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CN-122005248-A - Multi-degree-of-freedom intelligent transfer device for patient transfer and cooperative control method

CN122005248ACN 122005248 ACN122005248 ACN 122005248ACN-122005248-A

Abstract

The invention discloses a multi-degree-of-freedom intelligent transfer device for patient transfer and a cooperative control method, and belongs to the technical field of medical equipment and rehabilitation robots. The device comprises a movable chassis, a lifting upright post, a multi-degree-of-freedom mechanical arm system, a multi-mode sensing system and a controller. The mechanical arm system comprises at least five six-degree-of-freedom mechanical arms, and the tail ends of the mechanical arms are provided with bionic holding supporting plates. The multi-modal sensing system comprises a surface myoelectric electrode, a visual unit, a force sense unit and the like for acquiring myoelectric signals of a patient. The method comprises the steps of manual pre-fixation, initial identification, self-adaptive holding, cooperative transportation, intelligent placement and physiological signal closed-loop feedback throughout the whole process, muscle tension and pain reaction of a patient are sensed in real time through electromyographic signals, the motion strategy of the mechanical arm is dynamically adjusted, meanwhile, the pose of the patient is kept to be absolutely stable in movement through a motion compensation algorithm, safe, comfortable and automatic patient transportation is realized, and nursing burden and risk are greatly reduced.

Inventors

  • LIU YANMEI
  • CHENG FAN
  • CHEN MENGLI
  • REN YU
  • Jia Xiaoyin

Assignees

  • 陕西省中医药研究院

Dates

Publication Date
20260512
Application Date
20260323

Claims (10)

  1. 1. A multi freedom intelligence transfer device for patient transports, characterized in that includes: A mobile chassis (1) for autonomous or assisted movement in an environment; The lifting upright post (2) is fixedly arranged on the movable chassis (1) and can perform vertical lifting adjustment; The multi-degree-of-freedom mechanical arm system is connected with the lifting upright post (2) and comprises at least five mechanical arms with at least six degrees of freedom, the tail end of each mechanical arm is provided with a bionic holding support plate for supporting a patient, and an auxiliary binding band (3) interface is arranged on the bionic holding support plate; the auxiliary binding bands (3) can be manually penetrated under a patient in advance, and after the bionic holding support plate is positioned at a corresponding part of the body of the patient, the two ends of the auxiliary binding bands (3) are fixed on the bionic holding support plate so as to realize the pre-fixation of the patient; a multi-modal awareness system, comprising: The myoelectricity and physiological signal sensing module comprises a plurality of surface myoelectricity electrodes which are used for being attached to the surface of the skin of a patient and used for collecting myoelectricity signals of specific muscle groups of the patient in the transportation process; the posture and environment sensing module comprises a visual unit for acquiring three-dimensional information of the body position and the surrounding environment of a patient, a force sensing unit for detecting the contact force between the mechanical arm and the patient, and an environment sensing unit for navigating and avoiding an obstacle; The controller (4) is electrically connected with the movable chassis (1), the lifting upright post (2), the multi-degree-of-freedom mechanical arm system and the multi-mode sensing system, and the controller (4) is configured to: according to the feedback of the multi-mode sensing system, the movable chassis (1), the lifting upright post (2) and the multi-degree-of-freedom mechanical arm system are coordinated and controlled in real time, so that self-adaptive holding, stable displacement and safe transportation of a patient are realized; Wherein the controller (4) is configured to determine muscle tone or pain response of the patient in real time from the electromyographic signals and adjust the movement strategy of the mechanical arm based on the same when executing the transport control.
  2. 2. The multi-degree-of-freedom intelligent transfer device for patient transfer according to claim 1, wherein the multi-degree-of-freedom mechanical arm system comprises a trunk mechanical arm (5) and four limbs mechanical arms (6), the trunk mechanical arm (5) comprises a head mechanical arm (7), a shoulder mechanical arm (8), a waist mechanical arm (9) and a crotch mechanical arm (10), the bionic holding support plate comprises a hinged substrate (11) which is adapted to the tail end of the limbs mechanical arm (6), and a constraint groove (12) which is arranged at the tail end of the head mechanical arm (7), the shoulder mechanical arm (8), the waist mechanical arm (9) and the crotch mechanical arm (10), and pressure sensor arrays (13) are distributed on the inner sides of the hinged substrate (11) and the constraint groove (12).
  3. 3. The multi-degree of freedom intelligent transfer apparatus for patient transport of claim 2 wherein each joint of the robotic arm is integrated with a joint moment sensor (14), the controller (4) is configured to perform force-based impedance control of the robotic arm end and to achieve adaptive fit and compliant contact of the biomimetic holding pallet with the patient's body shape based on feedback from the multimodal perception system, the pressure sensor array (13) and the joint moment sensor (14).
  4. 4. The multiple degree of freedom intelligent transfer apparatus for patient transfer of claim 1 wherein the vision unit includes a depth camera (15) for identifying a co-docking identifier preset on the target bearing surface, the co-docking identifier being a vision tag or a wireless location beacon.
  5. 5. The multiple degree of freedom intelligent transfer apparatus for patient transfer of claim 1 wherein the controller (4) is further configured to: And when the held patient is transported through the mobile platform, calculating the compensation motion of the mechanical arm joint in real time so as to offset disturbance caused by the motion of the mobile platform and keep the absolute stability of the position of the patient in the air.
  6. 6. A cooperative control method for patient transport, applied to the intelligent transfer device with multiple degrees of freedom for patient transport according to any one of claims 1 to 5, characterized in that the method comprises: A manual pre-fixing step, wherein before the equipment is started, an operator passes each auxiliary bandage (3) under a patient in advance, and the surface myoelectric electrodes are attached to a preset muscle group of the patient; controlling the mobile platform to move to an initial position, and identifying the position of the patient and the target bearing surface information through the vision unit; Controlling the multi-degree-of-freedom mechanical arm system to move so as to enable each bionic holding support plate to be positioned at a corresponding part of a patient body, and fixing the free end of each auxiliary binding band (3) on the corresponding bionic holding support plate by an operator to finish mechanical fixing of the patient; After the binding is completed, controlling the mechanical arm to adjust the posture and the contact force of the supporting plate according to the feedback of the force sense unit in an impedance control mode, so as to realize stable and uniform support of a patient; after lifting the patient, controlling the moving platform to move towards the target bearing surface, and cooperatively controlling the mechanical arm to perform motion compensation in the process so as to maintain the stable posture of the patient; based on the real-time perception of the visual unit to the target bearing surface, the intelligent placement step takes the relative motion and contact impact between the minimized patient and the target bearing surface as the target, generates a cooperative motion track of the mobile platform and the mechanical arm, and stably places the patient on the target bearing surface; And a physiological signal closed loop feedback step, namely continuously monitoring the electromyographic signals in the self-adaptive holding, cotransport and intelligent placement steps, immediately suspending the current movement when the characteristic value of the electromyographic signals is detected to exceed a preset pain response threshold value, and adjusting the gesture or movement path of the mechanical arm according to signal feedback until the electromyographic signals are restored to a safe range, and then continuously executing the original task or executing the task after re-planning.
  7. 7. The cooperative control method for patient transport according to claim 6, wherein the adaptive clasping step specifically comprises: Planning to form a personalized holding envelope based on a three-dimensional point cloud model of a patient; after the mechanical arm is controlled to move to the close position, switching to an impedance control mode, so that the bionic holding support plate is attached to the body of a patient with constant and tiny contact force; And according to the feedback of the pressure sensor array (13), the supporting angle of each tray is regulated in real time, so that the contact pressure distribution is uniform.
  8. 8. The cooperative control method for patient transport according to claim 6, wherein in the cooperative transport step, the motion compensation is achieved by: establishing an overall kinematic model comprising the mobile platform, the lifting upright post (2) and the multi-degree-of-freedom mechanical arm system; According to the motion speed and direction of the mobile platform, calculating the compensation angular speed or angular displacement required by each joint of the mechanical arm in real time through inverse solution of the overall kinematics model; And controlling the mechanical arm joint to execute the compensation movement, so that the pose of the patient relative to an inertial coordinate system is kept unchanged.
  9. 9. The cooperative control method for patient transport according to claim 6, further comprising a human-machine cooperative teleoperation mode in which: receiving a guide instruction from an external input device; Fusing the guiding instruction with the automatic obstacle avoidance constraint and the virtual fixture constraint generated by the multi-mode sensing system to generate a final executing instruction; the virtual clamp constraint is used for limiting the movement range of the tail end of the mechanical arm or the moving platform and preventing the tail end of the mechanical arm or the moving platform from entering a preset dangerous area.
  10. 10. The cooperative control method for patient transport according to claim 6, further comprising a global safety monitoring step: The data of the force sense unit, the joint encoder and the inertial measurement unit are monitored in real time; and when any monitoring data exceeds the corresponding safety threshold, controlling the device to enter a soft stop state or an emergency stop state, and giving an alarm.

Description

Multi-degree-of-freedom intelligent transfer device for patient transfer and cooperative control method Technical Field The invention relates to the technical field of medical equipment and rehabilitation robots, in particular to a multi-degree-of-freedom intelligent transfer device for assisting patients with inconvenient actions or pain in local parts of the body to safely and comfortably transfer between beds and facilities such as wheelchairs, toilets and diagnosis and treatment tables and a cooperative control method thereof. Background In the medical care and home care fields, the transfer of patients with mobility impairment, postoperative recovery, pain in body parts or movement dysfunction between bed and bed, bed and wheelchair, bed and other facilities is a high frequency and critical care operation. Currently, this operation is mainly done by manual lifting by nurses, caregivers or families. The prior art has the following remarkable defects: The labor force dependence and the safety risk are that the carrying process is completely dependent on the labor force, the physical power consumption of nursing staff is high, and when the force is insufficient or the cooperation is lost, the patient is easily caused to fall or the nursing staff is easily damaged secondarily such as lumbar muscle strain. Lack of state perception-the caregivers cannot directly and quantitatively perceive the physiological state of the patient during movement, especially the immediate response to pain. The force, angle and speed of movement are estimated only empirically and are difficult to adapt individually. The communication cost is high and the effect is poor, and in order to avoid discomfort of patients, the carrying process needs to rely on oral communication of the patients to carry out careful wing matching. However, for patients with difficult expression, such as weakness, tracheotomy or low pain threshold, the communication efficiency is low, and the pain and psychological burden of the patients are often increased due to repeated actions or severe pain caused by improper coordination. The traditional manual lifting or simple sling type transfer equipment is poor in posture adaptability, smooth and multi-posture continuous conversion such as lying, sitting, standing, lying on one side and lying on one side cannot be realized, and supporting points cannot be dynamically adjusted in the transfer process so as to adapt to comfort level of patients. Therefore, a device and a method capable of intelligently sensing physiological responses of patients and autonomously and cooperatively adjusting movement strategies so as to realize safe, comfortable and automatic patient transportation are needed. Disclosure of Invention The invention provides a multi-degree-of-freedom intelligent transfer device for patient transfer and a cooperative control method, which can cooperatively bear the weight of a patient through a plurality of mechanical arms, sense the muscle tension and pain reaction of the patient in the transfer process in real time through bioelectric signals, dynamically adjust the transfer action and realize flexible and self-adaptive transfer. In order to achieve the aim, the invention provides the technical scheme that the multi-degree-of-freedom intelligent transfer device for patient transfer is characterized by comprising a mobile chassis, a first lifting mechanism, a second lifting mechanism and a first lifting mechanism, wherein the mobile chassis is used for autonomous or auxiliary movement in the environment; the lifting upright post is fixedly arranged on the movable chassis and can perform vertical lifting adjustment; the multi-degree-of-freedom mechanical arm system is connected with the lifting upright post and comprises at least five mechanical arms with no less than six degrees of freedom, the tail end of each mechanical arm is provided with a bionic holding supporting plate used for supporting a patient, an auxiliary binding band interface is arranged on the bionic holding supporting plate, a group of auxiliary binding bands can manually penetrate through the lower part of the patient in advance and are fixed on the bionic holding supporting plate after being positioned on the corresponding part of the body of the patient, so as to realize the pre-fixation of the patient, a multi-mode sensing system comprises a myoelectricity and physiological signal sensing module, a physical state and environment sensing module, a force sensing unit, a controller, a multi-mode sensing system and a multi-mode sensing system, wherein the myoelectricity and physiological signal sensing module comprises a plurality of surface myoelectricity electrodes used for being attached to the skin surface of the patient and used for acquiring myoelectricity signals of a specific muscle group of the patient in the transferring process, the physical state and environment sensing module comprises a visual unit used for acquiring t