CN111603143A

CN111603143A - Bed type diagnosis and treatment robot based on non-touch sensing manipulator

Info

Publication number: CN111603143A
Application number: CN202010585437.1A
Authority: CN
Inventors: 张笑凯
Original assignee: Suzhou Dianhe Medical Technology Co ltd
Current assignee: Suzhou Dianhe Medical Technology Co ltd
Priority date: 2020-06-24
Filing date: 2020-06-24
Publication date: 2020-09-01

Abstract

The invention relates to a bed type diagnosis and treatment robot based on a non-tactile sensing manipulator, which comprises a bed body, wherein an X-direction guide rail and a driving mechanism are arranged on the outer side of the bed body in a mirror image mode, the X-direction guide rail and the driving mechanism are connected with a Z-direction guide rail and the driving mechanism through a transverse plate, a Y-direction guide rail and the driving mechanism are movably connected with the Z-direction guide rail and the driving mechanism, a processor and a display screen are arranged on the Y-direction guide rail and the driving mechanism, the non-tactile sensing manipulator is arranged on the Y-direction guide rail and the driving mechanism, a diagnosis/inquiry assembly and a diagnosis/inquiry assembly are arranged on the non-tactile sensing manipulator, and an assembly switching device is arranged. Therefore, under the action of the display, local automatic operation or remote control in different places can be realized through the corresponding controller under the participation of the processor. Therefore, the occupational exposure risk of medical personnel is reduced or even avoided, and cross infection is avoided. If the processor is connected to the cloud network, the whole-process automatic control can be realized.

Description

Bed type diagnosis and treatment robot based on non-touch sensing manipulator

Technical Field

The invention relates to a diagnosis and treatment robot, in particular to a bed type diagnosis and treatment robot based on a non-touch sensing manipulator.

Background

Doctors and nurses usually need to check, touch, tap, listen and the like in a face-to-face manner in the diagnosis and treatment process of patients to acquire basic life information, but under epidemic situations such as novel coronavirus and the like, the traditional mode of the face-to-face manner faces the risk of cross infection.

Under the influence of this, various robots that perform remote diagnosis using a remote online mode are continuously emerging, such as: the wheeled mobile robot with video and audio functions comprises a mechanical arm without a palpation function, (1) the robot has an autonomous action function, machine vision and laser-based spatial position information, and can assist medical staff in carrying out remote diagnosis through video or audio consultation and communication, such as RP-VITA (iRobot, inToch health) in the United states, Vgo, Eiffist in China, remote inquiry robot and the like.

(2) A mechanical arm with a palpation function, such as a tactile diagnostic robot in Australia, has a flexible mechanical arm structure, and an ultrasonic probe and a tactile sensor are arranged at the tail end of the mechanical arm to assist a doctor to remotely perform abdominal ultrasonic examination.

For example, a ward inspection robot which can perform pain sense inspection, a MGIUS-R3 remote ultrasonic diagnosis system comprises a 6-freedom-degree mechanical arm, an ultrasonic probe and a force sensor are arranged at the tail end of the mechanical arm, data are transmitted through a 5G communication network, and a doctor performs ultrasonic inspection on a patient through remotely controlling the mechanical arm

The intelligent ultrasonic scanning robot is also included, a mechanical arm is carried on the CT scanner to carry out three-dimensional reconstruction on scanning areas such as heart and lung, the full automation of robot scanning is realized, and cross infection caused by the fact that medical staff go to the bedside for inspection is avoided.

Simultaneously, can cooperate relevant artificial intelligence platform, if:

(1) the Japanese Viewsend remote medical diagnosis support system remotely transmits various medical perspective photo data through a remote network technology and a medical perspective storage technology, and the photo data can accurately and precisely move according to the requirements of doctors and patients to assist doctors in remote diagnosis.

(2) The Enlitic image recognition system in the United states utilizes a deep learning method to perform machine learning on a large amount of medical image data, automatically summarizes 'features' and 'modes' of diseases, and assists doctors in developing malignant tumor diagnosis.

(3) The Kardia Mobile AI intelligent APP assists in identifying conditions of heart patients who are not diagnosed, and simultaneously carries out monitoring, tracking and medical record management on diagnosed patients.

(4) VIR adopts artificial intelligence computer natural language processing technology and deep learning technology, automatically replies the problems of clinicians and helps the clinicians to select the optimal treatment course.

(5) The AI assistant diagnosis assistant for new coronary pneumonia in China judges and reads the CT images of suspected cases, assists doctors in diagnosing quickly, and can further assist doctors in making scientific treatment schemes according to multi-dimensional information such as basic information, symptoms, laboratory examination results, epidemiological history, image reports and the like of patients.

(6) The new coronary pneumonia intelligent evaluation system carries out quantitative analysis, curative effect evaluation and prediction on a novel coronary viral focus of lung CT images, provides diagnosis basis for clinicians and the like.

However, these implementations have their own advantages, but also have some disadvantages, such as:

1. the function is single, for example, most wheeled mobile robots only have video and audio functions, cannot perform comprehensive and systematic 'looking and smelling', and are difficult to generate the effect of 'being on the scene' when a doctor faces a patient.

2. Tactile sensors and force sensors are not absolutely reliable and have a certain risk.

3. The real-time dynamic monitoring can not be realized, for example, most wheeled mobile robots can not monitor patients in the whole process because the ward round is a 'point taking' sampling process.

4. The volume is large, and the movement between the sickbeds is sometimes inconvenient.

5. The robot is inconvenient to work at night, and the ward door needs to be opened and closed to be matched when the robot enters and exits the ward at night, so that the patient is disturbed.

6. There is still a risk that the ward-by-ward rounds may become a source of cross-infection.

7. The remote control is easily influenced by signal transmission quality, such as the displacement of the wheeled mobile robot, machine vision and laser-based spatial position information are required, and a doctor remotely controls the mechanical arm to carry out ultrasonic examination on a patient and smoothly realizes the data transmission through a stable 5G communication network.

8. The artificial intelligence platform mainly aims at the acquired information such as images and data and can not automatically complete information acquisition and the like.

In view of the above circumstances, the present designer has actively studied and innovated to create a "bed-type" diagnosis and treatment robot based on a "non-tactile sensing" manipulator, which automatically completes the acquisition of data or information such as body temperature, pulse, respiration, blood pressure, heart sound, respiration sound and the like through various sensors of relevant vital signs mounted on a mechanical arm on a hospital bed, automatically realizes analysis and diagnosis through AI, and has one person for one machine, dynamic observation, cross infection avoidance and efficiency improvement.

Disclosure of Invention

In order to solve the technical problems, the invention aims to provide a bed type diagnosis and treatment robot based on a non-touch sensing manipulator.

The invention relates to a bed type diagnosis and treatment robot based on a non-touch sensing manipulator, which comprises a bed body, wherein: the bed body is characterized in that an X-direction guide rail and a driving mechanism are arranged on the outer side of the bed body in a mirror image manner, the X-direction guide rail and the driving mechanism are connected with a Z-direction guide rail and the driving mechanism through a transverse plate, a Y-direction guide rail and the driving mechanism are movably connected with a Y-direction guide rail and the driving mechanism, a processor and a display screen are arranged on the Y-direction guide rail and the driving mechanism, a non-touch sensing manipulator is arranged on the Y-direction guide rail and the driving mechanism, a visiting/inquiring assembly is arranged on the non-touch sensing manipulator, the visiting/inquiring assembly comprises one or more of a body temperature measuring module, a respiration measuring module, a pulse and blood pressure measuring module and a camera with a microphone, and data communication ports of the X-direction guide rail and driving mechanism, the Z-direction guide rail and driving mechanism, the Y-direction guide rail and driving mechanism, the display screen and the non, one side of the bed body is provided with an assembly switching device.

Further, the bed type diagnosis and treatment robot based on the non-touch sensing manipulator is characterized in that slide blocks are arranged on the Y-direction guide rail and the driving mechanism, a first motor is mounted on each slide block, and the first motor is connected with the non-touch sensing manipulator.

Furthermore, the bed-type medical robot based on the non-tactile sensing manipulator is characterized in that a base is mounted on the Y-direction guide rail and the driving mechanism, a mounting groove is formed in the base, and the non-tactile sensing manipulator is arranged in the mounting groove.

Furthermore, foretell machine people is diagnose to bed formula based on no touch sensing manipulator, wherein, no touch sensing manipulator is including the motor cabinet, be provided with the second motor on the motor cabinet, be connected with the outer tube on the second motor, during the use the second motor is rotatory to make outer tube and skin be certain angle or vertical form, the intracavity of outer tube is installed interior pole, the front end of interior pole is equipped with the step, interior pole front end links to each other with the threaded rod that has the ball bearing through the screw hole, the conversion joint is installed to ball bearing lower extreme, the percussion hammer is installed to the one end of outer tube, through the rotation of second motor, realizes the percussion function.

Furthermore, the bed-type diagnosis and treatment robot based on the non-touch sensing manipulator is characterized in that the conversion joint is provided with an electromagnet, and the conversion joint is further provided with universal joints such as an electrocardiogram monitor electrode plate, an intelligent stethoscope component, an ultrasonic probe component and a massager component.

Furthermore, the bed-type diagnosis and treatment robot based on the non-touch sensing manipulator is characterized in that a safety cover is arranged at the top of the tube cavity of the outer tube, a spring is arranged between the rear end of the inner rod and the safety cover, and a proximity switch is arranged at the top of the outer tube.

Furthermore, the above bed-type medical robot based on a non-tactile sensing manipulator, wherein the assembly switching device comprises a lifting mechanism, a fixing plate is mounted on the lifting mechanism, and a multi-electrode sheet loading and unloading mechanism, an intelligent stethoscope seat, an ultrasonic probe seat and a massager seat are respectively arranged on the fixing plate.

Still further, the bed type diagnosis and treatment robot based on the non-touch sensing manipulator is characterized in that the multi-electrode plate assembling and disassembling mechanism comprises a rotating shaft rod, a plurality of fixing boxes penetrate through the rotating shaft rod, a positioning iron sheet for pressing the non-adhesion separation end of the electrode plate of the ECG monitor is arranged on one side in each fixing box, a pressing frame for pressing a release paper film of the electrode plate of the ECG monitor is arranged in each fixing box, and a guide rod is arranged on each pressing frame.

By the scheme, the invention at least has the following advantages:

1. under the action of the display, the local automatic operation or remote control in different places can be realized by the corresponding controller under the participation of the processor. Therefore, the occupational exposure risk of medical personnel is reduced or even avoided, and cross infection is avoided. If the processor is connected to the cloud network, the whole-process automatic control can be realized.

2. Through no touch sensing manipulator and subassembly auto-change over device, realize the interoperation, satisfy the switching of each subassembly, both can improve the security and the efficiency of diagnosis and treatment, also can further improve degree of automation, alleviate medical staff intensity of labour.

3. Corresponding software can be introduced into the processor, so that automatic learning of artificial intelligence under large data accumulation is realized, and the precision, efficiency and reliability of diagnosis are improved.

4. The whole structure is simple, the manufacture is easy, and the use and the implementation are more rapid.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.

Drawings

Fig. 1 is a schematic view of the overall structure of a bed-type medical robot based on a non-tactile sensing manipulator.

Fig. 2 is a schematic side view of a bed-type medical robot based on a non-tactile sensing robot arm.

Fig. 3 is a schematic side view of a bed-type medical robot based on a non-tactile sensing manipulator.

Fig. 4 is a schematic plan view of the bed-type medical robot based on the non-tactile sensing robot hand.

Fig. 5 is a schematic structural diagram of a non-tactile sensing manipulator.

Fig. 6 is a schematic view of the overall structure of the multiple-electrode-sheet loading and unloading mechanism.

Fig. 7 is a schematic diagram of standby placement of electrode pads of the electrocardiograph monitor.

Fig. 8 is a side sectional schematic view of fig. 7.

The meanings of the reference symbols in the drawings are as follows.

1 bed body 2X is to guide rail and actuating mechanism

3Z-direction guide rail and driving mechanism and 4Y-direction guide rail and driving mechanism

5 processor 6 display screen

7 non-touch sensing manipulator 8 body temperature measuring module

9 respiration measuring module and 10 pulse blood pressure measuring module

11 take camera 12 subassembly auto-change over device of microphone

13 first motor 14 base

15 second electric motor 16 outer tube

17 inner rod 18 ball head bearing

19 adaptor 20 percussion hammer

21 horizontal plate 22 safety cover

23 spring 24 approach switch

25 multi-electrode sheet loading and unloading mechanism 26 intelligent stethoscope seat

27 ultrasonic probe seat 28 massager seat

29 rotating shaft 30 fixing box

31 positioning iron sheet 32 pressing frame

33 guide rod 34 electrode plate of ECG monitor

35 non-adhesive separation end 36 release paper film

Detailed Description

The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.

Fig. 1 to 8 show a bed-type medical treatment robot based on a non-tactile sensing manipulator, which comprises a bed body 1, and is characterized in that: the outside mirror image of bed body 1 is provided with X to guide rail and actuating mechanism 2, is convenient for realize X to guiding motion, adapts to different inspection area. Meanwhile, in order to realize accurate interrogation area positioning, the X-direction guide rail and driving mechanism 2 is connected with the Z-direction guide rail and driving mechanism 3 through the transverse plate 21, so that effective height adjustment is conveniently realized. Of course, in order to realize the three-axis positioning and high-precision fixed point interrogation, the Y-direction guide rail and drive mechanism 4 is movably connected to the Z-direction guide rail and drive mechanism 3. Meanwhile, considering automatic operation management and control, the operation state or the inquiry information can be displayed in time, local or remote real-time communication between doctors and patients is convenient to realize, and a processor 5 and a display screen 6 are arranged on the Y-direction guide rail and the driving mechanism 4. Of course, the display screen 6 can be externally arranged according to some special use requirements, so that the requirement of remote monitoring is met. In order to expand the field range of the inquiry and improve the interaction with the body of the patient, the Y-direction guide rail and the driving mechanism 4 are provided with a non-tactile sensing manipulator 7. In view of realizing non-contact inspection or inquiry according to the diagnosis needs of the patient, the present invention has an inspection/inquiry unit mounted on the non-tactile sensing manipulator 7. Specifically, the inspection/inquiry assembly includes one or more of a body temperature measuring module 8, a respiration measuring module 9, a pulse blood pressure measuring module 10, and a camera 11 with a microphone, so as to realize the functions of inspection, inquiry and the like. In consideration of the convenience of control in an integrated manner, data communication ports of the X-direction guide rail and drive mechanism 2, the Z-direction guide rail and drive mechanism 3, the Y-direction guide rail and drive mechanism 4, the display screen 6, and the non-tactile-sensing robot 7 are connected to the processor 5. In view of practical implementation, in order to facilitate the replacement of each module and the selection of the corresponding module by the non-tactile sensing manipulator 7 to achieve corresponding inspection or inquiry, an assembly switching device 12 is arranged on one side of the bed body 1. Moreover, the position can be adjusted and installed according to actual needs, and smooth taking and use of the non-touch sensing manipulator 7 are ensured.

In a preferred embodiment of the present invention, a sliding block is disposed on the Y-directional guide rail and the driving mechanism 4, a first motor 13 is mounted on the sliding block, and the first motor 13 is connected to the non-tactile sensing manipulator 7, so as to facilitate the Y-directional lifting and guiding driving. Meanwhile, a base 14 is installed on the Y-direction guide rail and driving mechanism 4, an installation groove is formed in the base 14, and the non-touch sensing manipulator 7 is arranged in the installation groove.

Further, in order to achieve more realistic operation and effectively position the affected part of the patient for more accurate inspection or inquiry, the non-tactile sensing manipulator 7 of the present invention comprises a motor base, and a second motor 15 is disposed on the motor base. Meanwhile, the second motor 15 is connected with an outer tube 16, and when the skin care device is used, the second motor 15 rotates to enable the outer tube 16 to be in a certain angle or vertical state with the skin. An inner rod 17 is installed in the cavity of the outer tube 16, a step is arranged at the front end of the inner rod 17, and the front end of the inner rod 17 is connected with a threaded rod with a ball bearing 18 through a threaded hole. In this way, an effective universal adjustment can be achieved. In connection with practical implementation, in order to accommodate the stable mounting of various types of inspection/interrogation assemblies, an adapter 19 is mounted at the lower end of the ball bearing 18. In order to effectively expand the function of the inquiry, the present invention further includes a percussion hammer 20 mounted at one end of the outer tube 16, and the percussion function can be performed by the rotation of the second motor 15.

In view of practical implementation, in order to enable the non-touch sensing manipulator 7 to realize convenient module replacement, corresponding components can be selected according to different inspection and inquiry processes, and the electromagnet is installed on the adapter 19 adopted by the invention. Therefore, one of an electrode plate of the ECG monitor, an intelligent stethoscope component, an ultrasonic probe component and a massager component can be replaced on the universal connector of the adapter, and the stable connection of all the components is met. In view of practical use, along with the descending of the Z-direction guide rail and the driving mechanism 3, the electrode plate of the ECG monitor, the intelligent stethoscope component or the ultrasonic probe component is contacted with the skin of a patient, and the ball bearing 18 can enable the electrode plate of the ECG monitor, the intelligent stethoscope, the ultrasonic probe or the massager to be well adapted and attached to the surface of the human body.

Still further, a safety cover 22 is arranged at the top of the lumen of the outer tube 16, a spring 23 is arranged between the rear end of the inner rod 17 and the safety cover 22, and a proximity switch 24 is arranged at the top of the outer tube 16. When the safety cover 22 is pushed down, the non-touch sensing manipulator 7 can be stopped to further ensure the safety. Specifically, when the X-direction rail and drive mechanism 2, the Z-direction rail and drive mechanism 3, and the Y-direction rail and drive mechanism 4 are interlocked with each other, the spring 23 is compressed to different degrees according to the height of the human body surface. Therefore, the intelligent stethoscope component, the ultrasonic probe component and the like can perform self-adaptive movement on the surface of a human body, and relatively accurate auscultation and palpation can be realized. When the pressure is too large and possibly exceeds the bearing range of the human body, the spring 23 is completely compressed, the safety cover 22 is pushed away, and the pressure is completely released, so that the safety is ensured.

Considering that the touchless sensing manipulator 7 can conveniently pick and place the inspection/inquiry component, the component switching device 12 comprises a lifting mechanism, a fixed plate is arranged on the lifting mechanism, and a multi-electrode piece loading and unloading mechanism 25, an intelligent stethoscope seat 26, an ultrasonic probe seat 27 and a massager seat 28 are respectively arranged on the fixed plate. Used for placing corresponding electrode plates of the ECG monitor, an intelligent stethoscope component, an ultrasonic probe component, a massager component and the like. Thus, during actual taking, in order to avoid dead corners or limit of the non-touch sensing manipulator 7 during downward detection operation, the fixing plate is lifted by the lifting mechanism. Meanwhile, considering that a plurality of electrode plates are usually placed, in order to facilitate taking out, the multi-electrode plate loading and taking mechanism 25 adopted by the invention comprises a fixed box which comprises a rotating shaft 29, a plurality of fixed boxes 30 penetrate through the rotating shaft 29, and a positioning iron sheet 31 for pressing the non-adhesion separation end 35 of the electrode plate 34 of the ECG monitor is arranged on one side in each fixed box 30. Therefore, when the materials are prepared, the non-adhesive separation end 35 of the electrode plate 34 of the ECG monitor can be torn off manually, so that the positioning iron sheet 31 presses the end to prevent the end from being folded again. Meanwhile, a pressing frame 32 for pressing an electrode plate 34 of the ECG monitor from a release paper film 36 is arranged in the fixing box 30, and a guide rod 33 is arranged on the pressing frame 32. Therefore, the release paper film 36 can be pressed by the pressing frame 32, so that the subsequent full separation from the release paper film 36 can be realized when the electrode plate 34 of the ECG monitor is taken out by the non-tactile sensing manipulator 7. In view of practical implementation, when the electrocardiograph monitor is taken next time, the non-touch sensing manipulator 7 can push the fixed box 30 which has taken materials to rotate 180 degrees along the rotating shaft 29, and after the fixed box is opened, the other fixed box 30 with the electrocardiograph monitor electrode plates 34 loaded below is exposed.

The working principle of the invention is as follows:

according to conventional electrocardio monitoring and sampling, under the coordination of the observation/inquiry assembly, the non-touch sensing manipulator 7 firstly attracts the positioning iron sheet 31 at one end of the bed body 1 through the electromagnet and clamps the non-adhesive separation end 35 of the electrode sheet 34 of the electrocardio monitor together with the positioning iron sheet 31. Along with the transverse movement of the non-touch sensing manipulator 7, the manipulator descends when passing over the electrode plate 34 of the ECG monitor and is in butt joint with the contact of the electrode plate 34 of the ECG monitor. Then, the non-touch sensing manipulator 7 moves continuously under the guidance of the guide rod 33, and the electrode plate 34 of the electrocardiograph monitor is completely separated from the release paper film 36, so that the electrocardiograph monitor can be taken out and used. Then, the electrode plate of the ECG monitor is adhered to an ideal position by the non-touch sensing manipulator 7 for conducting lead connection through the control of the processor 5 or issuing an operation instruction remotely. Then, corresponding electrocardio detection can be carried out.

In addition, other inquiry functions can be realized by switching the use of the respective components in the intelligent stethoscope base 26, the ultrasonic probe base 27, and the massager base 28.

The invention has the following advantages by the aid of the character expression and the accompanying drawings:

Furthermore, the indication of the orientation or the positional relationship described in the present invention is based on the orientation or the positional relationship shown in the drawings, and is only for convenience of describing the present invention and simplifying the description, but does not indicate or imply that the indicated device or configuration must have a specific orientation or be operated in a specific orientation configuration, and thus, should not be construed as limiting the present invention.

The terms "primary" and "secondary" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "primary" or "secondary" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

Also, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "connected" and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other or mutually interacted. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations. And it may be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings, which are used for convenience in describing the invention and to simplify the description, and do not indicate or imply that the device or component being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.

Claims

1. The utility model provides a robot is diagnose to bed formula based on no touch sensing manipulator, including bed body (1), its characterized in that: the bed body is characterized in that an X-direction guide rail and a driving mechanism (2) are arranged on the outer side of the bed body (1) in a mirror image mode, the X-direction guide rail and the driving mechanism (2) are connected with a Z-direction guide rail and a driving mechanism (3) through a transverse plate (21), the Z-direction guide rail and the driving mechanism (3) are movably connected with a Y-direction guide rail and a driving mechanism (4), a processor (5) and a display screen (6) are arranged on the Y-direction guide rail and the driving mechanism (4), a non-touch sensing manipulator (7) is installed on the Y-direction guide rail and the driving mechanism (4), a diagnosis/inquiry assembly is installed on the non-touch sensing manipulator (7), the diagnosis/inquiry assembly comprises one or more of a body temperature measuring module (8), a respiration measuring module (9), a pulse blood pressure measuring module (10) and a camera (11) with a microphone, and the X-direction guide rail and the driving mechanism (2), The data communication ports of the Z-direction guide rail and driving mechanism (3), the Y-direction guide rail and driving mechanism (4), the display screen (6) and the non-touch sensing manipulator (7) are connected with the processor (5), and one side of the bed body (1) is provided with an assembly switching device (12).

2. The machine tool type diagnosis and treatment robot based on the non-touch sensing mechanical arm as claimed in claim 1, wherein: and a sliding block is arranged on the Y-direction guide rail and the driving mechanism (4), a first motor (13) is installed on the sliding block, and the first motor (13) is connected with the non-touch sensing manipulator (7).

3. The machine tool type diagnosis and treatment robot based on the non-touch sensing mechanical arm as claimed in claim 1, wherein: and a base (14) is arranged on the Y-direction guide rail and the driving mechanism (4), an installation groove is formed in the base (14), and the non-touch sensing manipulator (7) is arranged in the installation groove.

4. The machine tool type diagnosis and treatment robot based on the non-touch sensing mechanical arm as claimed in claim 1, wherein: the non-tactile sensing manipulator (7) is including the motor cabinet, be provided with second motor (15) on the motor cabinet, be connected with outer tube (16) on second motor (15), during the use second motor (15) are rotatory to be certain angle or perpendicular form with skin outer tube (16), install interior pole (17) of lumen of outer tube (16), the front end of interior pole (17) is equipped with the step, interior pole (17) front end links to each other with the threaded rod that has ball bearing (18) through the screw hole, ball bearing (18) lower extreme installs crossover sub (19), percussion hammer (20) are installed to the one end of outer tube (16), through the rotation of second motor (15), realize the percussion function.

5. The machine tool type diagnosis and treatment robot based on the manipulator without touch sensing as claimed in claim 4, wherein: the electro-magnet is installed on the crossover sub (19), still install one or more in ECG monitor electrode piece, intelligent stethoscope subassembly, ultrasonic probe subassembly, the massager subassembly on the crossover sub.

6. The machine tool type diagnosis and treatment robot based on the manipulator without touch sensing as claimed in claim 4, wherein: the safety cover (22) is arranged at the top of the tube cavity of the outer tube (16), a spring (23) is installed between the rear end of the inner rod (17) and the safety cover (22), and a proximity switch (24) is installed at the top of the outer tube (16).

7. The machine tool type diagnosis and treatment robot based on the non-touch sensing mechanical arm as claimed in claim 1, wherein: the component switching device (12) comprises a lifting mechanism, a fixing plate is mounted on the lifting mechanism, and a multi-electrode plate assembling and disassembling mechanism (25), an intelligent stethoscope seat (26), an ultrasonic probe seat (27) and a massager seat (28) are respectively arranged on the fixing plate.

8. The machine tool type diagnosis and treatment robot based on the manipulator without touch sensing as claimed in claim 7, wherein: the multi-electrode-piece assembling and taking mechanism (25) comprises a rotating shaft rod (29), a plurality of fixing boxes (30) penetrate through the rotating shaft rod (29), a positioning iron sheet (31) for pressing a non-adhesion separating end (35) of an electrode piece (34) of an ECG monitor is arranged on one side in each fixing box (30), a pressing frame (32) for pressing a release paper film (36) of the electrode piece (34) of the ECG monitor is arranged in each fixing box (30), and a guide rod (33) is arranged on each pressing frame (32).