Solution Brief Medical and Life Sciences Gwell Medical (mRobot) Optimizes Hospital Logistics Robotic Solution Based on Intel® Architecture The Noah robot is an excellent substitute for human labor. A logistics worker can usually handle up to 30 kg at a time, while the Noah robot can carry up to 300 kg. As labor costs increase and hospitals require more stringent logistics management, a traditional human labor approach will make it hard to meet Authors: these challenges. In the future, hospitals will have trends similar to factories: Zhen (Fiona) Zhao more robots will gradually assist with these changing demands. Deep learning technical consulting engineer, Intel Corporation – Wei Lü Cofounder and CTO Lei Zhang Software algorithm engineer, Gwell Medical Gwell Medical Technology Co., Ltd. Xuesong Shi Gwell’s Noah hospital robot uses Intel® technologies to perform Research scientist, Intel Labs China, many human tasks Intel Corporation Hospital business operations have significant logistics demands for the distribution of Dmitry Kurtaev medications, consumables, food and beverages, and for waste removal. Technologies including Deep learning software engineer, robotics, computer vision, artificial intelligence (AI), and deep learning (DL) are automating Intel Corporation logistics operations in hospitals to help improve efficiency and streamline human workloads. Gan Zhang Navigation control development manager, To address these rapidly evolving needs, Shanghai Gwell Medical (formerly known as mRobot) Gwell Medical Technology Co., Ltd. developed the Noah hospital logistics robot based on an Intel® Core™ processor, Intel® Movidius™ vision processing unit (VPU), and Intel® Distribution of OpenVINO™ Hengkang Liang toolkit. The Noah robot incorporates cutting-edge technologies such as autonomous Hardware engineering director, Gwell Medical navigation, elevator access, loading/unloading, and multirobot scheduling. It can support Yiqun (Charlie) Hu transportation tasks for operating rooms, pharmacy intravenous admixture services (PIVAS), Account manager, China Intelligent Platform Sales, specimen gathering, and other distribution links in a hospital. Intel Corporation Qi (Scott) Wang Background: Autonomous robot for hospital logistics Solution architect, Healthcare and Life Science, Technologies used in autonomous driving are key for the deployment of logistics robots in Intel Corporation a hospital. To explore the surrounding environment, a robot uses lidar, ultrasound, radar, and optical sensors to collect volumes of data. The robot crunches sensor data and large amounts of parallel and sequential computing data to develop a comprehensive and accurate understanding of the environment and evaluate possible scenarios, prioritize tasks, and then execute them. In actual usages, a logistics robot needs to identify objects such as elevators, doors, and pedestrians and perform functions such as elevator entry and exit, door access, freight collection and delivery, and obstacle circumventing. For these autonomous driving functions, the robot needs the capabilities of perception, decision-making, and control and must overcome challenges such as target detection, motion planning, and simultaneous localization and mapping (SLAM). Solution Brief | Gwell Medical (mRobot) Optimizes Hospital Logistics Robotic Solution Based on Intel® Architecture Object detection is an essential and challenging task in computer Today, a number of mechanical logistics systems are used in vision. It requires the algorithm to predict a bounding box with hospitals, including pneumatic tube systems (PTSs), track vehicle a class label for each instance in the image.1 For this purpose, a systems (TVSs), box-type conveyor sorting systems (BCSSs), feature image pyramid is the basis of the solution chosen by many and vertical logistics transportation systems. These systems can robotic object-detection designs. This algorithm allows the model reduce logistics workloads and improve efficiency to some extent. to detect a wider range of objects by scanning at the position However, implementation challenges can be numerous, including and on the pyramid hierarchy.2 However, the low accuracy of this limitations on the size and weight of transported goods, significant object-detection method is a problem for field deployments and building renovation requirements, long project cycles, and high may cause blockage and erroneous motion—especially in the case costs for system upgrades. of multiple object tracking (MOT). To handle these complex cases With large loading, flexible usage scenarios, and quick rollout, in MOT scenarios, a unified MOT framework learning method is autonomous robot deployment is a new trend in hospital logistics proposed to make full use of long-term and short-term cues.3 systems. A third-party survey showed that the percentage of For indoor real-time logistics robotic positioning and mapping, hospitals in China conducting trial or real deployment of logistics GPS signals are often weak and inertial measurement units (IMUs) robots is still small, with plenty of room for future development.9 may drift as well. Therefore, a new robotic self-localization method Logistics robots are expected to play a bigger role in hospitals in is proposed to prerecord the scene, encode “landmark” visual the future.10 features through visual recognition, and then perform localization by matching the perceived and stored landmarks.4 Efficient lidar- Solution: Noah hospital logistics robot based based semantic SLAM is an effective method to facilitate the on Intel® architecture mapping process, along with semantic information integration and The Noah robot from Gwell Medical utilizes cutting-edge 5 a 3D laser for range scanning. technologies, such as autonomous navigation, automatic elevator access, loading/unloading, and multirobot scheduling to quickly Obstacle avoidance and most-efficient route planning are and securely perform transportation tasks for operating rooms, important motion-planning requirements of autonomous logistics PIVAS, specimen gathering, and other distribution duties in robots. As the output of the object detection and tracking module hospitals. can be reasonably assumed to follow a multivariate Gaussian distribution, there is a new proposal for a safe path planning paradigm with a Gaussian process regulated risk map.6 With a neural network–based heterogeneous sensor, depth imaging, and roll-and-pitch measurements, the traversability and collision avoidance of a robot can be calculated in real time.7 Moreover, a potential collision can be detected in the trajectory by calculating the multidimensional trajectory from the start to an arbitrary target state and exploiting the piecewise polynomial formulation.8 Challenge: The transformation to automated hospital logistics The daily diagnosis and treatment activities in a typical hospital require significant logistics. According to Gwell Medical’s estimation, a hospital with 1,200 beds will consume or generate Figure 1. The Noah hospital logistics robot. Image courtesy of the following daily: 200 surgical instrument sterilization bags; Gwell Medical. 2,000 boxes of orally administered drugs; 2,514 blood samples; For robotic perception based on computer vision, Gwell Medical 5,800 large infusion bags; 1,200 hospital gowns; and approximately uses heterogeneous compute hardware including Intel Core 2,200 other consumables. This equates to more than 20 tons of processors, Intel Movidius VPUs, and the Intel Distribution of supplies and 3,000 deliveries, requiring 60 logistics workers. OpenVINO toolkit to simplify product deployment and increase deep learning inference performance with less power and low The traditional logistics arrangement of a nurses’ aide and trolley control latency. can present problems for staffers like dispatching errors and personal safety issues that come with heavy physical workloads, Intel Core processors with Intel® HD Graphics provide a strong risk of radiation, and exposure to epidemic infections. These can foundation for the Noah robot, with powerful general-purpose increase operational costs. Automated robots can reduce these compute performance, availability, scalability, and security. issues and are becoming a deployment priority in hospitals with Meanwhile, Intel Movidius VPUs provide a dedicated deep learning heavy logistics workloads. inference architecture with high performance at extremely low 2 Solution Brief | Gwell Medical (mRobot) Optimizes Hospital Logistics Robotic Solution Based on Intel® Architecture power. With high-quality image processing, computer vision, automatically extracts more accurate candidate regions (region and deep neural network inference, the object detection in proposal). The number of candidate regions is reduced from 2,000 hospital logistics scenarios is seamlessly enabled at an optimal to 300 after using RPN, which improves the efficiency of object performance-to-power-and-cost ratio. detection while ensuring accuracy.11 The Noah robot uses a Faster R-CNN network for object detection. The OpenVINO toolkit offers highly optimized neural network In Figure 2, Faster R-CNN, derived from Fast R-CNN, consists of computing performance and accelerates deep learning inference four parts: convolution layers, region proposal network (RPN), on Intel® hardware platforms including CPUs, iGPUs, VPUs, and region of interest pooling (ROI pooling), and classifier. By replacing FPGAs. Intel teams helped Gwell Medical optimize their Faster the original selective search