Prototyping a telepresence robot using RPM technology
During the COVID-19 outbreak, many countries including Pakistan observed an acute shortage of healthcare workers (doctors, nurses, and midwives). This shortage led to restricted health and well-being facilities to many patients. Moreover, patients were mostly unable to reach out to a healt
2025-06-28 16:28:52 - Adil Khan
Prototyping a telepresence robot using RPM technology
Project Area of Specialization Biomedical EngineeringProject SummaryDuring the COVID-19 outbreak, many countries including Pakistan observed an acute shortage of healthcare workers (doctors, nurses, and midwives). This shortage led to restricted health and well-being facilities to many patients. Moreover, patients were mostly unable to reach out to a healthcare professional because of being infected with COVID-19. There are several telemedicine platforms and apps where a patient can consult a doctor, however the doctor is only bound to have a verbal communication with their patients.
To ensure an interactive communication between patients and healthcare professionals, we propose a telepresence robot that uses remote patient monitoring while being connected through internet or wireless systems, with video screen mounted on it to let patients and doctors communicate remotely “face to face.” Our telepresence robot would be integrated in a sensor-rich environment that aims to monitor the patient’s vitals and sends their data to a virtual storage (Cloud) using wireless internet. This information can be accessed by authorized healthcare personnel and can help in maintaining of patient’s EMR. Furthermore, with the sensors and module installed within the mobile robot, we can solve the problem of equipment’s shortage as the robot would be able to cover a room with set line routes for it. Currently, we aim to integrate four sensors to obtain clinical data of patients through them. The sensors include ECG sensor, NIBP sensor, Temperature sensor and SpO2 sensor. After receiving the readings from patients, we will send them to the cloud using a microprocessor and wireless internet and the healthcare professional would be able to access those reading with the same LAN.
This solution will enhance the remote patient-doctor interaction as much as the real-time interaction and will provide all the necessary data required during a doctor's visit. Moreover, it will reduce the time and distance cost of the patients who don't have a healthcare facility near them or are unable to reach there. This solution will also reduce the amount of patient visits than usual.
In a brief, we propose a telepresence robot that will be remotely controlled by a doctor and will monitor the vital signs of patients so that the doctors can have effective interaction with their patients even when they are far
Project ObjectivesWe propose a telepresence robot that uses remote patient monitoring while being connected through internet or wireless systems, with video screen mounted on it to let patients and doctors communicate remotely “face to face.” Our telepresence robot would be integrated in a sensor-rich environment that aims to monitor the patient’s vitals and sends their data to a virtual storage (Cloud) using wireless internet. This information can be accessed by authorized healthcare personnel and can help in maintaining of patient’s EMR.
Our proposed telepresence robot would be a mobile, wheeled robot that moves from patient to patient along a pathway using remote control technology. Moreover, it would also navigate all potential obstacles within its environment using obstacle detection and avoidance. Telepresence robots provide a safer way for patients to be visited by family members without exposing them to additional dangers.
Furthermore, since the robot would be used to take vitals by patients with doctors’ guidance the robot would be designed and equipped with medical sensors that provide reading that are precise.
We aim to conduct a comparative study of sensor that will be incorporated in the hardware to provide best quality of patient care and make the user interface as simple as possible so that patient would not find it difficult to interact with the robot and the doctor on screen. We also intend to reduce the cost of our robot as much as possible while ensuring best quality of patient care so that the robot is affordable and attainable to everyone.
Furthermore, with the sensors and module installed within the mobile robot, we can solve the problem of equipment’s shortage as the robot would be able to cover a room with set line routes for it. Currently, we aim to integrate four sensors to obtain clinical data of patients through them. The sensors include ECG sensor, NIBP sensor, Temperature sensor and SpO2 sensor. After receiving the readings from patients, we will send them to the cloud using a microprocessor and wireless internet and the healthcare professional would be able to access those reading with the same LAN.
The main tasks that will be completed by the robot include:
1. Patient monitoring using integrated sensors. Data retrieval from sensors and its maintenance in virtual storage accessible to healthcare professionals
2. Audio and Video communication using wireless internet
3. Controlled mobility using wheel and sensors for obstacle detection and avoidance.
4. Alarms for emergency situations and malfunction.
The robot would be an amalgamation of hardware and software integration and their communication in real time.
For patient monitoring we have used four sensors that will monitor the vital signs of the patients. MAX30102 SpO2 sensor that will monitor the oxygen saturation and the heart rate of the patient. GY-906 MLX90614ESF is a high precision infrared non-contact thermometer module that will detect the temperature of the patient. The AD8232 is a single lead 3-channel Electrocardiogram (ECG) sensor, that will be used to monitor the ECG of the patient. Finally, Advantage Mx non-invasive BP senor will be used to acquire the blood pressure of a patient. The data attained from sensors will be displayed on the LCD screen and will be shared on the cloud using Node MCU microcontroller and Raspberry Pi microprocessor in the real-time.
For Audio and Video communication, we will use Raspberry Pi Camera module and a USB microphone integrated with Raspberry Pi through Wi-Fi to build a secure connection between the doctor and the patient virtually.
For mobility of the robot, we will be using IR sensors to detect obstacles and avoid them while moving. The doctor will be remotely controlling the movement of the robot therefore the DC motors used for the movement of the wheels will be Wi-Fi controlled.
Lastly, all of these sensors will have a safety feature, in case of any emergency or an error the buzzer will beep and warn the user.
For simulation of circuits, we will be using Multisim, and we will design the 3D model of the robot on Fusion 360 or SOLIDWORKS. Moreover, we will be using Arduino IDE for programming of the microcontroller and for data transmission and receival. For cloud storage we will be using a virtual storage software that uses specific IP address to secure the communication.
A study conducted in 2016 showed that Pakistan is among the 45 countries in the world that is suffering from an acute shortage of health workers (doctors, nurses, and midwives), which is defined as less than 2.5 workers per 1000 population. While experiencing the economic and financial challenges, the healthcare industry must overcome the issues of maldistribution and shortage of healthcare professionals as well. However, due to limitations of resources these problems must dealt with a solution that is cost effective and can be implemented with urgency.
To add to the above problem, during the outbreak at least 10,300 healthcare professionals have been infected with COVID-19, and at least 100 deaths were reported (as of December 2020). Moreover, with over 1,285,631 confirmed cases of COVID-19 the country experienced one of its greatest catastrophic shortages of medical equipment and devices, from patient monitors to ventilators, hospitals and healthcare institutions were not equipped to treat such large masses. This further exploited the situation of healthcare industry. Telepresence robots offer potential to support safe social connection at a distance. Using remote patient monitoring technology, telepresence robot can be customized to maintain patient health records, monitor changes in their medical data, and alerting nurses if their condition has worsened.
Technical Details of Final DeliverableThe robot would allow specialist medical professionals to visit remotely hospital patients. The robot's head would be a screen which has a video image of the doctor's face as (s)he checks out the patient Additional features on the robot includes monitoring vital signs (pulse, ECG, temperature, Spo2) and real-time maintenance of the EMR through cloud. Moreover, it is also equipped with feature such as alarm notifications for the staff if the vitals vary from a predefined range. The robot would have a sensor-rich environment incorporated in a 3D printed body and its height would be kept to easily reach a patient's bedside for ease in video conferencing.
Project Criteria:
The robot would be designed and integrated to carry out certain specific tasks therefore it is important to set up an eligibility criterion for the usage of this robot in healthcare industry based on patient’s interaction to it.
Inclusion criteria:
1. Robot would be in a partially observable, deterministic and dynamic environment.
2. Non critical and isolated patients who are conscious and do not need constant monitoring.
3. Patients in recovery or rehabilitation, requiring timely check-ups.
Exclusion criteria:
1. Patients who are critical and require constant monitoring.
2. Mentally ill, unstable patients e.g., Dementia, Alzheimer’s
3. Patients who are unconscious and not able to move their limbs or interact with the environment.
Final Deliverable of the Project HW/SW integrated systemCore Industry HealthOther Industries IT , Telecommunication Core Technology RoboticsOther Technologies Internet of Things (IoT), 3D/4D Printing, Cloud InfrastructureSustainable Development Goals Good Health and Well-Being for PeopleRequired Resources| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 79972 | |||
| AD8232 ECG sensor | Equipment | 1 | 1600 | 1600 |
| GY-906 MLX90614ESF IR Temperature Sensor | Equipment | 1 | 2700 | 2700 |
| MAX 30102 SpO2 Sensor | Equipment | 1 | 450 | 450 |
| Advantage MX NIBP sensor | Equipment | 1 | 20000 | 20000 |
| Arduino MEGA 2560 | Equipment | 1 | 1400 | 1400 |
| Node MCU ESP8266 | Equipment | 2 | 900 | 1800 |
| Raspberry Pi 4 Starter Kit | Equipment | 1 | 6677 | 6677 |
| 2YO-A21 IR proximity sensor | Equipment | 1 | 650 | 650 |
| KY-032 Obstacle Avoidance Sensor | Equipment | 2 | 740 | 1480 |
| EBRP-B-12 Raspberry Pi Camera Module v.2 | Equipment | 1 | 5950 | 5950 |
| Disposable ECG Electrodes | Equipment | 1 | 995 | 995 |
| NIBP cuff | Equipment | 1 | 470 | 470 |
| LCD touch display Raspberry Pi | Equipment | 1 | 4500 | 4500 |
| USB Microphone | Equipment | 1 | 1000 | 1000 |
| Robot Chasis | Equipment | 1 | 1200 | 1200 |
| Bluetooth Speaker | Equipment | 1 | 2500 | 2500 |
| 3D Printing | Equipment | 1 | 16000 | 16000 |
| MISC | Miscellaneous | 1 | 10000 | 10000 |
| Buzzer | Equipment | 2 | 300 | 600 |