Hepatitis nursing robot based on RP-lidarA1 sensor.

IF 1 4区医学 Q4 ENGINEERING, BIOMEDICAL

Bio-medical materials and engineering Pub Date : 2025-07-01 Epub Date: 2025-01-22 DOI:10.1177/09592989241313110

Yunxia Dai, Bei Xue, Qian Zhang, Juxiang Shao

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引用次数: 0

Abstract

BackgroundTo alleviate the workload of medical staff and provide personalized care for hepatitis patients, this study focuses on developing a hepatitis care robot.ObjectiveThe objective of this study is to integrate the RP-lidarA1 sensor into a hepatitis care robot to achieve high-precision environmental perception, mapping, and navigation, thereby improving healthcare services.MethodsThe RP-lidarA1 sensor was utilized for environmental scanning, and the MPU6050 chip was used to collect attitude data. An improved RBPF-SLAM algorithm was employed for high-precision map construction. For positioning and navigation, a combination of the A* algorithm and Dynamic Window Approach (DWA) algorithm was used to optimize path planning and obstacle avoidance.ResultsSimulation experiments demonstrated that the improved algorithm reduced the number of particles to 50 in a 140 m² area and shortened the map construction time to 1200 s. The A* algorithm effectively planned optimal paths, while the DWA algorithm improved navigation efficiency. Satisfaction surveys indicated that 92.4% of hepatitis patients and 81.8% of nurses were highly satisfied with the robot's performance.ConclusionsThe hepatitis care robot integrating the RP-lidarA1 sensor showed excellent performance in autonomous navigation, map construction, and obstacle avoidance, significantly enhancing the quality and efficiency of medical services.

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基于RP-lidarA1传感器的肝炎护理机器人。

背景：为了减轻医护人员的工作量，为肝炎患者提供个性化的护理，本研究的重点是开发肝炎护理机器人。目的：本研究的目的是将RP-lidarA1传感器集成到肝炎护理机器人中，实现高精度的环境感知、测绘和导航，从而提高医疗服务水平。方法：采用RP-lidarA1传感器进行环境扫描，采用MPU6050芯片采集姿态数据。采用改进的RBPF-SLAM算法进行高精度地图构建。在定位导航方面，结合a *算法和动态窗口法（Dynamic Window Approach， DWA）算法对路径规划和避障进行优化。结果：仿真实验表明，改进算法将140 m2区域内的粒子数量减少到50个，将地图构建时间缩短到1200 s。A*算法有效地规划了最优路径，而DWA算法提高了导航效率。满意度调查显示，92.4%的肝炎患者和81.8%的护士对机器人的表现非常满意。结论：集成RP-lidarA1传感器的肝炎护理机器人在自主导航、地图构建、避障等方面表现优异，显著提高了医疗服务质量和效率。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Bio-medical materials and engineering 工程技术-材料科学：生物材料

CiteScore

1.80

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： The aim of Bio-Medical Materials and Engineering is to promote the welfare of humans and to help them keep healthy. This international journal is an interdisciplinary journal that publishes original research papers, review articles and brief notes on materials and engineering for biological and medical systems. Articles in this peer-reviewed journal cover a wide range of topics, including, but not limited to: Engineering as applied to improving diagnosis, therapy, and prevention of disease and injury, and better substitutes for damaged or disabled human organs; Studies of biomaterial interactions with the human body, bio-compatibility, interfacial and interaction problems; Biomechanical behavior under biological and/or medical conditions; Mechanical and biological properties of membrane biomaterials; Cellular and tissue engineering, physiological, biophysical, biochemical bioengineering aspects; Implant failure fields and degradation of implants. Biomimetics engineering and materials including system analysis as supporter for aged people and as rehabilitation; Bioengineering and materials technology as applied to the decontamination against environmental problems; Biosensors, bioreactors, bioprocess instrumentation and control system; Application to food engineering; Standardization problems on biomaterials and related products; Assessment of reliability and safety of biomedical materials and man-machine systems; and Product liability of biomaterials and related products.