多段翻身模块的设计与研究【含CAD图纸、SW三维、说明书】

Novel medical bed Author(s)A. Tawfik ; Ahmed Hamdan ; Abdulrahman Azzam ; Yahya Ibrahim Abstract: The main objective of the proposed system is to simplify the process of taking care of a patient who cannot move and permanently lies on a bed. Lying on a bed for long time brings in a number of health problems: The first and main issue is the rotten skin and/or ulcers. The second is the patients inability to reach the bathroom. This proposed medical bed is meant to solve both issues through a unique design that rotates the patient and provides an innovative designed lavatory for cleansing. By using an android tablet connected to the Arduino microcontroller via Bluetooth, the caretaker can rotate the bed to either direction to move the pressure away from the back of the patient, and to control the sliding lavatory to start cleansing. The bed operates in two modes: A manual mode that engages the caretaker in the rotation process and an automatic mode that rotates the bed every two hours. The maximum angle of rotation is determined based on measuring the weight of the patient via load cells distributed throughout the bed. In addition, the smart bed includes sensors for some vital signs, such as heart rate, body temperature, air flow and Electrocardiography (ECG) signal. Published in: 2018 Advances in Science and Engineering Technology International Conferences (ASET) Date of Conference: 6 Feb.-5 April 2018 Date Added to IEEE Xplore: 11 June 2018 ISBN Information: INSPEC Accession Number: 17840700 DOI: 10.1109/ICASET.2018.8376899 Publisher: IEEE Conference Location: Abu Dhabi, United Arab Emirates No metrics found for this document. AdvertisementSECTION I.IntroductionThe availability of good medical services in hospitals becomes a critical issue 12. The two main reasons for that is the increasing cost of medical care and the decrease in number of caretakers (such as nurses) 3. Such problem becomes more critical if the patient is suffering from lock-in syndromes. Taking care of those patients requires a lot of effort and concern. Therefore, it is important to provide technical solutions to help caretakers of those patients in hospitals or homes. In this paper, a medical bed is proposed for patients with full inability to move, patients who suffer from locked-in syndrome quadriplegia, long term coma, clinical deathetc. These patients require special care since they cannot move at all. Taking care of them includes moving them to a side of their bodies every two hours 4 as well as cleansing them. Currently, these patients are lying on a normal bed that does not move, thus does not help the people who take care of them to do their job properly. They have to go through the traditional exhausting process that involves manually turning them, which is inconvenient due to several reasons. One of these reasons is the patients heavy weight, which makes it hard for the care taker to rotate the patients body. In addition, a rotation every two or three hours means that someone should be frequently available to do the job; including the night times. Accordingly, the aim of this proposed novel medical bed is to make a bed that simplifies the process and automates it when needed; namely, a bed that rotates automatically every two or three hours. The bed has moving parts that are controlled by electrical buttons, and has programmed positions for the automated part. The bed also includes a solution for cleansing the patients wastes since they are not able to go to bathroom by themselves. For this reason, the bed has a central portion that goes down and a specifically designed lavatory that slides to remove the wastes. In addition, the bed has measurement tools (sensors) for vital signs 5. These tools measure heart rate, body temperature, respiratory rate and weight sensors (load cells). These sensors give feedback in case something goes wrong, and initiate an alarm to inform the person in charge so he/she can check if the patient requires any attention and make the necessary procedures. For extra safety, a CCTV camera connected to a Wi-Fi network is added. This camera could be connected to the caretakers smartphone so he/she can follow up the patients status. The camera is attached to the bed itself. This camera is useful for the cases where no fixed camera is available (such as in homes). SECTION II.Design and ImplementationThe implementation of the bed consists of both hardware and software. The hardware part as shown in Fig. 1 consists of Iron which constructs the frame of the bed, 12 V DC, motor driven jacks to lift the bed (a total of nine jacks are used), two 12 V DC motors for the cleansing part movement. An Arduino Microcontroller is used to control the movement of the jacks and the cleansing part motors, and to get measurements from vital signs sensors and load cells. These measurements are effective in the automatic mode. Fig. 1 Hardware structureA user starts an application program on an android tablet that is connected to the Arduino via Bluetooth. This application program provides a user interface that allows the user to control the movement of the bed. It also shows all the readings from vital signs sensors and load cells. For additional safety, a CCTV camera connected to a Wi-Fi network is installed. This camera, which is attached to the bed itself, can be connected to the caretakers smartphone so he/she can regularly check on the patient. SECTION III.Hardware System DescriptionThere are three main positions that serve the purpose of assisting both patients and caretakers. These positions help patients avoid having back ulcers. The first position is the typical one where the bed looks like a standard bed, as shown in Fig. 2. In the second position, the bed rotates to the right side, up to 40 degrees, which is the recommended angle by National Pressure Ulcer Advisory Panel 6, a range from 20 degrees to 40 degrees allows the patient to transform the pressure from his/her back to the right side of his/her body, as shown in Fig. 3. In the third and last position, the bed rotates to the left side, up to 30 degrees, allowing the patient to transform the pressure from his/her back to the left side of his/her body, as shown in Fig. 4. Fig. 2: Normal positionFig. 3: Rotated to rightFig. 4: Rotated to leftFig. 5: Cleansing partTo achieve the previous three positions, nine jacks and two motors are used. Every jack is driven by a 12 V DC, and the two motors can be run on a car battery. Jacks are used in this project as they are seen to be enough to do the specified job (which is lifting the bed to reach the desired position). One jack is used to lift up to 1 metric ton and to reach positions (2) and (3), 4 jacks are used to reach the adequate height (two at each side as shown in Fig. 6). Electric jacks are not too expensive and operate cleanly (without oil). At this stage of the project, electric jacks are used to demonstrate the idea of moving the bed, but if the idea is to be implemented for the commercial use, another lifting mechanism could be applied. Since the automatic mode is mostly used when no one is directly involved in supervising the process of rotating the patient, the bed may cause some inconvenience to the patient. For example, a feeding or breathing pipe may get blocked, which may cause serious harm to the patient if proper procedures are not taken on time. As a safety procedure, a program is installed on the Arduino to force the bed to get back to position (1). The same program initiates an alarm to draw the attention of anyone nearby to make the needed adjustment. Data obtained from the vital signs sensors are the key component in determining if something goes wrong or not. Any source if inconvenience to the patient causes an increase in heart beat 7 or breathe rate (or both). If any of these two exceeds certain limit the bed acts as previously mentioned. Fig. 6: Used jacks at one side of the bed.SECTION III.Software each screen is responsible for a specific aspect of the bed. For example, there is a screen for “manual mode”, a screen for “automatic mode”, a screen for vital signs measurementsetc. The app sends commands (to control the bed) and receives data (measurements of the sensors) in a convenient user interface. Bed Movement As mentioned previously, Arduino Mega is responsible of every movement of the bed, it is programmed to accept input from the user and move as desired. In addition, it is programmed to accept feedback from vital signs sensors to contribute to the automated mode of the bed. The user (in other words the care taker) will be able to interact with/control the bed through the 8” android tablet. This tablet is the main control unit of the bed. The app has the following main features: Choosing operation mode (manual or automatic). 。 Moving the bed to the desired position. Displaying vital signs measurements in real time. The bed operates in two modes: Manual mode and automatic mode. In the manual mode, the app displays buttons to allow the user to move the bed to any desired positon or height (the Arduino is programmed not to exceed a certain height to avoid any accident to the patient, or any damage to the bed). In the automatic mode, the buttons disappear and the positions allowed are only positions (1), (2) and (3). The bed holds its position for two hours, and then it rotates to the next position. This feature is extremely helpful at night since care takers are no longer required to wake up every 2 hours to rotate the patient, as the bed does the job automatically. Sensors OverviewVital sign sensors are connected to the Arduino microcontroller through the eHealth sensor shield v2.0. The sensors and the shield are a complete compatible kit manufactured by Libelium. Fig. 7 and Fig. 8 show the complete kit. Fig. 7: The complete kitFig. 8: eHealth sensor shield v2.0Ehealth sensor shield v2.0 is placed on top of the Arduino Mega and all the data obtained by the sensors are processed in eHealth sensor shield v2.0, then it is sent to Arduino Mega. Concerning the data, the latter is responsible for two things: First, it is displayed on the tablet, and second it is an essential component in the automated mode. 1. In the proposed system, five different types of sensors, shown in Fig. 9, are used to take measurments of vital signs and the weight of the patient and they contribute to the smart functions of the bed. The five sensors are: 2. 在拟议的系统中，五种不同类型的传感器(如图 9 所示)被用来测量生命体征和病人的体重，它们有助于 b 的智能功能。爱德。这五个传感器是：3. Airflow Sensor (Breathing) 4. 气流传感器(呼吸)5.6. Electrocardiogram Sensor 7. 心电图传感器8.9. Body Temperature Sensor 10. 体温传感器11.12. Heart Rate Sensor 13. 心率感应器14.15. load cell 16. 测压元件Fig. 9: Used sensorsSECTION IV.Comparison with Current SolutionsCurrently there are few solutions for controllable/smart medical beds such as MedBed 8, 4-Way Fold Care Bed 9, Freedom Bed by ProBed Medical 10. 目前关于可控/智能医疗床的解决方案还不多，如 MedBed8、4 路折叠护理床9、探索医学自由床10 。The proposed MedBed in 8 does not concern the patients who suffer from lock-in syndromes. It gives the patients who can move a smart way using IoT to take control of themselves without depending on nurses. The 4-Way Fold Care Bed in 5 necessitates substantial intervention by the caretaker and pillows to support the patient, while our proposed novel bed requires minimal human intervention and pillows are not needed. In addition, the proposed novel medical bed outperforms the 4-way Fold Care Bed by allowing automatic mod. This feature allows the bed to operate without the need of intervention of the care takers making it extremely helpful at night times, when they are no longer required to wake up every 2 hours to rotate the patient, as the bed does the job automatically. 建议中的 MedBed8并不涉及那些患有闭锁综合症的患者。它给了病人一个聪明的移动方式，使用物联网来控制自己，而不依赖于护士。在5中的 4 路折叠护理床需要管理员和枕头的大量干预来支持病人，而我们建议的新床需要最少的人工干预和不需要枕头。此外，提出的新型医疗床的性能优于 4 路折叠护理床，允许自动模式。这个特性使床可以在不需要 Interventi 的情况下操作。当他们不再被要求每 2 小时醒来旋转病人，就像床自动完成工作一样，护理人员在夜间使它变得非常有帮助。1. The proposed smart medical bed outperforms both the 4-Way Fold Care Bed 5 and the Freedom Bed by ProBed Medical 6 from the following features: 2. 通过探索医学6，所提出的智能医疗床的性能优于四重护理床 5和自由床6，其特点如下：3. The proposed smart medical bed outperforms both the 4-Way Fold Care Bed 5 and the Freedom Bed by ProBed Medical 6 from the following features: 4. 通过探索医学6，所提出的智能医疗床的性能优于四重护理床 5和自由床6，其特点如下：5.6. Measuring Weight: The bed is equipped with 12 load cells distributed along the mattress. These cells give precise measurement of the patient weight, and this feature is useful to monitor the overall patients current health condition. 7. 测量重量：床上装有 12 个负荷传感器，分布在床垫上。这些细胞可以精确地测量病人的体重，这一特性有助于全面监测病人的体重。病人目前的健康状况。8. Cleansing part: Since patients cannot leave the bed, they cannot be taken to the bathroom too often, which makes cleansing them an extremely difficult process. This is why this feature is convenient. The middle portion of the bed moves down allowing a specifically designed lavatory to slide out simplifying the cleansing process. 9. 清洁部分：由于病人不能离开床，他们不能经常被带到浴室，这使得清洗他们是一个非常困难的过程。这就是为什么这个特性很方便的原因。床的中间部分向下移动，允许一个专门设计的厕所滑出，简化了清洗过程。Fig. 10: 10. 4-way fold care bed 5 11. 四折护理床5ConclusionA novel efficient medical bed is presented to simplify the life of patients and caretakers since both suffer difficulties using traditional beds. The proposed system automatically rotates the patients as programmed, and monitors them for any sudden changes in their viral signs. The proposed novel bed is equipped with many safety measures to ensure the proper functionality and to avoid any hazard to the patients. The vital signs of the patients are measured. The proposed system aims to contribute to the society by improving the taking care conditions of lock-in patients wherever they are in hospitals or their homes. 为了简化病人和照顾者的生活，我们提出了一种新型的高效医疗床，因为两者都很难使用传统的病床。建议的系统自动旋转病人。如程序所示，监测他们病毒症状的任何突然变化。建议的新床设有多项安全措施，以确保适当的功能及避免任何危险。给病人。对病人的生命体征进行了测量。建议的制度旨在改善被锁症病人无论在何地的照顾条件，从而为社会作出贡献。或者他们的家。The design of automatic flipping-body nursing bed Author(s)Fengfa Lang ; Yinjie Cao ; Hui Huang ; Yan Wang ; Pengpeng Yu ; Xinghai Xie Abstract: Through connected the pieces of bed boards with the hinges, it can make the bed board up and down independently, so the functions that turning the body to left or right and raising the legs can be realized. One of the functions does not affect others. Taking the single chip microcomputer as control system core and collecting data about up and down, turn the body to left or right and the angle of raising legs, then it can manually control these functions by using electric driver pusher as the motive power. Combining with clock timing and states switching, we can customize the parameters of the flipping body, so the automatic control problem in the nursing bed is solved.Published in: 2011 2nd International Conference on Artificial Intelligence, Management Science and Electronic Commerce (AIMSEC) Date of Conference: 8-10 Aug. 2011 Date Added to IEEE Xplore: 06 September 2011 ISBN Information: INSPEC Accession Number: 12259492 DOI: 10.1109/AIMSEC.2011.6010593 Publisher: IEEE Conference Location: Dengleng, China AdvertisementContents SECTION I.IntroductionAccoring to Chinese official data, the number of the retirees in our country from 48.2 million in 2004 rises to 70 million in 2010. In our country the number of the old who are more than 60 years old is 143 million, it accounts for 1/5 of the population of global old people. We must pay close attention to the nursing problem about the old and the people can not live by themselves. In this condition, people at home and abroad developed many special bed for patients to get up and flip their bodies. These special bed can meet some need of nursing, but they have the complex structure, the trouble operation, the imperfect functions and the expensive price. That is difficult to meet the needs of the general hospital and the family. So we develop new nursing bed that has simple structure, convenient use and low costing. It is more applicable to the hospital and the family. The patient can get up, flip the body or raise the legs themselves by the remote control or the keyboard. Or we set the pattern as the flipping-body, then it could flip the body without nursing personnel. According to the demand of the patients, in our manual pattern the bed can make the body get up and raise the legs at the same time. The bed satisfies the needs of most patients, greatly reduces the work strength of the nursing staff and improve the patients ability to take care of themselves, that avoids the occurrence of bedsore of the long-term bedridden patients. 1SECTION II.The design of bed bodyTo realize the function that getting up, turning body to left or right and raising legs, the bed is consisted by 12 pieces of bed boards. The structure diagram of the bed boards is shown in Figure 1. Figure 1. The structure diagram of the automatic flipping-body nursing bedBed board 1, 2, 3 used for the function of getting up, bed board 1, 2, 4, 5, 7, 8, 10, 11 used for the function of turning the body to left, bed board 2, 3, 5, 6, 8, 9, 11, 12 used for the function of turning the body to right, bed board 7, 8, 9, 10, 11, 12 used for the function of raising legs. Because the angles of getting up and flipping body are big, we set an inhibiting device in case the bed boards are overturned when the patients get up or flip body. There are two angle transducers used for flipping body under board 2, the two transducers are installed at the perpendicular direction, they are also vertical to the long side of the bed. Three dip angle transducers are installed parallel to the long side of bed, they are used for collecting the angle of getting up, flipping body and raising legs. The functions that getting up, turning the body to left, turning the body to right and raising legs are drived by four independent electric drive pushers. According to the different angles of each part, we choose different electric drive pushers. The electric drive pushers and each part of bed boards are catenated by L revolvingshaft. 2SECTION III.The design of control systemA. Hardware systemHardware system based on the slip chip microcomputer, its input terminal has 8 road 4 4 keyboard, 3 road AID, the clock and remote control receiving input, and its output terminal has 4 road photoelectric isolation relay, 2 road positive pole and negative pole of the power switch and liquid crystal display etc. The structure diagram of system is shown in Figure 2. Figure 2. Hardware structure diagram of the nursing bedWe use STC5628AD slip chip microcomputer which has 8 road A/D switch and 28KB FLASHROM. FLASHROM can be used for application program, it also can be treated as EEPROM which is used for storing the system setting parameters. Three roads of A/D are used to input the analog signal of angle relay. The dip angles signal 0V5V corresponds to the 90 degrees +90 degrees. The other roads of A/D are used as the ordinary input/output ports. The identification of keyboard uses the row scanning method. The remote controller receives 4 bits coding, that corresponds to 16 buttons of the remote controller. The clock calendar chip adopts DS 1320 to realize the clock calendar and provide timing for automatic mode. Using 12864 LCD screen with work stock to show the current state of operation. It is convenient to control flipping-body and set system. Four electric driver pushers are controlled by the output of the 4 road photoelectric isolation relay. In hardware we use photoelectric isolation and filter to eliminate the interference of control circuit produced by the electric driver pushers perceptual load. The level calibration of angle sensor is completed by system. 3B. Software system1) The operation process of systemSoftware system mainly completes the functions that system initialization, manual mode control, automatic mode control and system settings etc. System initialization includes that reading of system parameters, clock initialization, display initialization and port initialization etc. Enter the cycle of the system control, then detect if there is a key pressed. If there is a key value input, system will operate the setting mode and control the state. If there is no key pressed, system will operate as the last setting mode. System initialization sets as manual mode and stop state. The flow diagram of system operation as shown in Figure 3.2) The control process of automatic operation modeAutomatic operation mode is divided into eight steps. We can set the number n of automatic operation mode in safe range, they are corresponded to the limit angle of flipping-body, the time side lay and the time lie down. In automatic operation mode according to the parameters of automatic mode, slip chip microcomputer reads the current clock and automatically switches the operation in the eight steps. The figure of mode control process and state transition as shown in Figure 4. Figure 3. The flow chart of system operationView AllFigure 4. Steps decomposition of automatic control modeView AllThe number 18 represent the switching point of the eight state, the alphabet charm A - H represent the eight state in automatic mode. The eight states are lying delay, turn left, left side delay, turn left and put down, lying delay, turn right, right side delay and turn right and put down. The start time, sideways time and lying time can set arbitrarily in automatic mode.3) Set the system parameterThe setting of system parameter includes the limited angle setting in manual mode and the holding time and the limited angle setting in automatic mode. In addition, we can calibrate the bed board to ensure the precision control of angle. System set the password to protect the system parameters not to be changed illegally. Only the authorized personnel can start the control system. Also system has the level calibration function to ensure the bed body be installed in a certain angle above ground.We use Keil Cx51 to write the program which compiles at uVision 4.0. Then it can be downloaded to single chip microcomputer to operate reliably4.SECTION IV.System functionsA. Manual modeWe can realize the functions that getting up, turning the body to left, turning the body to right, raising legs, or getting up with raising legs by the remote controller or keyboard in the manual mode.B. Automatic modeAutomatic mode has many flipping-body modes such as mode 1, mode 2 etc. In each kind of mode, the start time of flipping body, the angle of flipping body, the sideways time and the lying time can set arbitrarily. System has a memory function that can store the model parameters in system, these parameters will not lose when power down. System operation parameters such as the angle of flipping-body, the mode of operation, the time of operation etc are shown in LCD display screen. It is easy to understand the current state of the nursing bed.SECTION V.ConclusionThe automatic flipping-body nursing bed can be widely used in hospitals, rehabilitation centers and families etc. It reduces the work strength of the nursing staff and improve the patients ability to take care of themselves that avoids the occurrence of bedsore of the long-term bedridden patients. The nursing bed is not only applicable to the patients who can not take care of themselves, but also applicable to the healthy people. Setting the mode as the automatic mode, system can flip body automatically according to the relevant parameters. This eases the users fatigue and has a certain health care function. After the long time testing, the each function can be reliably realized and can satisfy the practical application requirements.