机器人化多功能护理床研究与探讨外文文献翻译、中英文翻译、外文翻译

机器人化 多功能 护理床 研究与探讨  翻译人  xxx 摘要： 人性化设计是现代设计的一个重要理念 ,它强调在设计产品时从人体工学、生态学、美学等角度达到完美 ,体现了科技以人为本的思想。该护理床的设计正是基于这种理念 ,它不仅能够实现抬背、抬大腿 ,曲小腿和调整坐姿的功能 ,并将设计通过 Pro/E 三维实体建模软件进行模拟和仿真分析 ,进一步指导和验证设计的合理性 。 为满足目前日益提高的家庭护理要求，将机器人的多轴协调控制技术应用于护理床的控制，研制了一种机器人化的多功能护理床该护理床通过各个床面板之间的协调运动，采用单动或联动 方式来实现各种位姿，并通过语音或键盘来控制进行多位姿的运动护理床的控制系统由主控制模块和辅助控制模块两部分构成其中主控制模块采用单片机进行控制，这样既可降低成本，又可保证护理床操作的灵活性和可靠性；辅助控制模块包括语音识别和语音回放两部分的功能实际使用效果证明了所研制的护理床的实用性和有效性本文由 医学论文 网与您分享！    关键词 ：机器人化护理床；控制系统；语音识剐；单片机    概述： 目前，无论是发达国家还是发展中国家 ，均面临着越来越严重的人口老龄化问题。老年人由于各项生理机能退化，健康状况普遍不佳，消耗大量医疗资源，增加了医院的负担。世界各国均在积极探求一种新的健康服务模式，提供更高质量、更可靠、更容易被接受且成本低廉的健康服务。因此现代远程监护系统的构建，具有很好的发展前景。本文研究了一种面向社区的基 于 机器人化 多功能 式智能健康监护系统，用来对病人的生理参数进行连续、长时间、自动、实时检测，并经分析、处理后实现多类别自动报警、自动记录， 而且可以 通过网络远程监护便于医护人员及时发现病人的病情变化，随时采取必要的护理与急救 措施。 随着社会经济的迅速发展，人民生活水平不断提高，人口寿命不断延长，城市人口正逐步进入老龄化据统计，在我国现有人口中，老龄人口达 1 32 亿，并且还在以每年 3 2的速度递增其中空巢家庭占所有老龄家庭总数的 25 8，在一些大城市中该比例更大，如北京为 34，上海为 34 8，广州为 30，天津为 36 5 “o人口的老龄化对社会医疗服务体系提出了更高的要求，建立以社区为核心的健康监控和疾病预控信息化系统具有很大的现实意义 ”o老年人由于年龄偏大，肌体的活性逐渐降低，对疾病的抵抗力日益减弱，且疾病多以慢 性病为主对于慢性病人和瘫痪病人而言，除了配合药物和针剂的治疗外，物理方式的护理也必不可少正确、适当的护理可以大大增强患者肌体的活性，减少并发症的产生对于许多慢性病患者而言，通过定期服药、适当监护和正确护理，可以不必长期住院特别是对那些因种种原因不可能长期住院治疗的患者、老年人和残疾人士而言，配置必要的护理设备和用具尤为重要 “。相比于普通人，慢性病人、瘫痪病人和残疾人士的卧床时间更长、更久，因此开发一种舒适、护理功能齐全、性价比高的护理床，将具有广阔的市场前景 ”?目前，我国正着力于建设社区公共卫生 服务体系，如果将所开发的护理床与社区、医院医疗体系连接，实现医疗、护理、健康监护、医疗救治、疾病预控等的一体化，可大大减轻医院的压力，更为合理、有效地利用现有的医院资源 ”4同时，通过医院、社区两种信息化系统的建立和连接，可大大提升我国应对突发性公共卫生事件的响应速度和处理能力有鉴于此，笔者针对我国社会医疗服务的发展现状及现实需求，提出了一种基于机器人多轴协调控制技术和语音识别技术的多功能护理床的概念，成功研制了一种机器人化的多功能护理床，并在此基础上研制了一套基于该护理床的社医监护系统本文主要对该机 器人化护理床的结构及控制系统进行探讨    图一  常用的护理床结构   1 机器人化护理床的结构    在进行机器人化护理床的结构设计时，主要考虑了以下儿点： (1)护理床应能够实现护理所需的各种体位的位姿要求； (2)各个活动床面板的摆动角度应符合医疗护理要求并兼顾人体的舒适性； (3)护理床床体的可靠性、稳定性和安全性要符合医疗护理要求； (4)床体的尺寸有一定的空间范围限制； (5)要考虑护理床在房间内移动的简易性以及医护辅助装置 (如吊液架和书饭桌 )在护理床 f：的可安装性所研制的机器人化护理床的床面结构如图 1 所示，它实现 J，对护理床的 7 个基本体位的位姿的要求，即平躺、抬背、屈伸腿、抬腿、左右翻身、坐起以及解便， 7 个面板是相互独立的通过各个床面板之间的协调运动，采用单动或联动方式来实现护理床所需的各种体位的位姿护理床的位姿与相应的床面板动作如表 l 所示各床面板的摆动角度如下：背板 (坐姿 )， o。一十 750；背板 (左右翻身 )， o。+65。；左右臀部板， O。 +75。；大腿板， o。一 +35。；小腿板，一 55 o +35。；解便盖板， O。一 +90。 2 机器人化护理床的控制系统为了便于对护理床进行智能控制，及 时 r 解护理床的当前工作状态，律护理床的脒身上需安置必要数目的传感器 ”?通过分析传感器传输来的数据，控制系统可以实时了解、控制床面板的运动状态，防止不同机构问的相互干涉或是驱动电机超调对床体、人员造成的不必要伤害控制系统的总体结构如图 2所示在床体位姿的控制方式方面，除了采用通行的键盘按钮输入方式外，为了方便体弱病残者，还增加了语音输人方式 +操作者可以通过语音命令来操纵护理床由于普通类型的控制芯片难以完成语音命令的识别，冈此将整个护理床的控制系统分为两大模块第一部分为主控制模块，它由一个单片机控制系统 构成，用于实现护理床系统的主体控制，包括接受键盘语音控制命令和传感器位置信号的输入，以及输出电机控制信号等，第二部分为辅助控制模块，主要进行语音的识别和回放，它将来自操作者的语音控制命令转化为电信号，然后经过编码转换，输送至主控制模块，同时接受来自主控制模块的电信号，将这些控制指令转换为操作者可以理解的声音信号 2 1 机器人化护理床的主控制模块主控制模块在运行时接收来自键盘语音识别电路的电信号，经过分析处理，将控制信号通过外部接口输送到语音回放电路，由语音回放电路将电信号转化为声音信号，提供语音反馈信 号，使操作者随时了解护理床的实时动态；另一方面，主控制模块根据各种信号命令，控制不同的电机运转，从而实现用户所期掣的护理床的功能 ?主控制模块主要包括以下各子功能：    (1)键盘输入键盘输入是护理床输入控制命令的途径之一，由键盘输人的命令通过编码由串口发送到主控制板 (2)直流电机的动作控制护理床在接受键盘或是语音输入信号后，便开始进行相应的动作以达到护理床的预期功能这要求主控制板能对安装在护理床上的 8个直流电机进行正反两方向的动作控制 (3)传感器信号输入位置传感器将电机的运动位置信息反馈给控制 系统，控制系统根据反馈回的信号判断电机的当前运动位置和状态，然后调用对应的程序进行运动控制 2 1 1 键盘控制电路键盘控制板上除 r 配备供使用者操作的按键外，还配置了显示护理床工作状态的指示灯考虑到键盘与主控制板的通信以及主控制板 cPu 的 L 0 口资源有限，因此键盘由一块独立的单片机来处理各种任务由于键盘 (26)和指示灯 (8 个 )需要占用不少的 I 0 口资源，而所选用的 89c2051 单片机只有 15个 L 0 口， L o u 资源非常有限，因此在单片机的 L 0 口资源分配上，键盘控制板的单片机与主控制板之间采用串口通信； 同时，考虑到控制电缆有一定的长度，为增加通信的可靠性，采用了 232 电平通信，因此在硬件电路上加了一块 MAx232 芯片进行电平转换 2 1 2 直流电机的控制护理床的护理功能是通过直流电机来执行的，电机驱动护理床来完成各项动作，以实现各种护理位姿，包括：(1)背板上抬下降； (2)左右翻身板上升下降； (3)大腿板上升下降； (4)小腿板上升下降； (5)便盆盖板开合； (6)平躺体位实现复位； (7)坐姿体位实现复位； (8)抬腿体位实现复位； (9)屈腿体位实现复位以上各位姿之间的转换与完成均通过 8 个 直流电机的正反转来实现，因此主控制板必须能够在接收命令后对 8 个直流电机进行上 E 反转控制，即能够实现电机的正反向通电控制在护理床的硬件电路设计中，对每一个电机都采用了两个双刀双掷的继电器进行通断电控制 2 2 机器人化护理床的辅助控制模块 2 2 1 语音识别语音控制技术是现有各种控制方式中的一种高级控制方式，它具有控制方式自然、方便，亲和力好，适用范围广的特点将语音控制技术引入到护理床的控制之中，将极大地方便使用者，尤其对于那些丧失或部分丧失活动、自理能力的患者而占，语音控制可以帮助他们增强自信心，减轻对他人的 依赖，增添生活的勇气和信心针对护理床使用者的语音输入命令的特点，研究中使用了美闰 sENsORY 公司的 RSc364 语音芯片作为识别核心芯片。 Rsc364 芯片通过训练而实现语音识别功能，系统的 L o 电平是 TrL 电平，可以方便地与其他系统进行数据传输 Rsc364 芯片内部集成了语音识别所需的多种功能，它能够完成语音识别过程中的反混叠低通滤波、采样保持、A D 转换以及语音记录等功能 Rsc364 芯片在完成语音识别任务后，将语音控制信号通过芯片输出到单片机的 Po 和 P1 口根据PSc364 的输出状态，在主控制板与语音 识别芯片之间采用一片74Lsl48 j 簖片来扩展中断口，语音命令输入 74Lsl48 芯片的 8 个输入脚，连接 Pl 口； Rsc364 的扩展 J Gs 接单片机的中断口 P3 2；单片机的 P1 o P1 3 口与语音识别芯片的 Po 4 Po 7 口相连接当有语音命令输入时， P1 口巾的一个输出低电平， Gs u 输 “i的低电平启动单片机外部中断，在进行单片机的中断处理时从P1 0 P1 3 口中读人数据 2 2 2 语音回放主控制电路收到命令后，在控制电机运转的同时，也向语音回放子模块输 j【 j 语音控制信号由辅助控制模块向当前使用者 提供语音反馈语音同放子模块的主要作用是：护理床接收到用户命令后，在护理床实现功能动作以前播放相应动作的语音信息，提醒用户做好身体准备，这种人性化设计进一步提高了护理床的亲和力语音回放采用 IsD4003_08 芯片作为主芯片 IsI)4003 系列的工作屯压为 3 V，单片录放时间为48min”?芯片采用 cMOs 技术，内含振荡器、防混淆滤波器、平滑滤波器、音频放大器、自动静噪及高密度多电平闪烁存贮阵列，操作命令町通过串行通信接口输人 3机器人化护理床的控制程序机器人化护理床的控制方式是一种简化的机器人控制方 式系统启动后首先检测护理床的位姿，然后检测各个开关的状态，再检测各个按键的状态，如果其中一个按键按下，则护理床作相应的动作，并启动语音回放程序告知操作者，通过语音识别进行的控制也是一样，如果语音识别模块识别了，操作者的一个指令，同样地，护理床完成相应的动作 4 结束语将机器人的多轴协调控制技术应用于护理床，可对机器人化护理床进行有效控制所研制的机器人化护理床的如图 4 所示，它可以实现多个位姿的调整，并采用语音命令和键盘输入两种方式进行控制，简便灵活另外，由于主控制模块采用 r 单片机，使得系统操作灵活可靠，成 本低廉目前所研制的护理床已在一些医院试用，反映良好今后的研究将集巾在如何进一步提高系统的协调性和灵活性，拓展系统的人性化功能等方面  Robotic nanomanipulation multi-function nursing bed research and discussion  Translators XXX  Abstract: the humanized design is an important concept of modern design, it emphasizes ergonomics design products, ecology, from the Angle of aesthetics, which reflects the perfect technological people-oriented thoughts. The nursing bed was based on the idea of design, it can not only realize carried back, lift the thigh, curved crus and adjust sitting position, and the function of Pro/E design through 3d entity modeling software is simulated and simulation analysis, further guidance and the rationality of design are verified. To meet the increasing family care requirements, the robot multiaxial coordinated control technique is applied in nursing bed control, developed a multi-function nursing bed robotic nanomanipulation. This nursing bed through each bed panel coordination between the movement, the single move or linkage ways various pose, and through the voice or keyboard to control the movement than appearance. Nursing bed control system consists of master control module and auxiliary control module two parts. One master control module adopts single-chip microcomputer control, such already can reduce costs, and can ensure the nursing bed operation flexibility and reliability； Auxiliary control modules including speech recognition and voice playback two parts function. The actual usage proved was developed nursing bed. This paper the practicability and effectiveness of medical paper nets to share with you!  Keywords: robotic nanomanipulation nursing bed； Control system； General cut； speech microcontroller  Summary: now, both developed and developing countries are facing more and more serious, the problem of aging population. Old people, the physiological function of degradation due to poor health, generally consumed a lot of medical resources, increase the burden of the hospital. In every country in the world in active seek out new health service mode, providing higher quality, more reliable and more accepting and cheap health services. So the construction of modern distance monitoring system, has the very good prospects for development. This paper studies a community-oriented robotic nanomanipulation based health intelligent monitoring system of multi-function type, of the patient's physiological parameters for continuous, long time, automatic, real-time detection, and the analysis and processing after realizing automatic alarm, automatic recording category, but also through the network for remote monitoring medical personnel the timely discovery of the patient's progress, at any time to take necessary care and emergency measures. With the rapid development of social economy, the people's standard of living rises ceaselessly, life expectancy rising longevity, the city's population is gradually entered the aging. According to statistics, in China's current population 1.32 billion, aging populations reach, and at an annual growth rate of 3.2%. One empty nester family total of all older family in some big cities, 25 8% in the larger ratio, such as Beijing, Shanghai 34% for 30%, guangzhou 34.8% in yesterday, tianjin for "o. the aging of the population of social medical service system put forward higher request, and establish a community as the core of the health monitoring and disease precontrol information system has great practical significance" o. elderly because the older, the body gradually reduce active, resistant to disease has decreased, and the disease in chronic diseases primarily. For chronic disease and paralytic character, besides the treatment with drugs and injection, physical way outside the nursing also indispensable. Correct and appropriate care can greatly enhance the patient's body activity, reduce the complications of chronic disease. For many produced by regular medication, concerned, proper monitoring and correct nursing, need not hospitalizations. Especially for those who long for a variety of reasons impossible patients treated in hospital, the elderly and disabled people speaking, equipped with necessary nursing equipment and utensils particularly important "compared to ordinary people. 瘫痪病 , chronic patients, people with disabilities and bed time longer and more long, thus developing a kind of comfortable, nursing complete function, cost-effective nursing bed, will has a broad market prospect"? . At present, China is building community on public health service system, if will development of the nursing bed and community, hospital medical system connection, realize medical and nursing, health care, medical treatment, disease precontrol etc integration, can reduce the pressure, more reasonable hospital, effectively use existing resources for hospital "4". Meanwhile, through the hospitals, communities two information system establishment and connections, can greatly improve our public health event to deal with emergency response speed and processing power. In view of this, according to our social medical service development present situation and the practical demand, put forward a kind of multiaxial coordination based robot control techniques and speech recognition technology is muti_function nursing bed concept, successfully developed the robotic nanomanipulation multi-function nursing bed, and on this basis developed based on the nursing bed medical monitoring system of the club. This article mainly discusses the structure of robotic nanomanipulation nursing bed and control system are discussed.    Graph one common nursing bed structure   1 robotic nanomanipulation nursing bed structure  In the structure of robotic nanomanipulation nursing bed design, the main consideration the following son points: (1) the nursing bed should be able to realize all kinds of the nursing posture pose requirements； (2) all activities of bed panel swing Angle should comply with the medical care for both human comfort； and (3) nursing bed body reliability, stability and safety requirements, should accord with medical care (4) bed body size have certain space limits； (5) to consider nursing bed in the room moving simplicity and medical auxiliary devices (such as hanging liquid frame and book table) in nursing bed f: can be installed sex. The developed machine humanizing nursing bed bed surface structure as shown in figure 1 shows, to realize J, seven basic nursing bed of posture pose demands that a flat, carry back, flexor/leg, SLR, left/right turn, sitting up and solution then, seven panel is independent of each other. Through the coordination between each bed panel, using single movement or movement way to realize nursing bed linkage of all kinds of pose of posture pose. Nursing bed with corresponding bed panel action such as table l.3. Each bed panel swing Angle is as follows: the backplane (posture), o. 10 750； Backplane (left/right emancipated), o. + 65. ； The left/right hip board, O. + 75. ； Thigh board, o. A + 35. ； Crus board, a 55 o + 35. ； Solution will cover and O. A + 90. 2 Robotic nanomanipulation nursing bed of the control system in order to facilitate nursing bed of intelligent control, timely r solution of the current working state nursing bed nursing bed, upon the law to set necessary processes the number of sensors "?. By analyzing the data, sensor transmission control system can real-time understand, control panel of motion, bed of different agencies to prevent the mutual interference or ask to overshoot driven motor bed body, unnecessary casualties caused damage. Control system overall structure as figure2shows. In bed in the control mode pose posture, besides using popular keyboard buttons input methods outside, in order to facilitate the weak and sick, but also increased the speech input mode + operators through the voice commands to manipulate nursing bed. Due to the common types of control chip difficult to complete the voice commands, because the recognition of the nursing bed the control system is divided into two major modules.  The first part primarily control module, it consists of a single-chip microcomputer control system structure, used to implement the nursing bed system, including the main control keyboard/voice control commands to accept the position signal and sensor input, and the output motor control signal etc, the second part as auxiliary control module, mainly for voice recognition and playback, it will come from the operator's voice control command into electrical signals, then through code conversion, transported to the master control module, and accept the electrical signals to independent control module, will these control instruction convert audio signals of operator can understand. 2.1 robotic nanomanipulation nursing bed master control module master control module at runtime receive signals from the keyboard/speech recognition circuit analysis and processing signal, through, will control signal through external interface conveying to speech playback circuit, signal by voice playback circuit will be transformed into voice signal, provide voice feedback signal, make handlers understand nursing bed real-time dynamic； On the other hand, master control module according to various signal command, control different motor running, so as to realize the lot that users period nursing bed functions? . Master control module mainly include the following each subroutine:  (1) keyboard input. The keyboard is nursing bed input control commands by one of the ways the keyboard input, by encoding commands sent to the primary panel by serial. (2) dc motor of the motor control. Nursing bed in accepting the keyboard or speech input signal after, started for the corresponding action to achieve nursing bed. This requires the expected function for installation in the main control panel can the nursing bed eight dc motor both the positive and negative direction of motor control. (3) sensor signal input. Position sensor motor sports location information feedback to control system, control system according to the feedback is returned to the current signal judgment motor sports location and condition, and then calling the corresponding procedure motion control 2.1.1 keyboard control circuit keyboard on the control board for user operation except r equipped with the keys outside, still configuration display the nursing bed the working state of indicator. Considering the keyboard and the communication and the main panel control cPu L / 0 mouths limited resources, so by a separate microcontroller keyboard to treat various task. Because the keyboard (2 x 6) and indicator light (8) required many I / 0 mouths resources, and chooses 89c2051 microcontroller only 15 L / 0 mouths, L/o u resources are limited, therefore in the SCM L / 0 mouths resource allocation, the single-chip computer keyboard panel serial communication between the main control board； Meanwhile, considering control cable is a certain length to increase the reliability of communication, communication, adopt the 232 level, so the hardware circuit MAx232 chips for added a convert. 2.1.2 dc motor level control of the nursing function is nursing bed by dc motor to execute, motor drive nursing bed to complete the various movements, in order to achieve various nursing pose, include: (1) the backplane elevate/drop； (2) left/right turn physique increase/decrease； (3) thigh board increase/decrease； (4) crus board increase/decrease； (5) flat open/close； bedpan (6) lie low postures realize/reset； (7) sitting postures realize/reset； (8) SLR postures realize/reset； (9) bended leg postures realize/reset. Above all appearance conversion between and finish all through eight dc motor FanZhuanLai to realize, so is the main control board must be able to receive commands to eight dc motor after on E reversal, namely can realize motor control negative in nursing bed to electrify control the hardware circuit design, for each motor has adopted two blades double throws on power control. The relay to 2.2 robotic nanomanipulation nursing bed auxiliary control module 2.2.1 speech recognition voice control technology is one of the existing control mode of advanced control mode, it is natural and convenient control mode, good affinity, the characteristics of applicability. Will voice control technology is introduced into the nursing bed under control, will greatly convenient users, particularly in those loss or partly losing activity, ability of self-dependence of patients, voice control and can help them enhance self-confidence, reduce dependence on others, add life courage and confidence in nursing bed users. The characteristics of the speech input commands, used in the study of the beauty of sENsORY company RSc364 little voice chip as recognition core chip. By training and realize Rsc364 chip speech recognition function, system L/o level is TrL level, which can be conveniently and other system for data transmission. Rsc364 chip inside integrated A speech recognition needs A variety of functions, it can complete speech recognition process of anti aliasing low-pass filter, sampling/keep, A/D conversion and voice recording Rsc364 chip in complete functions such as speech recognition task, will voice control signal output to SCM by chip Po and mouth. According to the PSc364 P1, the output state in the Lord with voice recognition chips control by A 74Lsl48 j Duan between expanding in tablet 74Lsl48 fracture, voice command input eight feet of the chip, connect Pl input mouth； Rsc364 Expansion of single chip J Gs meet in P3.2； SCM fracture P1.3 P1. O mouth and speech recognition chips J J 4 Po Po seven connections. When a voice command input, a mouth wipes the P1 output low level, Gs u lose "I low-level startup microcontroller external interruption of single chip, the interrupt handlers from P1.0 P1.3 mouth when read people data. Laws 2.2.2 voice playback master control circuit, after receiving orders in control motor running, but also to voice playback son module lose