Creation of some pdf forms

I need some forms created. What software is initially used is not important to me as long as the final output is in pdf. Attached is an example of a form that we use. Our field staff write on the form. Our office staff then have to complete the form in pdf. I will sketch out the form by hand and we will do several iterations until the form looks the way I want it to. The form comprises of some fields and some graphics.