PDF(Pubmed)
Abstract：
BACKGROUND: The COVID-19 pandemic is affecting the mental and emotional well-being of patients, family members, and health care workers. Patients in the isolation ward may have psychological problems due to long-term hospitalization, the development of the epidemic, and the inability to see their families. A medical assistive robot (MAR), acting as an intermediary of communication, can be deployed to address these mental pressures.
OBJECTIVE: CareDo, a MAR with telepresence and teleoperation functions, was developed in this work for remote health care. The aim of this study was to investigate its practical performance in the isolation ward during the pandemic.
METHODS: Two systems were integrated into the CareDo robot. For the telepresence system, a web real-time communications solution is used for the multiuser chat system and a convolutional neural network is used for expression recognition. For the teleoperation system, an incremental motion mapping method is used for operating the robot remotely. A clinical trial of this system was conducted at First Affiliated Hospital, Zhejiang University.
RESULTS: During the clinical trials, tasks such as video chatting, emotion detection, and medical supplies delivery were performed via the CareDo robot. Seven voice commands were set for performing system wakeup, video chatting, and system exiting. Durations from 1 to 3 seconds of common commands were set to improve voice command detection. The facial expression was recorded 152 times for a patient in 1 day for the psychological intervention. The recognition accuracy reached 95% and 92.8% for happy and neutral expressions, respectively.
CONCLUSIONS: Patients and health care workers can use this MAR in the isolation ward for telehealth care during the COVID-19 pandemic. This can be a useful approach to break the chains of virus transmission and can also be an effective way to conduct remote psychological intervention.
OBJECTIVE: CareDo, a MAR with telepresence and teleoperation functions, was developed in this work for remote health care. The aim of this study was to investigate its practical performance in the isolation ward during the pandemic.
METHODS: Two systems were integrated into the CareDo robot. For the telepresence system, a web real-time communications solution is used for the multiuser chat system and a convolutional neural network is used for expression recognition. For the teleoperation system, an incremental motion mapping method is used for operating the robot remotely. A clinical trial of this system was conducted at First Affiliated Hospital, Zhejiang University.
RESULTS: During the clinical trials, tasks such as video chatting, emotion detection, and medical supplies delivery were performed via the CareDo robot. Seven voice commands were set for performing system wakeup, video chatting, and system exiting. Durations from 1 to 3 seconds of common commands were set to improve voice command detection. The facial expression was recorded 152 times for a patient in 1 day for the psychological intervention. The recognition accuracy reached 95% and 92.8% for happy and neutral expressions, respectively.
CONCLUSIONS: Patients and health care workers can use this MAR in the isolation ward for telehealth care during the COVID-19 pandemic. This can be a useful approach to break the chains of virus transmission and can also be an effective way to conduct remote psychological intervention.
摘要：
背景：2019年冠状病毒病（COVID-19）大流行正在影响患者的心理和情绪健康，家庭成员,和医护人员。隔离病房的病人可能因长期住院而出现心理问题,流行病的发展，以及无法与家人见面。医疗辅助机器人（MAR）作为沟通的中介，可以用来解决精神压力。
目标：CareDo，具有远程呈现和远程操作功能的MAR，是在这项工作中为远程医疗保健开发的。这项研究旨在调查其在大流行期间在隔离病房的实际表现。
方法：将两个系统集成到CareDo机器人中。对于远程呈现系统，网络实时通信解决方案用于多用户聊天系统，卷积神经网络用于表情识别。对于远程操作系统，增量运动映射方法用于远程操作机器人。这项研究最终在第一附属医院进行，浙江大学临床试验。
结果：在第一附属医院的临床试验中，浙江大学,任务，如视频聊天，情绪检测，医疗用品的运送是通过这个机器人进行的。设置了七个语音命令以执行系统唤醒，视频聊天,系统退出。公共命令的统计持续时间从1秒到3秒被设置以改进语音命令检测。在一天内记录患者的面部表情152次，以进行心理干预。快乐表情和中性表情的识别准确率分别达到95%和92.8%。
结论：在COVID-19大流行期间，患者和医护人员可以在隔离病房使用该MAR进行远程医疗。它可以是打破病毒传播链的有用方法，也是远程心理干预的有效途径。
目标：CareDo，具有远程呈现和远程操作功能的MAR，是在这项工作中为远程医疗保健开发的。这项研究旨在调查其在大流行期间在隔离病房的实际表现。
方法：将两个系统集成到CareDo机器人中。对于远程呈现系统，网络实时通信解决方案用于多用户聊天系统，卷积神经网络用于表情识别。对于远程操作系统，增量运动映射方法用于远程操作机器人。这项研究最终在第一附属医院进行，浙江大学临床试验。
结果：在第一附属医院的临床试验中，浙江大学,任务，如视频聊天，情绪检测，医疗用品的运送是通过这个机器人进行的。设置了七个语音命令以执行系统唤醒，视频聊天,系统退出。公共命令的统计持续时间从1秒到3秒被设置以改进语音命令检测。在一天内记录患者的面部表情152次，以进行心理干预。快乐表情和中性表情的识别准确率分别达到95%和92.8%。
结论：在COVID-19大流行期间，患者和医护人员可以在隔离病房使用该MAR进行远程医疗。它可以是打破病毒传播链的有用方法，也是远程心理干预的有效途径。
