel to rotate.

Through adopting above-mentioned technical scheme, when master control module control drive module drive robot removed, master control module control driving motor drove the drive wheel and rotates, and the drive wheel drives the robot and removes to the robot can automatic movement and stop.

Optionally, the moving state detecting module includes,

a distance measuring sensor for detecting a distance value between the robot and an obstacle and outputting a distance detection signal;

a gyro sensor for detecting a traveling direction of the robot and outputting a traveling direction detection signal;

a speed sensor for detecting a speed at which the robot moves and outputting a speed detection signal;

the system comprises a traveling image acquisition unit, a road condition detection unit and a traffic information acquisition unit, wherein the traveling image acquisition unit is used for acquiring real-time road condition image information of the traveling of the robot and outputting a traveling image detection signal;

and a state detection signal generation unit respectively connected to the distance measuring sensor, the gyro sensor and the speed sensor, for generating a movement state detection signal based on the distance detection signal, the traveling direction detection signal, the speed detection signal and the traveling image detection signal.

By adopting the technical scheme, when the main control module controls the driving module to drive the robot to move, the advancing image acquisition unit acquires real-time road condition information and sends an advancing image detection signal to the state detection signal generation unit. The distance measuring sensor transmits a distance detection signal to the state detection signal generating unit, the gyroscope sensor transmits a traveling direction detection signal to the state detection signal generating unit, the speed sensor transmits a speed detection signal to the state detection signal generating unit, and finally the state detection signal generating unit generates a moving state detection signal. The main control module receives the movement state detection signal and then controls the driving module to drive the robot to move, so that the robot can bypass the obstacle until the robot reaches the operating room and then stops moving.

Optionally, the robot further comprises a voice recording module and a voice playing module,

the voice recording module is connected to the main control module and is used for acquiring real-time audio signals in an operating room;

the wireless communication module is connected with the voice recording module and the voice playing module, and is used for sending the real-time audio signal to a server and receiving a remote voice signal sent by the server and sending the remote voice signal to the voice playing module;

the voice playing module is connected to the main control module and used for playing the remote voice signals.

Through adopting above-mentioned technical scheme, when experienced doctor looks over in real time through the robot, the voice input module types the sound in the operating room, then sends the real-time audio signal who types to the server to the expert or experienced doctor who supply remote monitoring listen. Then the remote voice signal that expert or experienced doctor of remote monitoring sent to the server, after wireless communication module received remote voice signal, send remote voice signal to pronunciation broadcast module to broadcast expert or experienced doctor's pronunciation of remote monitoring, so that experienced doctor carries out the pronunciation communication through robot and basic doctor in the operating room, thereby be convenient for in time guide to basic doctor's operation.

Optionally, it has the articulated mast to articulate on the organism, the articulated mast is kept away from the one end of organism articulates there is the bracing piece, the display screen rotate connect in the bracing piece is kept away from the one end of articulated mast, the articulated axis of bracing piece is mutually perpendicular with the articulated axis of articulated mast, articulated mast and organism bracing piece and articulated mast the display screen and bracing piece all have rotational friction.

Through adopting above-mentioned technical scheme, when needs operate through the display screen, the position of adjusting the organism for camera on the aircraft nose aims at the operation table, with the position adjustment of organism. And then the display screen is pulled, so that the hinged rod and the supporting rod are rotated away from the machine body, and the display screen is pulled out of the machine body. The distance between increase display screen and the organism, increase display screen movable range to in the position and the angle of adjusting the display screen after the organism position adjustment, thereby be convenient for increase display screen and the adjustable range on the organism.

Optionally, the organism is provided with a holding tank for the hinge rod and the support rod to rotate over, and the holding tank is shielded by the display screen after the display screen is pressed close to the organism.

Through adopting above-mentioned technical scheme, when having used up the display screen, press the display screen towards the organism for articulated mast and bracing piece rotate towards the organism, so that articulated mast and bracing piece shift over to the holding tank in, until display screen and organism looks butt, and shelter from the holding tank, thereby be convenient for accomodate into the organism with articulated mast and bracing piece.

In summary, the present application includes at least one of the following beneficial technical effects: through setting up operation image acquisition module, utilize wireless communication module with real-time image information, patient's data information and operation feedback information send to the server for experienced doctor can know the operation situation through the robot, so that experienced doctor looks over the back record, so that experienced doctor looks over basic doctor's operation.

Drawings

Fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present application.

FIG. 2 is a block diagram of one embodiment of the present application.

Fig. 3 is a schematic diagram of a display screen connection structure according to an embodiment of the present application.

Fig. 4 is a block diagram of a mobile status detection module according to an embodiment of the present application.

Description of the reference numerals: 1. a body; 11. a machine base; 12. a machine head; 13. a hinged lever; 14. a support bar; 141. a ball groove; 15. accommodating grooves; 2. a main control module; 3. a surgical image acquisition module; 31. a three-axis pan-tilt 4k ultrahigh-definition main camera; 4. a data information input module; 41. a display screen; 411. a ball pin; 5. a storage module; 6. a wireless communication module; 7. a drive module; 71. a drive wheel; 8. a mobile state detection module; 81. a ranging sensor; 82. a gyroscope sensor; 83. a speed sensor; 84. a traveling image acquisition unit; 841. a 3D camera; 842. a high-definition camera TOF module; 85. a state detection signal generation unit; 9. a voice recording module; 91. a microphone pick-up array; 10. and a voice playing module.

Detailed Description

The present application is described in further detail below with reference to figures 1-4.

The embodiment of the application discloses a cardiovascular anesthesia robot.

Referring to fig. 1 and 2, a cardiovascular anesthesia robot comprises a base 11, a machine body 1 connected to the base 11, a handpiece 12 connected to the upper end of the machine body 1, the robot further comprises,

the operation image acquisition module 3 is used for acquiring real-time image information in an operating room;

the data information input module 4 is used for inputting patient data information and operation feedback information;

the storage module 5 is connected with the camera module and the data information input module 4 and used for receiving and storing the real-time image information, the patient data information and the operation feedback information;

the wireless communication module 6 is connected with the storage module 5 and used for sending the real-time image information, the patient data information and the operation feedback information to the server;

the main control module 2 is respectively connected with the operation image acquisition module 3, the data information input module 4, the storage module 5 and the wireless communication module 6 and is used for controlling the robot.

In the above embodiment, when the robot is used, the main control module 2 controls the camera module of the robot to record the real-time image information in the operating room in time, and sends the recorded real-time image information to the storage module 5 for storage. Then, in the process of a doctor operation, the data information recording module 4 records the patient data information and the operation feedback information into the storage module 5, and then the storage module 5 stores the real-time image information, the patient data information and the operation feedback information. The storage module 5 sends the real-time image information, the patient data information and the operation feedback information to the server through the wireless communication module 6, so that experienced doctors can check the operation process at the server terminal. And then make the doctor of the experience that is far away apart from the operating room know on-the-spot real-time image information, patient data information and operation feedback information through the robot, provide the remote monitoring function, help large-scale three hospitals doctor to instruct primary doctor to carry out the cardiac surgery anesthesia, and then the doctor of the experience of being convenient for looks over the back record to the doctor of the experience of being convenient for looks over primary doctor's operation.

As an embodiment of the surgical image acquisition module 3, the surgical image acquisition module 3 adopts a three-axis pan-tilt 4k ultra-high definition main camera 31, and is located on a circumferential side wall of the handpiece 12, so as to enhance the definition of a real-time image and increase the image acquisition range on the handpiece 12.

As an embodiment of the material information entry module 4, the material information entry module 4 includes a display screen 41 and a key operation unit. The display screen 41 adopts the display screen 41 which is rotationally connected with the machine body 1, the key operation unit adopts the keys under the screen, so that the key operation command of the user can input the patient data information and the operation feedback information into the display screen 41, and the patient data information options and the operation information options are displayed through the display screen 41.

As an embodiment of the storage module 5, a magnetic disk, an optical disk or a removable hard disk is used to store the real-time image information, the patient data information and the operation feedback information.

As an implementation mode of the wireless communication module 6, wireless communication modes such as Bluetooth, wi-Fi and GORS/CDMA, 5G module and the like are connected with a server so as to send the real-time image information, the patient data information and the operation feedback information to the server.

As an embodiment of the main control module 2, a PLC installed in the machine body 1 is used to receive signals of the respective modules to control the robot.

In some embodiments, as an implementation mode of installing the display screen 41, referring to fig. 3, the body 1 is hinged to a hinge rod 13, one end of the hinge rod 13 away from the body 1 is hinged to a support rod 14, and the display screen 41 is rotatably connected to one end of the support rod 14 away from the hinge rod 13. The hinge axis of the hinge rod 13 extends in a horizontal direction, the hinge axis of the support rod 14 is perpendicular to the hinge axis of the hinge rod 13, and the hinge axes of the hinge rod 13 and the support rod 14 are located on the same plane. So that the display screen 41 can be pulled out of the machine body 1 and then rotated, the distance between the display screen 41 and the machine body 1 is increased, and the moving range of the display screen 41 is further increased.

Referring to fig. 3, a ball pin 411 is fixedly connected to one side of the display screen 41 facing the machine body 1, a ball groove 141 for the ball pin 411 to rotate is formed in one end of the support rod 14 far away from the hinge rod 13, and the display screen 41 rotates in the ball groove 141 through the ball pin 411 to be connected with the support rod 14 in a rotating manner. The joint of the hinge rod 13 and the body 1, the joint of the support rod 14 and the hinge rod 13, and the joint of the ball pin 411 and the ball groove 141 all have rotational friction.

Referring to fig. 3, offer on organism 1's the lateral wall and supply articulated mast 13, bracing piece 14 to change over to holding tank 15, be about to articulated mast 13, bracing piece 14 change over to the back in holding tank 15, display screen 41 can shelter from holding tank 15 to hide holding tank 15 after display screen 41 packs up.

Specifically, during the use of the display screen 41, the hinge rod 13 and the support rod 14 are pulled out from the receiving groove 15 by pulling the display screen 41, and the angle of the display screen 41 on the machine body 1 is adjustable by the rotation of the ball pin 411 in the ball groove 141, and the rotation range of the display screen 41 on the machine body 1 is enlarged. Thereby facilitating the viewing of the display screen 41 by operating room medical personnel.

Referring to fig. 2 and 3, as a further embodiment of the robot, the robot further comprises,

the driving module 7 is used for driving the robot to move;

a moving state detection module 8 for detecting the moving state of the robot and outputting a moving state detection signal;

and the main control module 2 is respectively connected to the driving module 7 and the moving state detection module 8, and is used for controlling the driving module 7 to drive the robot to move.

Specifically, when the robot moves in the hospital, the main control module 2 controls the driving module 7 to drive the robot to move, and the moving state detection module 8 outputs a moving state detection signal to the main control module 2 in the moving process, so that the main control module 2 controls the driving module 7 to drive the robot to move through the moving state detection signal, and the robot can automatically move in the operating room and change the camera angle.

As an embodiment of the driving module 7, the driving module 7 includes a driving motor and a driving wheel 71 rotating at the bottom of the machine body 1, and the driving motor is used for driving the driving wheel 71 to rotate. In the embodiment of the present application, the bottom of the machine body 1 rotates to form a plurality of gears coaxial with the driving wheel 71, the gears are meshed with each other, the output shaft of the driving motor is also coaxially connected with the gears, and the gears of the driving motor are meshed with the gears of the driving wheel 71, so that the driving motor can drive the driving wheel 71 to rotate. The driving wheels 71 positioned in the advancing direction of the robot are respectively provided with a differential gear, the differential gears are connected with the main control module 2, and the main control module 2 controls the differential gears to enable the driving wheels 71 on two sides of the advancing direction of the robot to have different rotating speeds so as to realize turning when the robot advances.

Referring to fig. 2 and 4, as one embodiment of the movement detection module, the movement state detection module 8 includes,

a distance measuring sensor 81 for detecting a distance value between the robot and the obstacle and outputting a distance detection signal;

a gyro sensor 82 for detecting a traveling direction of the robot and outputting a traveling direction detection signal;

a speed sensor 83 for detecting the speed at which the robot moves and outputting a speed detection signal;

a traveling image acquisition unit 84 for acquiring real-time road condition image information of the traveling robot and outputting a traveling image detection signal;

the state detection signal generation unit 85 is connected to the distance measurement sensor 81, the gyro sensor 82, and the speed sensor 83, respectively, and generates a movement state detection signal based on the distance detection signal, the traveling direction detection signal, the speed detection signal, and the image detection signal.

Specifically, when the main control module 2 controls the driving module 7 to drive the robot to move, the distance measuring sensor 81 transmits a distance detection signal to the state detection signal generation unit 85, the gyro sensor 82 transmits a traveling direction detection signal to the state detection signal generation unit 85, the speed sensor 83 transmits a speed detection signal to the state detection signal generation unit 85, and finally, a moving state detection signal is generated. The main control module 2 receives the movement state detection signal and then controls the driving module 7 to drive the robot to move, so that the robot can bypass the obstacle until the robot reaches the operating room and then stops moving.

As an embodiment of the traveling image capturing unit 84, the traveling image capturing unit 84 employs a 3D camera 841 and a high-definition camera TOF module 842. The 3D camera 841 combines high definition camera TOF module 842 to be used for shooting the robot and removes the road conditions to send the road conditions information who gathers to the state detection signal generating unit 85, the state detection signal generating unit receives and removes behind the state detection signal control drive module 7 and drive the robot and turn and keep away the barrier.

Referring to fig. 2, as a further embodiment of the robot, the robot further comprises a voice recording module 9 and a voice playing module 10,

the voice recording module 9 is connected to the main control module 2 and used for collecting real-time audio signals in the operating room;

the wireless communication module 6 is connected to the voice recording module 9 and the voice playing module 10, the wireless communication module 6 is used for sending real-time audio signals to the server, and the wireless communication module 6 is also used for receiving remote voice signals sent by the server and sending the remote voice signals to the voice playing module 10;

and the voice playing module 10 is connected to the main control module 2 and is used for playing the remote voice signal.

Specifically, when experienced doctors look over through the robot in real time, the voice recording module 9 records the sound in the operating room, and then sends the recorded real-time audio signal to the server for the experts in remote monitoring or experienced doctors to listen to. Then the remote voice signal that expert or experienced doctor of remote monitoring sent to the server, after wireless communication module 6 received remote voice signal, send remote voice signal to pronunciation broadcast module 10 to broadcast expert or experienced doctor's of remote monitoring pronunciation, so that experienced doctor carries out the pronunciation communication through robot and basic doctor in the operating room, so that in time guide to basic doctor's operation.

As an embodiment of the voice recording module 9, referring to fig. 2 and 3, the voice recording module 9 records voice by using the microphone pickup array 91.

As an implementation manner of the voice playing module 10, the voice playing module 10 uses a sound box to play.

In the several embodiments provided in the present application, it should be understood that the modules or units provided may be implemented in other ways. For example, the embodiments described above are merely illustrative; for example, a division of a module or a unit may be only a logical division, and in actual implementation, there may be another division, for example, multiple units may be combined or integrated into another module, or some features may be omitted, or not executed. In addition, the connections or communication connections shown or discussed above may be indirect couplings or communication connections through some interfaces, devices or units, and may also be electrical, mechanical or other connections.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a cardiovascular anesthesia robot, the robot include frame (11), connect in organism (1) on frame (11), connect in aircraft nose (12) of organism (1) upper end, its characterized in that: the robot further comprises a control unit for controlling the robot,

the operation image acquisition module (3) is used for acquiring real-time image information in an operating room;

the data information input module (4) is used for inputting patient data information and operation feedback information;

the storage module (5) is connected with the operation image acquisition module (3) and the data information input module (4) and is used for receiving and storing the real-time image information, the patient data information and the operation feedback information;

the wireless communication module (6) is connected to the storage module (5) and is used for sending the real-time image information, the patient data information and the operation feedback information to a server;

the main control module (2) is respectively connected with the operation image acquisition module (3), the data information input module (4), the storage module (5) and the wireless communication module (6) and is used for controlling the robot.

2. The cardiovascular anesthesia robot of claim 1, wherein: the operation image acquisition module (3) comprises a three-axis holder 4k ultrahigh-definition main camera (31), and the three-axis holder 4k ultrahigh-definition main camera (31) is arranged on the circumferential side wall of the handpiece (12).

3. The cardiovascular anesthesia robot of claim 1, wherein: the data information recording module (4) comprises,

a display screen (41) for displaying data information options and surgical information options;

4. The cardiovascular anesthesia robot of claim 1, wherein: the robot further comprises a control unit for controlling the robot,

the driving module (7) is used for driving the robot to move;

a moving state detection module (8) for detecting the moving state of the robot and outputting a moving state detection signal;

the main control module (2) is respectively connected to the driving module (7) and the moving state detection module (8), and is used for controlling the driving module (7) to drive the robot to move according to the moving state detection signal.

5. The cardiovascular anesthesia robot of claim 4, wherein: the driving module (7) comprises a driving motor and a driving wheel (71) rotating at the bottom of the machine body (1), and the driving motor is used for driving the driving wheel (71) to rotate.

6. A cardiovascular anesthesia robot according to any of claims 4 or 5, characterized in that: the movement state detection module (8) comprises,

a distance measuring sensor (81) for detecting a distance value between the robot and an obstacle and outputting a distance detection signal;

a gyro sensor (82) for detecting a traveling direction of the robot and outputting a traveling direction detection signal;

a speed sensor (83) for detecting the speed at which the robot moves and outputting a speed detection signal;

a traveling image acquisition unit (84) for acquiring real-time road condition image information of the traveling of the robot and outputting a traveling image detection signal;

and a state detection signal generation unit (85) connected to the distance measurement sensor (81), the gyro sensor (82), and the speed sensor (83), respectively, and configured to generate a movement state detection signal based on the distance detection signal, the travel direction detection signal, the speed detection signal, and the image detection signal.

7. The cardiovascular anesthesia robot of claim 1, wherein: the robot also comprises a voice recording module (9) and a voice playing module (10),

the voice recording module (9) is connected to the main control module (2) and is used for acquiring real-time audio signals in an operating room;

the wireless communication module (6) is connected to the voice recording module (9) and the voice playing module (10), the wireless communication module (6) is used for sending the real-time audio signal to a server, and the wireless communication module (6) is also used for receiving a remote voice signal sent by the server and sending the remote voice signal to the voice playing module (10);

the voice playing module (10) is connected to the main control module (2) and is used for playing the remote voice signal.

8. A cardiovascular anesthesia robot of claim 3, wherein: articulated on organism (1) have hinge bar (13), hinge bar (13) are kept away from the one end of organism (1) articulates there is bracing piece (14), display screen (41) rotate connect in the one end of hinge bar (13) is kept away from in bracing piece (14), the articulated axis of bracing piece (14) and the articulated axis of hinge bar (13) are mutually perpendicular, hinge bar (13) and organism (1) bracing piece (14) and hinge bar (13) display screen (41) and bracing piece (14) all have running friction.

9. The cardiovascular anesthesia robot of claim 8, wherein: offer the confession on organism (1) holding tank (15) that articulated mast (13) and bracing piece (14) change over to, keep close to organism (1) back in display screen (41) and shelter from holding tank (15).