End User Programming to Enable Closed-loop Medication Management Using a Healthcare Robot

Developments in healthcare delivery systems are focusing on improved quality of care and patient satisfaction. Automated medication management on a mobile service robot is part of our interdisciplinary Healthbots research project, and has the potential to address both areas. The robotic medication reminding system is the result of an analysis of the workow in medication management and a systematic application of the workow to an interactive mobile robot. The robot is being evaluated to develop a better understanding of the technology required to address the safety and adherence issues of medication management for seniors living independently in a retirement village. Medication data and instructions presented during interaction need to be programmed by end users according to the medication. Changes such as the schedule, the names of drugs, and constraints in taking the medication, are periodically updated by the caregiver after the medication is prescribed by the doctor and dispatched by the pharmacist. This paper presents an analysis of the end user tools and the software architecture essential to complete this medication workow. Initial prototypes of the software were used in a pilot study at a retirement village. The pilot system can support the quality of care provided to the older people and prevent medication errors. The contribution the paper is a new analysis and novel design for enabling role based customization for robotic medication reminding. These contributions will assist in the technical decision making of developers involved in implementing service robots for similar tasks.