DOI: https://doi.org/10.52756/10.52756/ijerr.2023.v31spl.005 Int. J. Exp. Res. Rev., Special Vol.

31: 42-50 (2023)

Design and development Virtual Doctor Robot for contactless monitoring of patients during
COVID-19

Amrita Rai1*, Krishanu Kundu2, Rahul Dev3, Jayshankar Prasad Keshari4 and Dhananjay Gupta5
1,2,3,5
Department of Electronics and Communications, GL Bajaj Institute of Technology & Management, Noida, India;
4
Government Engineering College, Sheikhpura, Bihar, India
E-mail/Orcid Id:
AR, [email protected], https://orcid.org/0000-0003-4105-6070; KK, [email protected], http://orcid.org/0000-0003-1057-4713;
RD, [email protected], https://orcid.org/0000-0002-0286-0050; JPK, [email protected], https://orcid.org/0000-0002-8745-0420;
DG, [email protected]

Article History: Abstract: The main objective of this paper is to design and develop a virtual doctor robot
Received: 17th Apr., 2023
(VDR) that will operate on the command of the actual doctor available far away from the
Accepted: 15th Jun., 2023 patient through new technology AI and IoT. It is not possible for doctors to be present
Published: 30thJul., 2023 everywhere and every time, especially in remote areas of India during COVID-19. As a
result, in an emergency, many patients lose their lives because they couldn‟t reach the
hospital on time or the doctor couldn‟t be available on time. In such a situation, virtual
Keywords: doctor robots play a vital role in healthcare with real-time data processing with machine
Virtual Doctor Robot, learning algorithms. In this paper, technological innovation has created new opportunities
Internet of Things (IoT), to enhance doctor services without contact using robots that can assist patients in dealing
Real-time processing, with their illnesses and providing solutions. Virtual doctor robots can benefit healthcare by
Humanoid Robot satisfying patients with more precise solutions. The virtual doctor robot design presented in
this paper can rescue patients in remote areas during any pandemic like COVID-19.
Through this virtual doctor robot, the doctors can observe and communicate with the
patients through video calls and prescribe necessary medicines through scanner. The
proposed VDR will help the doctors check the patient's pulse, body temperature, heart rate,
etc. through different sensors mounted in the robot structure and send that data using the
Wi-Fi network. The doctors will use an IoT-based panel to control and monitor the robot
and patients. The control commands that are sent by the doctor to the VDR are sent online
and the robot controller then receives these commands. The VDR also showcases other
functions like alerting the battery status to remind one that the battery needs to be charged.
It also stores the data related to diagnosed patients through cloud networking. The
framework of VDR is based on an automated vehicle with a four-wheel drive for its
movement and communication between the doctor and VDR is in real-time through the
internet. This paper also discusses the future trends of Virtual Doctor robots for the health
sector, humanoid robots for surgical help, and other activities of the healthcare sector.

Introduction people manage their ailments and offer better

Historically, the demand for collaborative robots solutions. Humanoid robots can improve patient
in the manufacturing industry has driven happiness in healthcare by boosting it. They can also
advancements in automation systems. The healthcare move dangerous materials and perform precision
industry needs to accept new technologies. The finest surgery in small spaces. This study extracted articles
solutions for helping and assisting doctors in medical from three databases to systematically review the
tasks are robots. The healthcare industry's neglect of literature. This essay emphasizes humanoid robots'
technological advancements has opened up new role in healthcare (Ozturkcan and Merdin-Uygur, 2022).
possibilities for improving service robots to help

*Corresponding Author: [email protected] 42

 Int. J. Exp. Res. Rev., Special Vol. 31: 33-50 (2023)
The growth of technology has made our work and Robots assisted in various pandemic-related tasks,
life easier. This advancement has helped researchers including cleaning floors in grocery stores, strolling
and scientists improve and transform medical dogs, exhibiting homes to real estate agents, spraying
equipment. Such leading technological progress has disinfectants, and sorting items (Hayasaki, 2020).
been widely used in many healthcare (Belle et al., Assisting with contactless check-in and assisting with
2015; Rong et al., 2020; Gao et al., 2018; Mehta and security at airports (Hornyak et al., 2020), recycling
Pandit, 2018; Waring et al., 2020) services like centers (Afanasyev et al., 2019), and airports (Mezes
treatment of a patient, monitoring of a patient, testing et al., 2022).
and also diagnosis. IOT has various applications in The doctors will use the IOT-based panel to
the medical field. IOT healthcare devices are control the robot, and the cloud services will help to
available in the form of wearable fitness bands. Apart keep track of the patients and their health records
from this IOT (Patel et al., 2017) has been applied in (Rai et al., 2021). The Virtual Doctor Robot (VDR)
various wirelessly connected equipment like blood utilizes a blink app through which the doctor can
pressure and heart monitoring cuffs. So far, control the robot from anywhere in the world with the
advancements in healthcare (Akkas et al., 2020) have help of the internet. The Blynk app provides all the
been possible by developing clinical sensors and sensors' data, i.e., the patient's pulse rate, heart rate,
implementing sensor networks in various hospitals. and body temperature, to the doctor. It draws power
Mitra was also hired in Bangalore (Fortis, 2020) to from the power bank module. Ultrasonic sensor has
screen each person entering a hospital in the manner been used to protect the VDR from any kind of
described below. Mitra uses facial and speech obstacle. The L298N motor driver has been used to
recognition to check the medical, non-medical, and run the motor in the robot. The VDR also consists of
staff members for Covid-19 symptoms like fever or two batteries, one of 12V and the other of 7V. One
cough. The human healthcare personnel can keep a nodeMCU is connected to the sensor, and the other is
safe distance from symptomatic patients thanks to connected to the motor. The Blynk app has two types
Mitra's assistance in identification and referral of cloud for the storage of data. One is the blynk
(Ozturkcan et al., 2022). cloud and the other is the one which we can privately
The combination of the sensors with the sensor run locally on the Blynk server. With the help of the
network has played a very vivid role in delivering Blynk app, the doctor can consult patients from
healthcare (Joseph et al., 2017; Rahmani et al., 2018) anywhere in this world.
facilities from distant or remote locations. Because of This paper is organized in the following manner:
such progress, various medical facilities have become firstly, the introduction and uses of proposed topic
more affordable and accessible. ML, AI, Big Data, and secondly, the Material and Methodology on basic
cloud computing (Ali et al., 2018) and many such humanoid and robotics in the literature review.
technologies have been employed to improve medical Section 3 reviews the architecture and block diagram
appliances. Recently Artificial intelligence (AI) is of the proposed IoT-based virtual doctor. The
basically used in the early detection of cancer and Hardware implementation and actual working model
such fatal diseases. Cloud computing (Abdelaziz et of the proposed VDR are in section 4. Finally, the
al., 2018) is used for storing patients' health records. proposed work of this article is concluded in the last
The Virtual Doctor Robot (VDR) (Patel et al., 2017) section.
also uses cloud services for the storing of medical
records of the patients. Among all these technologies, Materials, Components and Methodology for Proposed
VDR
the most convenient one that is popular in the
NodeMCU
medical domain is the Internet of Things (IOT)
The NodeMCU is an open-source IOT platform
(Postolache et al., 2020). The Virtual Doctor Robot
with firmware that runs on the ESP8266 Wi-Fi SoC
(Simoens et al., 2018) is a user-friendly health robotic
from Espressif Systems, and its hardware is based on
machine that uses the Internet of things (IOT) (Priya
ESP-12 module. It is a type of single-board
et al., 2021) and cloud services (Casola et al., 2016).
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microcontroller. It consists of 128 Kbytes memory Ultrasonic Sensor
and 4 Mbytes storage. Both its firmware and Ultrasonic sensor consists of four pins. The first
prototype board designs are open source. It uses a pin is Vcc, the last pin is the ground pin, it also has a
scripting language called Lua. It also uses several trigger pin, the output pin, and an echo pin, the input
open-source projects like lua-cjson and SPIFFS. pin. It consists of the transmitter and receiver. The
There are basically two versions of NodeMCU. The Virtual Doctor Robot (VDR) ultrasonic sensor is used
first one is NodeMCU version 0.9 and the second is to protect the root from any obstacle (Fu et al., 2022).
NodeMCU version 1.0. The version 0.9 has ESP-12 Temperature Sensor
and the other version 1.0 has ESP-12E, in which E The temperature sensor is mainly used for the
indicates “Enhanced”. The Virtual Doctor Robot measurement of temperature. This is used in the
connects the NodeMCU to a 7V battery. Two Virtual Doctor Robot (VDR) for the measurement of
NodeMCU are used in the Virtual Doctor Robot the body temperature of the patient. The main
(VDR). One NodeMCU is connected to the sensor principle for working any temperature sensor is the
and the other one is connected to the motor. voltage across the diode terminals. It converts the
L298N Motor Driver input data to electronic data. It can measure the
It is basically the controller which uses a H-Bridge temperature directly or indirectly with or without
to control the speed and directions of the DC motor making physical contact with the object (Bouchard et
easily. It is a high current and high voltage drive chip. al., 2022).
It can control upto 4 DC Motors. When we want to Pulse Oximeter
rotate the left motor in one direction, we must apply a The pulse oximeter is used in the Virtual Doctor
high pulse to IN1 and low pulse to IN2. To reverse Robot (VDR) for the measurement of the pulse rate
the direction, we must apply a high pulse to IN2 and of the patient. It is an electronic device that measures
a low pulse to IN1. It consists of 78M05 Voltage the saturation of oxygen carried in the red blood cells
Regulator, resistors, capacitors, Power LED, 5V (Lee et al., 2022;) A normal person‟s oxygen level
jumper in an integrated circuit. must be 95% or higher. The oxygen level helps the
Blynk App doctors determine whether the patient needs to
The Blynk app is a new platform that helps one receive supplemental oxygen.
build interfaces for controlling and monitoring the Arduino (UNO)
hardware components from Android and iOS devices. Arduino UNO is used in various applications,
First user needs to download the Blynk app and then mainly in robotics (Rai et al., 2022; Shuaib et al.,
create a project dashboard and arrange buttons, 2020; Rusia et al., 2021). It is also used in home
graphs, sliders and other widgets onto the screen. It is automation. It consists of a data transport port
like a digital dashboard in which we can create a connected to the laptop or the mobile phone via OTG.
graphic interface for the desired project. The Blynk It transfers the program from the laptop or phone to
app also provides a cloud service known as blynk the arduino. It consists of a port from where a power
cloud, or we can also locally run our private Blynk supply is given. It consists of a microcontroller which
server. This app is used to control the NodeMCU, is the main component of the arduino. It is also
Raspberry Pi and Arduino with the help of the known as the brain of the microcontroller. Program
internet. It creates a Human Machine Interface by is basically stored here only. It consists of 28 pins, of
providing the exact address on the widgets. In the which the 14 pins are for digital input/output. Out of
Virtual Doctor Robot, the doctor uses the Blynk app these 14 pins, 6 pins are analog and the other 6 pins
to consult patients from anywhere in this world. With are of PWM (Pulse Width Modulus). It consists of a
the use of the Blynk app, data from the sensors, like reset button. The Wi-Fi Module and all the other
the patient's pulse rate, heart rate, and body components, like the ECG Sensor, Temperature
temperature, is sent to the doctor with the help of the Sensor, Pulse Oximeter, Ultrasonic Sensor are
internet. It also helps to store the data in the Blynk connected to the Arduino UNO.
cloud or our private Blynk server.
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Block Diagram data on screen of the user or controller which can
The block diagram briefly overviews the Virtual monitor the actual condition of the patient. Figure 3
Doctor Robot (VDR) and its components. It consists shows the actual dashboard of implemented
of a Wi-Fi module, two ECG Sensors, Pulse application during the simulation of the proposed
Oximeter, Ultrasonic Sensor and Temperature VDR component. This application can be run on any
Sensor. All these are connected to the Arduino UNO. desktop, Laptop, Tablet and Mobile phone. Using this
The Ultrasonic sensor protects the robot from any application, the patient data can be recorded and
kind of obstacle. The basic proposed model of stored in cloud for future purpose.
prototype VDR is shown in figure1 as a block
diagram. In the proposed Model basic
microcontroller board Arduino UNO was connected
with all basic sensors like Pulse oximeter, ECG
Sensors, temperature sensor and ultrasonic sensors
for sensing different parameters such as temperature,
SPO2 Level, heart rate etc. of the patient and using
Wi-fi module sent it to an actual doctor for further Figure 2.Setup of testing of LCD display with Aurdino
process. UNO board and sensors

The robot controller uses wifi internet to function.

Real-time commands are sent, and the robot actuators
are activated to carry out the requested movement
instructions. Additional root features include a
battery status indication that serves as a reminder to
charge batteries on schedule. The framework uses an
autonomous vehicle with four wheels for a
straightforward path. The robot also features a
mounting for a phone or tablet as well as a regulating
box for the hardware. To conduct live video calls, a
tablet or portable device is used. To operate the robot,
the specialist can use an IOT-based board. The robot
LCD regulator receives the control orders delivered
Screen through the Internet. The robot regulator utilizes
WiFi for operation. They received orders in stages,
and the robotic engines were activated to carry out
Figure 1. Block Diagram of proposed VDR model with the best development commands. The root also offers
sensors and Wi-fi Module
other functions, such as a battery status alert, to
Setup & Performance remind users to charge their batteries on schedule.
Initialy the proposed model are examined in the The Virtual Doctor Robot is a piece of IoT and cloud-
laboratory with the breadboard and component based consumer healthcare robot technology. Cloud
mentioned in the preceding paragraph to check the computer services will help keep a record of the
real-time applications. VDR basically measures the persons and health information, and doctors will
patient body temperature and oxygen level first using control the robot via an Internet of Things panel.
sensors mounted on the front of proposed model. The The IoT-based software that powers VDR enables
figure 2 shows the setup of the testing pulse and doctors to control the robot virtually from anywhere
temperature sensor by Aurdino board and display the in the world via the internet known as the BlynkIt
real data on the LED display. Simultaneously through app.
the programming on Blynk app display the measured

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Figure 3. Software dashboard display of Bood Pressure Measurement (BPM) and SpO2 Level
It is like a digital dashboard in which we can create a four-wheel drive. The robot also has a controlling
graphic interface for our project. This app is box with all other sensors and a microcontroller for
responsible for all the communications that are made the electronics functioning with Wi-fi module for
between the hardware and the smartphone. The Blynk communication of the robot as well as a mounting of
app also provides us with its cloud service known as a tablet or phone. Live video calls are held on a
blynk cloud, or we can also locally run our private mobile device or tablet. The doctor may control the
Blynk server. This app is used to control the robot via an IOT-based panel and server through
NodeMCU, Raspberry Pi and Arduino with the help networking. The robot controller receives the control
of the internet. It creates a Human Machine Interface commands given online. The prototype of the
by providing the exact address on the widgets. The proposed model is built with wood and electronics
Blynk app transmits all sensor data to the doctor, components and circuits, as shown in figure 4, figure
including the patient's heart rate, core temperature, 5 and figure 6 is used and modeled as a diagram of
and pulse. The portable power module powers „t‟. A commercialized VDR with a wider LED screen.
sensor using ultrasonic waves protected the VDR Further, VDR will be implemented with a high-
from any obstructions. Additionally, VDR warns the resolution HD camera and all sensors mounted on
user of the battery's condition and lets them know iron or steel body with compact design and easy
that it needs to be charged, signaling that the time for movement according to market demand. But it is
battery charging has come. An L298N motor driver currently in the innovation and testing stage, so it is
drove the robot's motor. available with the structure shown in Figure 6.

Results and Discussion

Virtual Doctor Robot consists of four wheels that
help move the robot. Present model is based on wood
and paper for the fabrication of VDR, as shown in
figure 6. The VDR box's final structure, shown in the
figures below, required various cabinet for the
mounting circuits and the batteries used for the
functioning of Virtual Doctor Robot and other
components. Virtual Doctor Robot (VDR) also has a
robotic base and supporting frames. The outer box is
made of plywood. It consists of the temperature
sensor for measuring temperature and the pulse
oximeter for oxygen level detection and heart rate Figure 4. Ultrasonic, Temperature & Pulse
detection mounted on PCB as shown in figure 4. For
simple navigation, the system uses a robotic car with
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There are various cases where people die because
they weren‟t able to make it to the hospital on time or
because the doctor wasn‟t available. As we face a
pandemic COVID-19, the VDR could be of the most
use. Without any contact, the doctor could check the
patient and see the reports and keep track of his
pulse, heart rate and body temperature. If the
patient‟s condition worsens, the VDR will send the
new pulse, heart, and temperature to the doctor. As
we all know, during the COVID-19 pandemic, many
died due to the lack of medical facilities or being in a
remote location. This has happened all over the
world. The Virtual Doctor Robot helps us properly
treat the patient and maintain proper social
Figure 5. Virtual Doctor Robot (Front sensor
distancing. Doctors can check the patients by video
implementation on VDR View)
calls without making any contact with the patient
unless and until there is a stable internet connection.
People in rural areas who couldn‟t consult doctors
and receive proper medical care because of their
remote location can now consult doctors with the
help of Virtual Doctor Robot via video calls. Doctors
can consult anyone and everyone from any remote or
distant location unless and until there is a proper
internet connection. Emergency patients can be
treated on priority with the help of Virtual Doctor
Robot (VDR). With the help of the blynk app, the
doctor can receive all the data, i.e., the patient's
health records from the sensor. The Blynk app also
saves the patient's data in the Blynk cloud or the
private Blynk server.
The Virtual Doctor Robot (VDR) is useful in all
Figure 6. Final prototype Virtual Doctor Robot with hospitals and clinics. Doctors can virtually keep track
display and sensors of their patient's health records and data. Doctors can
The proposed VDR is compared with the virtually move around in operation theatres and
Ozturkcan (2022) Humanoid service robots, which around the patient‟s room. The Virtual Doctor Robot
only gives the outline work and future perspective of (VDR) is used in emergency centers. Doctors can see
humanoid in the health care system for various the patients via video calls and their reports. A great
functions. But VDR actually reads patent conditions benefit of the Virtual Doctor Benefit (VDR) is in the
in real-time and processes simultaneously with rural areas where the doctors can‟t always go, or the
available nearby doctors. The humanoid robot patients don‟t have any kind of medical centers
proposed by Mukherjee et al. (2022) for the helping nearby. Another advantage of the Virtual Doctor
hand of doctors in health care cannot perform data Robot (VDR) is that it is very helpful for quarantine
processing through IoT and cloud. The flow chart of patients. Patients can consult doctors while being
AI-enabled Robot given in Denecke and Baudoin quarantined and doctors can get regular health
(2022) is implemented successfully in hardware and records of the patient.
tested for some work in this paper.

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Conflict of interest
https://doi.org/10.3389/fmed.2022.795957
Fortis. (2020). Fortis Hospital, Bannerghatta Road
None
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How to cite this Article:

Amrita Rai, Krishanu Kundu, Rahul Dev, Jayshankar Prasad Keshari and Dhananjay Gupta (2023). Design and development Virtual
Doctor Robot for contactless monitoring of patients during COVID-19. International Journal of Experimental Research and Review, 31,
42-50.
DOI : https://doi.org/10.52756/10.52756/ijerr.2023.v31spl.005

DOI: https://doi.org/10.52756/10.52756/ijerr.2023.v31spl.005
50