医疗机器车避障技术的研究  

The Research of Medical Machine Car With Obstacle Avoidance Technology

作　　者：庞树茂[1] 黄泽彬[1] 刘兆周[1] 叶文浮[1] 庞映聪[1] 刘文军[1] 

机构地区：[1]南方医科大学生物医学工程学院,广东广州510512

出　　处：《中国医学物理学杂志》2013年第3期4159-4163,4178,共6页Chinese Journal of Medical Physics

基　　金：南方医科大学学生课外科技学术活动项目(2010kw034)

摘　　要：目的:目前,部分医疗机器人已经开始从实验室研究阶段走向临床商业应用阶段。因此我们便设计一种能自动到达指定病房、同时可用于监测患者的生理参数并可实现智能报警的医疗机器车,从而提高医生的效率。方法:以STC12C5A60S2单片机为主控芯片,采用C语言编程软件开发环境,配合GSM模块、无线射频模块、超声波模块、红外循迹模块、18B20温度测量模块、脉率和血氧饱和度测量模块、12864液晶等实现小车的自动循迹避障以及监测病人体温、脉率、血氧饱和度,并在被测病人身体某项参数超过警戒值时,发出报警信号,从而提示医护人员采取相关措施,保护病人的生命安全。结果:测试表明,所设计的系统能自动准确地到达指定的病房,并且能准确测量出人体的一些生理参数,并可及时对超标的生理参数进行报警,具有操作简单、成本低、性能稳定、安全可靠等优点,达到了医院的基本要求。结论:该系统工作稳定,实时性好,大大提高了医生的工作效率,实现了多个病房共用一台医疗仪器,提高了仪器的利用率。整个医疗机器人发展历史较短,市场占有率较低,因此具有很大的发展前景。Objective： At present, part of the medical robot has started from the laboratory research stage to clinical commercial application stage. We design a kind of medical car which can get to the specific ward and monitor the physiological parameter of patient in order to improve the efficiency of doctors. Methods： Using STCI2C5A60S2 as the main control chip, and using C language programming software development environment, which can realize the car automatic tracking as well as obstacle avoidance and measuring the human body temperature, pulse rate~ blood oxygen saturation. If the measured parameters exceed the warning value, it will emit a warning signal, so as to prompt medical personnel to take relevant measures to protect the pa- tient＇s life safety. The system is made of GSM module, RFID module, ultrasonic module, infrared tracking module, 18B20 mod- ule, pulse frequency and oxyhemoglobin saturation module, 12864 liquid crystal and so on. Results： Tests show that the system our designed can reach the specified ward automatically and accurately. In addition, the car can measure some physiological pa- rameters accurately, and it can also make an alarm for exceeding physiological parameters in time, with the advantages like sim- ple operation, low cost, stable performance, safe and reliable. Therefore, the car can achieve the basic requirements of the hospi- tal. Conclusions： The system can work steadily, has good real-time performance, and it has greatly improved the efficiency and realized the multiple wards to share the same medical instruments, improving the utilization rate of the instruments. The whole medical robot development history is short, and the market share is low, so it has a very big development prospect.

关 键 词：避障 循迹 机器车 单片机 

分 类 号：R318.6[医药卫生—生物医学工程]