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WO2019175675A2 - Agencement robotique médical à intelligence artificielle de robot dr - Google Patents

Agencement robotique médical à intelligence artificielle de robot dr Download PDF

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Publication number
WO2019175675A2
WO2019175675A2 PCT/IB2019/000545 IB2019000545W WO2019175675A2 WO 2019175675 A2 WO2019175675 A2 WO 2019175675A2 IB 2019000545 W IB2019000545 W IB 2019000545W WO 2019175675 A2 WO2019175675 A2 WO 2019175675A2
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WO
WIPO (PCT)
Prior art keywords
drobotic
drobot
unit
hand
patient
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Ceased
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PCT/IB2019/000545
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English (en)
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WO2019175675A3 (fr
Inventor
Wasfi Alshdaifat
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Individual
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Individual
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Priority to CN201980098296.6A priority Critical patent/CN114072258A/zh
Priority to PCT/IB2019/000545 priority patent/WO2019175675A2/fr
Publication of WO2019175675A2 publication Critical patent/WO2019175675A2/fr
Publication of WO2019175675A3 publication Critical patent/WO2019175675A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/548—Remote control of the apparatus or devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/005—Manipulators for mechanical processing tasks
    • B25J11/0055—Cutting
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/01—Measuring temperature of body parts ; Diagnostic temperature sensing, e.g. for malignant or inflamed tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording for evaluating the cardiovascular system, e.g. pulse, heart rate, blood pressure or blood flow
    • A61B5/024—Measuring pulse rate or heart rate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Measuring devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor or mobility of a limb
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4405—Constructional features of apparatus for radiation diagnosis the apparatus being movable or portable, e.g. handheld or mounted on a trolley
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/545—Control of apparatus or devices for radiation diagnosis involving automatic set-up of acquisition parameters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/54—Control of apparatus or devices for radiation diagnosis
    • A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/56—Details of data transmission or power supply, e.g. use of slip rings
    • A61B6/566—Details of data transmission or power supply, e.g. use of slip rings involving communication between diagnostic systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4427—Device being portable or laptop-like
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A61B8/4494—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer characterised by the arrangement of the transducer elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/56—Details of data transmission or power supply
    • A61B8/565—Details of data transmission or power supply involving data transmission via a network
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device
    • A61B8/585—Automatic set-up of the device

Definitions

  • This invention relates to the implementation of robots, artificial intelligence, manipulators, and UAVs in compact clinical arrangement for medical services.
  • Medical diagnosis is used to know the disease or condition explaining a person’s symptoms with the information collected from the person or his medical history and simple to highly complicated physical examinations, diagnostic tests, laboratory diagnosing, radiology diagnosis, principal diagnosis, during a visit or many visits, or even visiting many clinics, medical centers and hospitals inside a country or countries.
  • the symptoms are either missleading or indicating many disorders, variable pieces of collected information should be correlated via differential diagnosis to explain or understand the medical case.
  • Diagnostic robots were developed in the 1970s in the form of a physical robot or a software expert system, IBM announced on 2013 Watson software system.
  • a medical automatic diagnosis equipment induing robot arm for inspecting samples is disclosed in patent No.: KR100759079 B1
  • a meical endoscopic instrument for connection with robot is disclosed in: DE102013204677A1.
  • Al systems are winning the competitions with specialists, for example Al neural networks can see patterns which humans can not see in tumor patterns.
  • Efforts are spent to pump data into Al system with information of the most accurate details of diseases, as well as data on the pathology of the patient, a method for medical diagnosis utilizing PDA software Robots is disclosed in US patent application No.: US20110124975A1.
  • Medical manipulators are introduced in the art too, wherein a surgeon using a remote tele-manipulator do certain movements to move the robot associated with surgery.
  • the surgeon uses a computer to control the robotic arms and its end effectors, though these systems can also still use tele-manipulators for their input, but in-computer controlled robotic systems, the surgeon can do surgery from anywhere in the world, while controlling a specific robot inside a surgery room, a medical robot system for surgeries is disclosed in PCT patent appl. No.: WO/2017/142050 A8.
  • a western medicine robot doctor for obtaining direct images of the patient face and body plus hearing his voice is disclosed in patent application No.: CN201711497223A.
  • Non of the prior art is disclosing a robot using his fingers and hands as devices for medical diagnosis, nor depending on UAVs or Al arrangements which is the objective of this invention, like what machines did in the past, doctor robots can replace even the high skilled persons in the near future supported by the developments of Al and internet of things, wherein medical studies, jobs and service may be replaced and driven with Drobotic Al medical engineering. Disclosure of Invention
  • This inventions is customizing main medical diagnostic devices into a robot working as part of a compact medical arrangement supported with Local and Int. data servers, Al and UAVs.
  • the right-hand fingers of the robot are replaced by retardable tools: injection, syringe, gell tube, ultrasound transponder, camera and light rod, while at the middle of the palm of the robot’s hand an X-Ray camera is installed, the left hand of the robot is used as a supporting hand, similar to a human hand, grapping, carrying, pushing, pressing and sensing. Another extra two hands are installable under the waist of the robot for extra selectablae manipulator tasks.
  • the eyes of the robot are replaced with cameras, the face is similar to a human face, hearing is from the ears, talking from the mouth. While the chest and abdomen are replaced with four chambers, these chambers are used for storing: Blood samples and standby tubes, urgent injections, tablets, liquid drugs.
  • the gates of the chambers open autonomously. The four doors of the chambers are covered with one smart tablet screen for demonstration.
  • Drobot is capable to do home visits anytime, but for safety by riding a sterilized sealed motorized capsule.
  • Drobot in another embodiment is a twin robot fixed over a rail inside a flying VTOL ambulance (capsule), it is provided with surgical hands, and can be computer controlled, while on the sides of the flying ambulance, a two external sub-capsules are installed for carrying the supporting robotic staff, who leaves their capsules to search, rid, and rescue an injured person from an accident, lay him down on the medical bed, and push him toward the ambulance capsule.
  • FIG. 1 Illustrates a 3-D view for the front side of the Drobot and its right- hand details.
  • FIG. 2 Illustrates a view for the robot right-hand retractable fingered devices.
  • FIG. 3 Illustrates a 3-D view for the Drobot storage compartments.
  • FIG. 4 Illustrate a 3-D view for the Drobot right-hand finger devices configurations.
  • FIG. 5 Illustrates multiple 3-D side views for the 4-handed Drobot configuration.
  • FIG. 6 Illustrates multiple 3-D side views for the Drobot picking up an X- ray image for a patient.
  • FIG. 7 Illustrates a foot anatomy image displayed on the Drobot screen.
  • FIG. 8 Illustrates a block diagram for a built-up of the Drobot 20 data input sensors..., to the intelligent systems, and output actuators.
  • FIG. 9 Illustrates a view for the adjustable hand grip and collapsible leg stand + foot/leg grip and collapsible leg stand.
  • FIG. 10 Illustrates a view for the sterilized motorized wheel capsule occupied by a Drobot.
  • FIG. 11 Illustrates a flow chart of data in-between the Drobots, Subservers, local servers, city server, province server, country server, regional server and world server.
  • FIG. 12 Illustrates two types for the flying ambulance capsule normally at flying configuration.
  • FIG. 13 Illustrates two types for the flying ambulance capsule normally at landing or take-off configuration.
  • FIG. 14 Illustrates views for the assistant technician robot.
  • Fig. 15 Illustrates views for a method of vacating an injured person from a car which faced an accident.
  • Fig. 16 Illustrates vacating the injured person to the flying ambulance.
  • Fig. 17 Illustrates Drobots diagnosing/curing the injured person. Best Mode for Carrying out the Invention:
  • the Artificial medical clinic (robotic unit) 60 main unit is the Drobot 20.
  • the Drobot’s 20 main featured parts are composed of his first right hand 21 , compartment set 22, first left hand 23, second lower right hand 24, second lower left hand 25 and the smart display screen 26 ( Figures 1 , 5, 7).
  • the right-hand 21 traditional fingers are replaced with any set of customized compacted devices to carry out specific diagnostic tasks in addition to other urgent jobs such as providing injections and collecting blood samples ( Figures 1 , 2, 3).
  • one proposed anthropomorphic fingered device set includes: gel provider tube 27, injection 28, ultrasound transducer 29, rod ended with light and camera 30, blood sample tube (syringe) 31, while at the middle of the hand palm an X-ray camera 32 is installed.
  • the right-hand 21 of the Drobot 20 can be customized with more or less devices, the devices/tools can be retractable/storable inside a pocket 33 ( Figure 2) when not in use and one or more is expandable when in use, or bendable (foldable) like in Figure 4 such that the fingered device or tool which is in use is on expandable configuration, while the gel tubes 27, injections 28, and syringes 31 are replaceable autonomously, wherein according to the medical CPU (central processing unit) 34, orders are sent to the DME (Digital motor electronics) 35 to move the motorized left hand 23 to remove the used gel tube 27, injection 28, or syringe 31 from the right-hand 21 , put it aside in the specified compartment and picks-up a new one, then installs it in the specific location of the right-hand 21.
  • the medical CPU central processing unit
  • the compartment set 22 is divided and structured according to demand and number of required compartments, a basic set is made from four compartments, a first compartment 36 for the emergency injections 28, a second compartment 37 for the blood samples 31, a third compartment 38 for emergency tablets or drug bottle samples, a forth compartment 39 for spare material accessories such as gel tubes 27, ultrasound transducers 29, thermometers 40, wounds antiseptic, bandages, adhesives ...etc ( Figure 3).
  • the second lower right hand 24 is added as an option for extra tasks (Figure 5), such as measuring blood pressure and holding or supporting the patient body or human organs to assist the other hands to carry out their tasks over the patient body, this hand and the others are provided with all necessary devices and meters to assist in locating the position and location of a human organ and the coordinates of a specific point over it, they are provided with attitude meter 41, magnetometer 42, (accelerometer, gyroscope, GPS set) 43... and measuring angular speed, tilt angle, yaw angle, pitch angle...
  • the left lower hand 25 is used mainly for wrapping adhesive around the bandages which are installed on wounds via the assistance of the first left 23 and second right hands 24, many traditional mechanisms can be adopted and accustomed in the left lower hand 25.
  • One of the Drobot 20 eyed cameras 44 is of Computer vision camera type, it is processing the 3D images of the patient repeatedly with each movement to build up his body 3D image, these are carried out according to algorithms receiving data from the cameras an sensors.
  • the solid screen 45 is stored inside a grooved compartment 46 under the main compartment set 22. If the Drobot 20 finds that it needs to make an X-ray image for a patient back, it will instruct the patient verbally to stand in-between his hands with his back facing drobot’s extended right hand 23, then the Drobot 20 scans the positioning of the patient, when he is set right, the Drobot 20 uses his first left hand 23 to pull out the solid screen 45, raises it vertically up to face the chest of the patient, and with his right hand palm X-ray camera 32, starts imaging the back of the patient ( Figure 6).
  • the display screen 26 is used for demonstration and clarification of the Drobot 20 instructions, explanations, clarifications...for the patient, either for educational means, or for images picked-up already by the Drobot 20 for the patient.
  • Figure 7 shows anatomy of a right foot displayed by the Drobot 20 over its display screen 26.
  • the Drobot should use one eye with computerize eyed vision 44 and another infrared eye 47, ears 48, nose 49 and mouth 50 for seeing, hearing, smelling, talking successively, to assist him in visualization, talking and communication, these tools in addition to all other meters, sensors, control units devices and organs of the Drobot 20 should be harmonized to work together, some issues are already solved via the available conventional Al and mechanisms in the art, while the others are divided here into two parts: a- the mathematical part; wherein algorithms are to be build-up to govern the capability of locating the coordinates of each specific spot or point on the patient body, and to compare and instantly adjust the location and movement of the concerned part of the Drobot 20 to make it easy to engage with the organ spot in the proper required way.
  • B- A highly complicated structured method of training to be carried out for the Drobot 20 in stages; wherein after passing each stage, a version of the robot is introduced, first to be assisting nurses, second to replace nurse practitioners, third to assists diagnostic physicians, forth to replace some diagnostic physicians, fifth to be located everywhere inside compounds or big residential buildings, sixth to visit people inside their residence, seventh to join flying ambulance capsule 51.
  • the training of the Drobot 20 and program updating via the trainers are not the only resource of exported human knowledge data and actuation, but many self- educative parameters are activated via the Drobot 20 intelligent learning system (ILS) 52 which is depending machine learning algorithms technologies (MLAT), Intelligent perception system (IPS) 53, experience and knowledge system (EKS) 54, health evaluation and failsafe system (HEFS) 55, search server advice system (SSAS) 56, observability vision and cognitive system (OVCS) 57, intuition, inspiration and innovation system (MIS) 58, mission decision making system (MDMS) 59...
  • ILS intelligent learning system
  • IPS Intelligent perception system
  • EKS experience and knowledge system
  • HEFS health evaluation and failsafe system
  • SSAS search server advice system
  • OVCS observability vision and cognitive system
  • MIS intuition, inspiration and innovation system
  • MDMS mission decision making system
  • Drobots 20 are doing that based on their internal built-in Al programs and systems which collect data, case by case via their sensors, meters, cameras... etc.
  • Figure 8 is demonstrating a block diagram for the structure of the Drobot 20 data input sensors..., to the intelligent systems, and output actuators.
  • results can be harvested in the shape of:
  • a- Drobots 20 distributed everywhere where there are human communities, such as buildings, towers, towns, villages, markets, companies, factories, trains, aircrafts, ships... etc.
  • a Drobotic unit (Al medical unit or Al clinic) 60 is established in each of these facilities provided with twin Drobots, one is settled in the unit to receive unhealthy visitors, while the other is visiting unhealthy persons who are uncapable to attend the unit or who will pay the expenses of the visit charges.
  • the Drobotic unit (Al medical unit) 60 is equipped with an autonomous blood test lab 61 , that receives the blood samples from the Drobot 20 hands, assign them reference numbers and autonomously do the tests, share the blood test panel results with the sub-server 62 of the Drobotic unit 60, which study, and do analysis for them, discuss the results and take advice from the city local server 63 if necessary, and pass the results and decisions to the Drobot 20, who shares them with the patient via an application, and assign another visit or appointment for him according to his schedule to discuss the results and decide what is next
  • the Drobotic unit 60 provides the Drobot 20 with the electrical charging, accessories, and all autonomous services,
  • the sub-server 62 of the Drobotic unit 60 is the communication connection center in-between the twin Drobots 20 and the local data server 63 of the town, city... etc.
  • the Drobotic unit 60 searches advice either from the nearby data servers, or assistance from the 2 nd Drobot 20 which is based in the unit 60 or from a nearby Al logistics centers g- Doing computer-aided detections (CADe): such that it is sharing directly or indirectly in the radiological and pathology image processing and interpretation of medical images: X-ray images or ultrasound digital images produced by the Drobot 20, which are studied and analyzed in the same by the Al medical unit sub-server 62, highlights the conspicuous sections, such as possible diseases, and share with the Drobot 20 to take a decision and share them with the patient...
  • CADe computer-aided detections
  • the Drobotic unit 60 is provided with adjustable hand grip and collapsible leg stand 64 for holding firmly the hand of the patient at the suitable adjustable level and height ( Figure 9), it is also supplied with the same tool but for the foot/leg of the patient (adjustable foot grip and collapsible leg 65 stand), such that over these tools the patient should lay his hand, arm, foot, leg.
  • adjustable foot grip and collapsible leg 65 stand can be provided inside the capsule 63 for laying the patient head, body... etc on them, such that it can stay standstill, while the Drobot 20 is doing diagnosis, scanning a vein for drawing blood, injecting an injection, putting gel oh a specific body part to do ultrasound imaging...
  • the visitor Drobot 20 is capable to do home visits anytime, but for safety by riding a sterilized sealed motorized-wheel capsule 66 (Figure 10).
  • This capsule 66 is provided with some adjustable hand grip and collapsible leg stands for the job as explained already,
  • the limited injections, tablets, and drugs which are provided with the Drobot 20 are related to serious diseases such as heart attacks, poisons such as food poison or snake bite... wherein the time is playing a crucial role in saving the life of a person.
  • Drobot 20 After the visitor Drobot 20 issues the prescription to the patient, he can either collect the medicine from the Drobotic unit pharmacy or select to receive it home via a motorized autonomous deliver means from the pharmacy, things are arranged via the Drobot 20.
  • An automatic telephone exchange 67 is built-in inside the Drobot 20, wherein the Drobot 20 even while being busy with a patient can do many communications at the same time anytime from anywhere with his patients or with the Al clinic 60 all simultaneously,
  • Drobot 20 m- Multiple choices are offered by the Drobot 20 to the patient either verbally or by texting... these include but not limited to: Sending a medical report to the employer or a certified examination results to an authority or medical file history to a specific Drobotic unit 60 nationally or internationally, scheduling next visit, to get permitted statistics about his disease similar case in the building, city, country or the world, so it is assisting in doing autonomous screening for specific diseases to know best practices shared by other patients who shared their experiences starting from the same building...ending with worldwide (some charges may be applied).
  • the Drobotic unit 60 is provided with nursery Drobots 68, who assist the Drobots 20, do cleaning, ...etc.
  • o- Drobots 20 themselves are capable to think and decide, study and analyze, watch and learn, build-up humanitarian relations with the humans, prepare schedules, do studies, researches, search for valuable data through the servers, and share in Drobotic communities, send their articles and researches about their local patients to be reviewed, published and shared in-between them and the professional persons who are searching for best practices and innovations.
  • the Drobot 20 is expected to be intelligently capable to carry out all kinds of diagnosis such as: differential diagnosis, diagnosis of exclusion, dual diagnosis, remote diagnosis, nursing diagnosis, computer-aided diagnosis...etc, wherein these with the upper mentioned methods of operation are to be technically productive via the following effects and results:
  • Drobot 20 The persons who got lazy, delayed, busy, hesitated, away from visiting the physician or even may be relatively untrusting him, will find a Drobot 20 under their demand, anytime, and anywhere, in their flat, building entrance, office, company... etc (care to be considered regarding the purity of the place when collecting blood samples, or else the patient can pass by the Drobotic unit 60 lab which is available nearly everywhere nearby. The result of this is a booming preventive medical care, fix it right from the first time.
  • Drobots 20 or nearby local Drobotic units 60 that means it is so easy to collect a unique data base of medical history, which comes back with huge recommendations with regard to health, environment, medicine types... etc.
  • g- Drobots 20 will not fly away at wars, earthquakes, chemical pollution, floods, who stays not defected will stay working in condition that electricity and internet is available, at these cases they can be a key tool for screening and testing the microbes spread in-between people to provide statistics about the focal points of microbes spread
  • j- Drobots (20) can educate the patient about the etiology, progression, prognosis, other outcomes, and possible treatments of her or his ailments, as well as of providing advice to maintain his health... treatment plan may include therapy and follow-up consultations and tests to monitor the condition and the progress of the treatment,
  • Drobots 20 salary is battery charging and periodic service, they can even do robot to robot training. That does not mean a profession will be lost, a Drobotic or Al medical engineering profession will appear to support developing, manufacturing, selling, installing the Drobotic units or ready autonomous doctors with huge memory and multiple skills.
  • Drobots 20 can be provided to join camps, convoys, private jets, or to be permanently resident or intermittently or periodically visiting some people upon their demand.
  • Drobot 20 can talk in many languages, with variable tones and pitches, man or female voice, even boy or child voice, whatever suitable. o- They remember all data about your case, they do not need to read or revise, and they already have the full medical file of your family, neighbors... etc. and get it from their memory within parts of a second. Of course, 5G is an added value for their work.
  • Figure 11 is a flow chart illustrating the flow of data in-between the Drobots 20, Sub-servers 62, local servers 63, city server 70, province server 71, country server 72, regional server 73, world server 74.
  • the Drobotic clinic 60 or even the capsule 66 can be equipped according to the available space with other customized replaceable and easily removeable / installable robotic hands, manipulators, or portable tools of any shape, to be picked up for use by the Drobot 20 or any other manipulator to perform some extra diagnosis and symptoms assessment using generally but not limitedly the following:
  • Drobot 20 is not limited to residential or sub-local or Drobotic units 60, its job is expanded to cover ambulance, here an embodiment for a twin Drobot 20 located inside a flying ambulance 51 as illustrated in figures 16, 17, wherein two opposite Drobots 20 are installed on a slidable rail 75, surrounding an area receiving a person recused from accident over a bed 76 inside the capsule 77 sterilized compartment.
  • the flying capsule is a VTOL capsule 51 , provided with four arms 78 ending with swingable jet propulsion engines 79 (vertical- take-off, horizontal- cruising) or with two swingable front canards 80 and rear two wings 81 , each ending with a jet propulsion engine 79 (vertical- take-off, horizontal- cruising) ( Figure 12).
  • the technician robots 83 pulls out the rescue bed 76 and stretcher 85, using their preset data, programs, algorithms and the received images from the two small drones 81 , the two technician robots 83 use their cut tools 86 and shear tools 87 to remove the damaged pillars (figure 14, 15), doors, or roof from around the trapped person, then get him out and lay him down over the stretcher 85, then put him over the ambulance bed 76, push the bed 76 toward and inside the sterilized capsule 77, and return back to their small side capsules 82.
  • the flying ambulance 51 capsule closes autonomously its gate 88, and take-off, while the twin Drobots 20 collects data picked-up from the small assessment drones (quadcopters) 84, and the injured person if he is talking, or pointing by hand somewhere... in addition to making a quick scan for the whole body of the injured person, then via computer-controlled systems, remote surgeons use a computer to control the robotic arms 89 of the Drobots 20 and its end-effectors 90 and any other tele-manipulators 91.
  • the hands of the Drobots 20 can be replaced autonomously by any suitable familiar configuration of a standby autonomous smart instrument 92 stored inside the flying capsule 52, to perform some actions such as controlled rib spreading to reduce or eliminate tissue trauma traditionally associated with open surgery.
  • the side small capsules 82 can be used in other embodiment for launching an aircraft parachute, a search and rescue drone (UAV or multicopter)... etc.
  • the disclosed Drobot’s 20 method of operation can be expanded and implemented over other professions, the huge data base which it can be loaded with, the intelligent machine learning, the smart autonomous replaceable instruments which it can engage with, can make it run conferences, give lectures, answer any kind of question in his profession, teach/educate/train, research, advertise, sell, market, diagnose, inspect, maintain, service, advise, manage, rule and judge honestly and efficiently... etc, far away from bribes, corruption, Vietnamese, injustice, bias, ashamed, tribulation, bad behavior, mismanagement of property. It may make reconciliation between the humans.
  • Drobots and land or flying Drobotic units are manufactured, constructed and customized based on reassembly, re-modification, recreating, recompacting the available technologies of autonomous and non-autonomous, robotic and non-robotic, computer controlled or noncomputer-controlled devices, instruments and tools into new configurations.
  • each Drobot unit can be produced within minutes, and put into operation quickly, compared to humans which needs years of education, teaching, training, gaining experience, meanwhile a Drobot can be all in one physician with multiple specialties and technical diagnosis capabilities.
  • 6- Artificial telepathy in the near future, it will be capable to do artificially telepathic communications, feeling, sensing and responding with the identified humans in its data base or its geographic circle.

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Abstract

Une unité clinique (60) d'intelligence artificielle robotique (IA) personnalise les principaux dispositifs de diagnostic médicaux en robot docteur (20), laboratoire autonome exploités en tant que partie intégrante d'un agencement médical compact supporté par des serveurs, l'IA et des UAV. Les doigts de la main droite (21) du robot (20) sont remplacés par des outils de traitement et de diagnostic retardables comprenant un outil d'injection, une seringue, un tube à gel, un transpondeur à ultrasons, une caméra et une baguette lumineuse, le milieu de la paume de la main comporte une caméra pour rayons X (32), la main gauche et deux autres mains inférieures optionnelles supplémentaires sont destinées à d'autres tâches de semi-manipulateur, de détection, de mesure, de support et de manipulation. Les yeux sont remplacés par une caméra de vision artificielle et une caméra infrarouge, les oreilles servent à entendre et la bouche à parler, l'espace de la poitrine et de l'abdomen est occupé par un ensemble de compartiments (22), recouverts d'un écran intelligent, dans lequel sont rangés : les échantillons de sang, les tubes en attente, les injections urgentes, les comprimés. Une unité Drobotique (60) est une clinique installée localement dans une capsule (51) de bâtiment, de compagnie, de train, de bateau, d'ambulance volante, dotée de deux robots jumeaux (20).
PCT/IB2019/000545 2019-07-01 2019-07-01 Agencement robotique médical à intelligence artificielle de robot dr Ceased WO2019175675A2 (fr)

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CN111923056A (zh) * 2020-06-17 2020-11-13 厦门波耐模型设计有限责任公司 一种无人化智慧医院的架构、方法、系统
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WO2023024397A1 (fr) * 2021-08-27 2023-03-02 谈斯聪 Appareil, système et procédé de robot médical
CN114839973A (zh) * 2022-04-14 2022-08-02 北京京东乾石科技有限公司 无人车和一种操作方法
CN117825731B (zh) * 2024-03-06 2024-06-11 首都医科大学附属北京友谊医院 一种血液分析装置
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