Hepatitis nursing robot based on RP-lidarA1 sensor

BackgroundTo alleviate the workload of medical staff and provide personalized care for hepatitis patients, this study focuses on developing a hepatitis care robot.ObjectiveThe objective of this study is to integrate the RP-lidarA1 sensor into a hepatitis care robot to achieve high-precision environmental perception, mapping, and navigation, thereby improving healthcare services.MethodsThe RP-lidarA1 sensor was utilized for environmental scanning, and the MPU6050 chip was used to collect attitude data. An improved RBPF-SLAM algorithm was employed for high-precision map construction. For positioning and navigation, a combination of the A* algorithm and Dynamic Window Approach (DWA) algorithm was used to optimize path planning and obstacle avoidance.ResultsSimulation experiments demonstrated that the improved algorithm reduced the number of particles to 50 in a 140 m² area and shortened the map construction time to 1200 s. The A* algorithm effectively planned optimal paths, while the DWA algorithm improved navigation efficiency. Satisfaction surveys indicated that 92.4% of hepatitis patients and 81.8% of nurses were highly satisfied with the robot's performance.ConclusionsThe hepatitis care robot integrating the RP-lidarA1 sensor showed excellent performance in autonomous navigation, map construction, and obstacle avoidance, significantly enhancing the quality and efficiency of medical services.