CN111203882A - Medical robot and control method thereof - Google Patents
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- CN111203882A CN111203882A CN202010047121.7A CN202010047121A CN111203882A CN 111203882 A CN111203882 A CN 111203882A CN 202010047121 A CN202010047121 A CN 202010047121A CN 111203882 A CN111203882 A CN 111203882A
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- 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
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- 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
- B25J11/0085—Cleaning
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention provides a medical robot and a control method thereof, the medical robot provided by the invention comprises: a walking module for moving the medical robot; the radioactive detection module is used for detecting and positioning radioactive garbage; and the cleaning module is used for cleaning and collecting the radioactive garbage. The medical robot and the control method thereof provided by the invention can better clean and collect radioactive waste.
Description
Technical Field
The invention belongs to the technical field of medical robots, and particularly relates to a medical robot and a control method thereof.
Background
Nuclear medicine is a mature molecular imaging technology applied clinically at present and is an indispensable important means for precise medicine. It is a successful application of "radionuclide" in the medical field, has the characteristics of high sensitivity, wide application range and the like, and can be used for disease diagnosis and internal irradiation treatment. During diagnosis, the specific imaging equipment tracks the rays emitted by nuclide, can provide metabolism and function information of molecular level in organism noninvasively and systematically, clarifies physiological and pathological changes earlier than morphological changes, and provides objective and real indexes for early diagnosis, early treatment, mechanism research, curative effect prediction and evaluation and the like of diseases. During treatment, the high-efficiency treatment of focal spots can be realized through rays with different ranges, and the damage to normal and peripheral tissues is reduced. Nuclear medicine has become an important tool for screening and treating malignant tumors. Besides the applications in the tumor field, nuclear medicine also plays an important role in diagnosis and treatment of diseases such as endocrine, cardiovascular, nervous system, bone, respiratory and the like.
In the process of diagnosis and treatment of nuclear medicine, a plurality of radioactive sources may exist, a patient needs to be always in a nuclear radiation environment during diagnosis and treatment, and if workers are always in the nuclear radiation environment, radiation injury to medical staff is caused to different degrees. Therefore, the existing nuclear medicine area does not arrange medical staff, but does not serve patients well without the medical staff.
And the radionuclide therapy ward and the nuclear medicine detection area inevitably have radioactive waste, and the body of a patient is greatly damaged when the radioactive waste is more.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a medical robot capable of cleaning and collecting radioactive garbage and a control method thereof.
The invention provides a medical robot, comprising
A walking module for moving the medical robot;
the radioactive detection module is used for detecting and positioning radioactive garbage;
and the cleaning module is used for cleaning and collecting the radioactive garbage.
Preferably, the medical robot further comprises a human-computer interaction module for guiding the patient.
Preferably, the medical robot further comprises a wireless communication module, wherein the wireless communication module is used for being in communication connection with an external system, acquiring medical information of the patient from the external system, and guiding the patient according to the medical information.
Preferably, the medical robot further comprises an identity recognition module, and the identity recognition module is used for detecting the identity of the patient and acquiring medical information matched with the identity of the patient according to the identity of the patient.
Preferably, the medical robot further comprises a transport module for carrying transported items.
Preferably, the medical robot further comprises an identity recognition module, the conveying module is provided with a locking mechanism, the identity recognition module is used for detecting the identity of a patient, and when the identity of the patient detected by the identity recognition module is matched with the patient information received by the medical robot, the locking mechanism is opened.
Preferably, the medical robot further comprises a wireless communication module and a human body radioactive element detection module, the wireless communication module is used for being in communication connection with an external system, and the human body radioactive element detection module is used for detecting the dose of radioactive elements in the body of a patient and sending a detection result to the external system.
Preferably, the cleaning module is used for cleaning and collecting the radioactive garbage when the radioactive garbage is greater than or equal to a preset value.
Preferably, the radioactivity detection module comprises a rotating holder, a radioactivity scanning head and a camera, the radioactivity scanning head and the camera are fixed on the rotating holder and keep the same working orientation, the radioactivity scanning head is used for detecting the radioactive garbage, and the camera is used for photographing and positioning the radioactive garbage;
or, the radioactivity detection module includes the shield cover, be provided with on the shield cover and detect and fix a position the opening, the radioactivity detection module passes through detect and fix a position the radioactive waste.
The invention also provides a control method of the medical robot, which comprises the following steps:
detecting and locating radioactive waste;
walking the medical robot to the vicinity of the radioactive waste;
and sweeping and collecting the radioactive garbage.
The medical robot and the control method thereof provided by the invention can better clean and collect radioactive waste.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular description of preferred embodiments of the invention, as illustrated in the accompanying drawings. Like reference numerals refer to like parts throughout the drawings, and the drawings are not intended to be drawn to scale in actual dimensions, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic system structure diagram of a medical robot according to an embodiment of the present invention.
Fig. 2 is a flowchart of a control method of the medical robot according to embodiment 1 of the present invention.
Fig. 3 is a flowchart of a method for controlling a medical robot according to embodiment 2 of the present invention.
Fig. 4 is a flowchart of a method for controlling a medical robot according to embodiment 3 of the present invention.
Fig. 5 is a flowchart of a method for controlling a medical robot according to embodiment 4 of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail with reference to specific examples so that those skilled in the art can better understand the present invention and can implement the present invention, but the examples are not intended to limit the present invention.
Referring to fig. 1 to 5, an embodiment of the present invention provides a medical robot including:
and a walking module 19 for moving the medical robot. The walking module 19 may be embedded robot motion control software for controlling the robot motion. The robot in this embodiment is familiar with objects (such as nuclear radiation equipment, a hospital bed, or some other fixed instrument equipment) fixedly arranged in the working space in advance, and a walkable path of a motion map is formed in advance. The walking module 19 enables the robot to move in a walkable path avoiding collision with other fixed equipment.
And the radioactivity detection module 11 is used for detecting and positioning radioactive garbage. And in the process that the robot moves along the walking path, the radioactive waste detection and positioning are carried out on the objects existing on the walking path. The walkable path of the robot may be a moving path of the patient, and the radioactive garbage existing on the walkable path is the radioactive garbage referred to in this embodiment, such as paper scraps or sundry dirt such as water on the road.
And the cleaning module 13 is used for cleaning and collecting the radioactive garbage. The cleaning module 13 of this embodiment may be a structure similar to a sweeping robot in life, and is used for cleaning and collecting radioactive garbage, or some grabbing and collecting structures for picking up and collecting radioactive garbage.
The robot of the embodiment can be used for cleaning and collecting radioactive waste in a hospital, and is mainly applied to departments of the hospital nuclear medicine department, such as a nuclide therapy ward or other nuclear medicine working areas. The robot of this embodiment can freely remove to automatically clean the collection to radioactive waste, can reduce and avoid personnel to clean radioactive waste and to the injury of cleaning personnel, can avoid the more injury to patient's health of radioactive waste simultaneously. And clean through the robot and collect radioactive waste, more be favorable to collecting radioactive waste alone, the emission of better management and control radioactive pollutant.
Referring to fig. 1, in a preferred embodiment, the medical robot further comprises a human-machine interaction module 14 for guiding the patient. The human-computer interaction module 14 is used for realizing human-computer interaction between the robot and the patient, realizing automatic medical guidance of the robot, actively guiding the patient to seek medical advice, or providing effective answers to questions of the patient. The human-computer interaction module 14 of this embodiment may be some client software configured on the robot, for example, the human-computer interaction module has a voice inquiry and instruction function, a patient profile query function, a function of instructing to use a detection device, and the like, and better provides a medical guidance service for the patient. The patient can input information into the robot by adopting character input or voice input, and the robot can provide the information to the patient by adopting voice, characters, pictures or videos and the like.
The robot in the embodiment can provide a better guiding function for a patient when radioactive garbage which needs to be cleaned and collected does not exist; radioactive waste that can be swept and collected when the patient does not need to be guided. The working time of the robot can be utilized to a greater extent, and the working efficiency of the robot is improved. The robot of this embodiment realizes cleaning the radioactive element and guides two kinds of functions sets for the patient, saves medical personnel or saves the input of working equipment to a great extent, can be better for the hospital reduce guide patient and clean the input of radioactive waste.
In a preferred embodiment, the human-machine-interaction module 14 includes a display screen for presenting information to the patient. In a further preferred embodiment, the display screen is a liftable display screen, and when information needs to be displayed for a patient, the display screen is lifted and exposed to realize information display; when the information does not need to be displayed, the display screen descends and is hidden in the robot main body, so that the whole robot is more attractive. In a further preferred embodiment, the display screen is a transparent display screen, has a transparent display effect, and realizes a three-dimensional display effect.
Referring to fig. 1, in a preferred embodiment, the medical robot further includes a wireless communication module 17, the wireless communication module 17 is configured to be in communication with the external system 2, acquire medical information of the patient from the external system 2, and the human-computer interaction module 14 guides the patient according to the acquired medical information. The external system 2 referred to in this embodiment may be a system of a relevant department or may be a general system of a hospital. The human-computer interaction module 14 is based on the big data information of the external system 2, so that the robot can better serve patients, and a better medical guidance function is realized. The human-machine interaction module 14 can provide more accurate answers based on the big data information of the external system 2, for example, when the patient makes medical consultation with the robot. For example, in some diagnostic rooms of nuclear medicine subjects, when a patient enters the diagnostic room, the human-computer interaction module 14 may acquire medical information corresponding to the patient in the external system 2, accurately guide the patient to seek medical advice, and meanwhile, based on the medical information corresponding to the patient, the patient may be reminded of items to be performed next, so as to achieve a better medical advice function.
Referring to fig. 1, in a preferred embodiment, the medical robot further includes an identity recognition module 15, and the identity recognition module 15 is configured to detect the identity of the patient and obtain medical information matching the identity of the patient according to the identity of the patient. The identification module 15 is used to verify the identity of the patient, for example, the AI identifies a number on the patient's gown, or the face identifies the patient. The identity of the patient is determined according to the identified number or the face, and the human-computer interaction module 14 acquires medical information of the patient in the external system 2, which is matched with the identity of the patient. The robot can be used for serving patients more accurately and rapidly. The patient can be accurately informed of the instructions of the doctor by detecting the identity information of the patient, and information transmission errors are avoided.
Referring to fig. 1, in a preferred embodiment, the medical robot further includes a transport module 16 for carrying transported items. The system can provide the patient with the meal and medicine delivery service, and is not limited to the meal and medicine delivery. For example, to serve a meal for a patient in a ward at a preset time (specifically, 12:00 pm). For example, a patient in a ward is provided with a delivery article service according to an instruction, and after receiving the instruction of delivering the article, the robot arrives at a designated place to extract the article and delivers the article to the ward.
In a further preferred embodiment, the transport module 16 may also cooperate with the human machine interaction module 14, and the patient may present a transport item instruction to the robot via the human machine interaction module 14, according to which the robot transports the item for the patient.
In a further preferred embodiment, the delivery module 16 may further cooperate with the wireless communication module 17 to obtain medical information of a patient from the external system 2, and deliver an item matching the medical information of the patient to the patient according to the medical information of the patient, so as to better realize personalized services for different patients.
In a further preferred embodiment, the transport module 16 may further cooperate with the identification module 15, the transport module 16 having a locking mechanism, the identification module 15 being configured to detect the identity of the patient, the locking mechanism being configured to be activated when the identity of the patient detected by the identification module 15 matches the patient information received by the medical robot. The locking mechanism can prevent the patient from taking articles away randomly, and article conveying errors are prevented. When the robot transports the article, can receive the patient information that this article correspond, when patient's identity and the patient information that medical robot received match, locking mechanism just can open the realization and provide accurate transport article service for the patient. For example, the robot receives an instruction to deliver medicine to a certain patient, the robot is transported to a ward after going to a pharmacy to take medicine, and when the patient identity detected by the identity recognition module 15 is matched with the patient information received by the medical robot, the locking mechanism is opened, and the patient takes the medicine.
In a further preferred embodiment, when the identity of the patient detected by the identity recognition module 15 matches the patient information preset in the delivery module 16, an identity confirmation message is sent to the patient, and after the patient has confirmed that the locking mechanism is opened. Double confirmation can ensure the accuracy of article conveying.
Referring to fig. 1, in a preferred embodiment, the medical robot further includes a wireless communication module 17 and a human body radioactive element detection module 18, the wireless communication module 17 is configured to be in communication with the external system 2, and the human body radioactive element detection module 18 is configured to detect a dose of radioactive elements in the body of the patient and send the detection result to the external system 2. The human body radioactive element detection module 18 has an infrared spot light that emits a red line over a one meter area of the ground and then scans the whole body of the patient. The external system 2 itself or a doctor corresponding to the doctor terminal of the external system 2 can give a conclusion whether the patient can be discharged from the nuclide therapy ward based on the detection result.
The detection result in this embodiment may be the detected dose of the radioactive element in the patient body, or may be a patient radioactive element distribution map processed according to the detected dose of the radioactive element in the patient body, and the distribution of the radioactive element in the patient body can be more intuitively reflected in the form of the distribution map, so that a doctor can more quickly and accurately draw a conclusion whether the patient can be discharged from the nuclide treatment ward.
Referring to fig. 1, in a further preferred embodiment, the medical robot further includes a human-computer interaction module 14, and the human-computer interaction module 14 is configured to obtain a detection result of the human body radioactive element detection module 18 and display the detection result to the patient through a display screen. The human machine interaction module 14 is also used to obtain a decision from the external system 2 whether the patient can be discharged from the nuclear therapy ward and to feed this conclusion back to the patient.
In a further preferred embodiment, the wireless communication module 17 is in communication connection with a doctor terminal of the external system 2, and the doctor terminal in this embodiment may be an electronic device terminal such as a computer or a mobile phone used by a doctor. And video and voice interaction between the robot and an external doctor terminal is realized. And then the patient can realize video or voice interaction with a doctor through the robot, and the doctor-patient communication is facilitated.
In a preferred embodiment, the sweeping module 13 is used for sweeping and collecting the radioactive waste when the radioactive waste is greater than or equal to a preset value. In this embodiment, the robot stores a preset value of radioactive waste in advance, and when the radioactive element of the detected radioactive waste exceeds the preset value, the radioactive element of the radioactive waste is considered to be overproof. The cleaning module 13 is used for cleaning and collecting radioactive garbage with excessive radioactive elements. The workload of the robot can be reduced, and the robot has enough time to conduct medical guidance work. And the radioactive garbage with excessive radioactive elements can be cleaned more timely, and the damage of the radioactive garbage with excessive radioactive elements to the patient can be better avoided.
In a preferred embodiment, the radioactivity detection module 11 includes a rotating platform, a radioactive scanning head and a camera, the rotating platform of the present embodiment can rotate 360 °, the radioactive scanning head is used for detecting radioactive garbage, and the camera is used for taking pictures of the radioactive garbage. The radioactive scanning head and the camera are fixed on the rotating cloud deck and keep the same working orientation. The radioactive scanning head and the camera are fixed and do not rotate, so that the directions of the camera and the radioactive scanning head are kept consistent during working, and the radioactive garbage to be detected is accurately positioned. When the camera and the radioactive scanning head work, the camera and the radioactive scanning head carry out 360-degree rotary scanning and photographing together with the rotary holder.
In the robot of the present embodiment, the radioactive scanning head and the camera have the functions of initialization, zeroing, and alignment. The robot of the embodiment has an AI image recognition function and a motion algorithm function, performs image recognition according to an image shot by a camera, calculates the position of radioactive waste, and realizes that the cleaning module 13 reaches a specified position to clean and collect the radioactive waste.
In another preferred embodiment, the radioactivity detecting module 11 comprises a device having both radioactive element scanning and localization functions. The equipment has a more accurate detection and positioning function and comprises a shielding cover, wherein a detection and positioning opening is arranged on the shielding cover, the equipment detects and positions radioactive garbage through the detection and positioning opening, linear detection and positioning are realized, and the position of the radioactive garbage is accurately determined and cleaned. In a further preferred embodiment, the shielding case comprises a detection and positioning opening and a shielding main body, the shielding main body is made of a material containing lead elements, the shielding main body can better shield radioactive elements, and the detection and positioning of radioactive garbage are more accurate.
The robot of the present embodiment has a control module 12, which is mainly used for receiving information and processing information, processing according to the information received by each module of the robot or the outside, and forming instructions for controlling each module. So that the modules can be matched with each other to realize work.
Referring to fig. 2 to 5, the present invention also provides a control method of a medical robot, including the steps of:
s1: detecting and locating radioactive waste; the steps of detecting and locating radioactive waste in this embodiment may be performed simultaneously or sequentially.
S3: the medical robot is made to walk to the vicinity of the radioactive garbage; the robot in this embodiment is familiar with objects (such as nuclear radiation equipment, a hospital bed, or some other fixed instrument equipment) fixedly arranged in the working space in advance, and a walkable path of a motion map is formed in advance. The medical robot can walk to the place near the radioactive garbage through the walking path, and the robot is prevented from crashing other fixed equipment.
S4: and sweeping and collecting the radioactive garbage.
The control method of the robot of the embodiment can better control the robot to clean and collect the radioactive garbage, and avoid the harm of more radioactive garbage to the body of a patient. And clean through the robot and collect radioactive waste, more be favorable to collecting radioactive waste alone, the emission of better management and control radioactive pollutant.
Referring to fig. 2, in a further preferred embodiment, after detecting and locating the radioactive waste, the method further includes the step of determining whether the radioactive waste is greater than or equal to a preset value of the robot before walking near the radioactive waste, and S2: when the radioactive garbage is greater than or equal to the preset value of the robot, indicating that the radioactive elements of the radioactive garbage exceed the standard;
the medical robot is made to walk to the vicinity of the radioactive garbage with overproof radioactive elements;
and cleaning and collecting the radioactive garbage with overproof radioactive elements.
The radioactive garbage with excessive radioactive elements can be cleaned quickly, and the harm of the excessive radioactive elements to patients is reduced.
In a preferred embodiment, the method for controlling a medical robot further includes the steps of:
the medical information of the patient in the hospital is stored in the medical information of the patient, and the medical information of the patient comprises basic identity information of the patient, a diagnosis report, a diagnosis result, a case and the like.
And guiding the patient according to the acquired medical information.
Referring to fig. 3, in a further preferred embodiment, the method for controlling a medical robot further includes the following steps:
s11: the system is in communication connection with an external system, and medical information of a patient is acquired from the external system;
s12: walking to the vicinity of the patient;
s13: detecting the identity of the patient;
s14: acquiring medical information matched with the identity of a patient;
s15: and guiding the patient according to the acquired medical information.
In a preferred embodiment, the method for controlling a medical robot further includes the steps of:
receiving an article transporting instruction;
the item is shipped to the patient.
Referring to fig. 4, in a further preferred embodiment, the method for controlling a medical robot further includes the following steps:
s111: receiving an article conveying instruction and patient information corresponding to the article;
s112: transporting the item to the vicinity of the patient;
s113: detecting the identity of the patient;
s114: when the detected patient identity matches the received patient information, the locking mechanism with the article is unlocked.
Referring to fig. 5, in a preferred embodiment, the control method of the medical robot further includes the steps of:
s01: detecting the content of radioactive elements in the body of the patient;
s02: sending the detection result to an external system;
s03: receiving a conclusion from an external system whether discharge from the nuclide therapy unit is possible;
s04: the conclusion whether discharge from the nuclide therapy unit is possible is fed back to the patient.
In a preferred embodiment, the method for controlling a medical robot further includes the steps of:
is in communication connection with a doctor terminal of an external system,
and voice interaction or video interaction with a doctor terminal of an external system is established, so that the patient can realize video or voice interaction with the doctor through the robot, and doctor-patient communication is facilitated.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A medical robot is characterized by comprising
A walking module for moving the medical robot;
the radioactive detection module is used for detecting and positioning radioactive garbage;
and the cleaning module is used for cleaning and collecting the radioactive garbage.
2. The medical robot of claim 1, further comprising a human-machine interaction module for guiding a patient.
3. The medical robot of claim 2, further comprising a wireless communication module for communicating with an external system, obtaining medical information of the patient from the external system, and guiding the patient according to the medical information.
4. The medical robot of claim 3, further comprising an identification module configured to detect the identity of the patient and obtain medical information matching the identity of the patient based on the identity of the patient.
5. The medical robot of claim 1, further comprising a transport module for carrying a transported item.
6. The medical robot of claim 5, further comprising an identification module, wherein the transport module has a locking mechanism, wherein the identification module is configured to detect the identity of the patient, and wherein the locking mechanism is configured to unlock when the identity of the patient detected by the identification module matches the patient information received by the medical robot.
7. The medical robot of claim 1, further comprising a wireless communication module for communicating with an external system and a human body radioactive element detection module for detecting a dose of radioactive elements in a patient's body and sending the detection result to the external system.
8. The medical robot of claim 1, wherein the sweeping module is configured to sweep and collect the radioactive waste when the radioactive waste is greater than or equal to a preset value.
9. The medical robot of claim 1, wherein the radioactivity detection module comprises a rotating pan-tilt, a radioactive scanning head and a camera, the radioactive scanning head and the camera are fixed on the rotating pan-tilt and maintain the same working orientation, the radioactive scanning head is used for detecting the radioactive waste, and the camera is used for taking pictures of the radioactive waste for positioning;
or, the radioactivity detection module includes the shield cover, be provided with on the shield cover and detect and fix a position the opening, the radioactivity detection module passes through detect and fix a position the radioactive waste.
10. A control method of a medical robot is characterized by comprising the following steps:
detecting and locating radioactive waste;
walking the medical robot to the vicinity of the radioactive waste;
and sweeping and collecting the radioactive garbage.
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| CN202010047121.7A CN111203882A (en) | 2020-01-16 | 2020-01-16 | Medical robot and control method thereof |
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| CN202010047121.7A CN111203882A (en) | 2020-01-16 | 2020-01-16 | Medical robot and control method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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