Medical moving body system and operating method thereof

Abstract

This medical mobile body system is provided with a medical mobile body (200), a robot (101), an operator (102), and a control device (110), the robot (101) being disposed in a first space (201), the operator (102) being disposed in a second space (202), and the control device (110) being configured so as to execute: A, causing the robot (101) to self-walk so as to approach a patient; and B, after executing A, operating the arm (13) and / or the hand (18).

Description

[0001] This application is a divisional application of the PCT national phase application with an international application date of April 7, 2021, a national phase entry date of September 30, 2022, a national application number of 202180026453.X, and an invention name of “Medical mobile system and its operation method”. Technical Field

[0002] The present invention relates to a medical mobile system and an operating method thereof. Background Art

[0003] A self-propelled tray transport robot is known that manages whether patients are present or absent and that supplies blood collection tube storage trays for in-patients prepared in a blood collection tube preparation room to a blood collection station by self-propelled movement (see, for example, Patent Document 1).

[0004] In the self-propelled pallet transport robot disclosed in Patent Document 1, a non-contact medium such as RF-ID is used for checking acceptance slips, and a reader for the non-contact medium is provided at the entrance door of the blood collection room to check the entry and exit of the patient.

[0005] Furthermore, when the patient is not present, the self-propelled tray transport robot receives the tray automatically prepared by the blood collection tube preparation device and stores it in a predetermined storage unit. When the patient is in the blood collection room, the robot assists in medical procedures by self-propelledly delivering the tray to the requested blood collection station.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: Japanese Patent Application Laid-Open No. 2007-130282 Summary of the Invention

[0009] Technical problem to be solved by the invention

[0010] However, in recent years, infectious diseases caused by coronaviruses such as SARS, MERS, and COVID-19 have been spreading. In addition, infectious diseases caused by viruses other than coronaviruses and various bacteria are also widely known.

[0011] Although infection is diagnosed by collecting samples of mucous membranes, etc. from these suspected infectious disease patients and performing tests such as PCR tests, the medical staff who collect the samples themselves are at risk of contracting the virus, etc.

[0012] Furthermore, medical personnel who come into contact with patients infected with viruses, etc., may travel on mobile medical vessels such as hospital ships between the time they perform an examination and the time their infection is confirmed, and there is a risk that other patients with other diseases in the mobile vessels may be infected with the virus, etc.

[0013] Therefore, the present inventors discovered that by remotely controlling a robot to perform examinations and diagnostics on patients suspected of being infected with a virus, etc., infection risk to medical staff and the like can be substantially reduced, and thus came up with the present invention.

[0014] An object of the present invention is to provide a medical mobile system and an operating method thereof that can sufficiently reduce infection among medical personnel and the like.

[0015] Technical solutions to problems

[0016] In order to solve the above-mentioned existing problems, the medical mobile body system involved in the present invention is a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes: the medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; an operator, which is configured to operate the robot; and a control device, the robot is arranged in a first space inside the medical mobile body, the operator is arranged in a second space isolated from the first space, and the control device is configured to execute: A, which makes the robot walk to the vicinity of the patient; A, which makes the robot walk to approach the patient after executing A; and B, which makes the arm and / or the hand move according to the operation instruction information of the arm and / or the hand input from the operator after executing A.

[0017] Thus, medical staff can control contact with patients suspected of being infected with viruses, etc. by operating the robot in a space isolated from the patients. Therefore, it is possible to effectively control the infection of medical staff with viruses, etc.

[0018] Furthermore, since the robot moves to the vicinity of patients in inpatient rooms, etc., medical staff do not need to move inside the medical mobile body. Therefore, infection of medical staff can be effectively suppressed.

[0019] Furthermore, by distinguishing between robots for patients suspected of having infectious diseases and robots for patients with other diseases, infection of patients with other diseases can be sufficiently suppressed.

[0020] In addition, the medical mobile body system involved in the present invention is a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes: the medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; an operator, which is configured to operate the robot; and a control device, the robot is configured in a first space inside the medical mobile body, the operator is configured in a second space isolated from the first space, a first photographic device is configured on the hand, and the control device is configured to execute α, which causes the arm and / or the hand to move according to operation instruction information of the arm and / or the hand input from the operator.

[0021] Thus, medical staff can control contact with patients suspected of being infected with viruses, etc. by operating the robot in a space isolated from the patients. Therefore, it is possible to effectively control the infection of medical staff with viruses, etc.

[0022] In addition, the operating method of the medical mobile body system involved in the present invention is a method for operating a medical mobile body system including a medical mobile body for accommodating patients with various diseases, the medical mobile body system including: the medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; an operator, which is configured to operate the robot, the robot is configured in a first space inside the medical mobile body, the operator is configured in a second space isolated from the first space, and includes: A, which enables the robot to walk on its own to approach the patient; and B, which, after executing A, causes the arm and / or the hand to move according to operation instruction information of the arm and / or the hand input from the operator.

[0023] Thus, medical staff can control contact with patients suspected of being infected with viruses, etc. by operating the robot in a space isolated from the patients. Therefore, it is possible to effectively control the infection of medical staff with viruses, etc.

[0024] Furthermore, since the robot moves to the vicinity of patients in inpatient rooms, etc., medical staff do not need to move inside the medical mobile body. Therefore, infection of medical staff can be effectively suppressed.

[0025] Furthermore, by distinguishing between robots used for patients suspected of infectious diseases and robots used for patients with other diseases, it is possible to fully suppress infection of patients with other diseases.

[0026] In addition, the medical mobile body system involved in the present invention is a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes the medical mobile body, the robot is configured in a first space inside the medical mobile body, the manipulator is configured in a second space isolated from the first space, a first photographic device is configured on the hand, and includes α, which causes the arm and / or the hand to move according to operation instruction information of the arm and / or the hand input from the manipulator.

[0027] Thus, medical staff can operate the robot in a space isolated from patients, thereby reducing contact with patients suspected of being infected with viruses, etc. Therefore, medical staff can be effectively prevented from contracting viruses, etc.

[0028] The above objects, other objects, features and advantages of the present invention will become apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

[0029] Effects of the Invention

[0030] According to the medical mobile body system and the operating method thereof of the present invention, infection of medical personnel and the like inside the medical mobile body can be sufficiently reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram showing a schematic configuration of the medical mobile system according to the first embodiment.

[0032] Figure 2 This is a schematic diagram showing a schematic configuration of the medical mobile system according to the first embodiment.

[0033] Figure 3 To express Figure 1 and Figure 2 Schematic diagram of the schematic configuration of a robot in the medical mobile system shown.

[0034] Figure 4 This is a schematic diagram showing a schematic configuration of a robot hand in the medical mobile system according to the first embodiment.

[0035] Figure 5 This is a flowchart showing an example of the operation of the medical mobile system according to the first embodiment.

[0036] Figure 6 This is a schematic diagram for illustrating an example of the operation of the robot of the medical mobile system according to the first embodiment.

[0037] Figure 7 To express in Figure 1A schematic diagram of an example of image information and / or video information displayed in a first display device is shown.

[0038] Figure 8 To express in Figure 1 A schematic diagram of another example of image information and / or video information displayed in the first display device is shown.

[0039] Figure 9 To express in Figure 1 A schematic diagram of another example of image information and / or video information displayed in the first display device is shown.

[0040] Figure 10 To express in Figure 1 A schematic diagram of another example of image information and / or video information displayed in the first display device is shown.

[0041] Figure 11 This is a schematic diagram showing a schematic configuration of a medical mobile system according to Modification 1 of the first embodiment.

[0042] Figure 12 It is a schematic diagram for showing the general configuration of the medical mobile system according to the second embodiment.

[0043] Figure 13 It is a schematic diagram for showing the general configuration of the medical mobile system according to the third embodiment.

[0044] Figure 14 It is a schematic diagram for showing the general configuration of a medical mobile system according to the fourth embodiment.

[0045] Figure 15 This is a flowchart showing an example of the operation of the medical mobile system according to the fourth embodiment.

[0046] Figure 16 This is a schematic diagram showing a schematic configuration of a medical mobile system according to a first modification of the fourth embodiment.

[0047] Figure 17 It is a schematic diagram for showing the general configuration of a medical mobile system according to the fifth embodiment.

[0048] Figure 18 This is a flowchart showing an example of the operation of the medical mobile system according to the fifth embodiment.

[0049] Figure 19 It is a schematic diagram for showing the general configuration of a medical mobile system according to the sixth embodiment.

[0050] Figure 20It is a schematic diagram for showing the general configuration of a medical mobile system according to the sixth embodiment.

[0051] Figure 21 To express Figure 19 Schematic diagram of the general structure of the robot hand shown.

[0052] Figure 22 This is a flowchart showing an example of the operation of the medical mobile system according to the sixth embodiment.

[0053] Figure 23 This is a schematic diagram showing a schematic configuration of a medical mobile system according to a first modification of the sixth embodiment.

[0054] Figure 24 It is a schematic diagram for showing the general configuration of a medical mobile system according to the seventh embodiment.

[0055] Figure 25 It is a schematic diagram for showing the general configuration of a medical mobile system according to the eighth embodiment.

[0056] Figure 26 This is a flowchart showing an example of the operation of the medical mobile system according to the eighth embodiment. DETAILED DESCRIPTION

[0057] The following describes embodiments of the present invention with reference to the accompanying drawings. Identical or equivalent parts are denoted by the same reference numerals throughout the drawings, and duplicate descriptions are omitted. Furthermore, in all drawings, components used to illustrate the present invention are excerpted and illustrated, with other components sometimes omitted from illustration. Furthermore, the present invention is not limited to the following embodiments.

[0058] (Implementation 1)

[0059] The medical mobile body system involved in this embodiment 1 is a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes: a medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; an operator, which is configured to operate the robot; and a control device, the robot is configured in a first space inside the medical mobile body, the operator is configured in a second space isolated from the first space, and the control device is configured to execute: A, which makes the robot walk by itself to approach the patient; and B, which, after executing A, causes the arm to move according to the operation instruction information of the arm and / or hand input from the operator.

[0060] In addition, the medical mobile body system involved in this embodiment 1 also includes: a first photographic device; and a first display device, which is configured to display the image information and / or video information photographed by the first photographic device, and the control device can also be configured to execute B in a state where the first display device displays the image information and / or video information photographed by the first photographic device.

[0061] Furthermore, in the medical mobile body system according to the first embodiment, a pair of laser pointers may be arranged on the hand so that light emitted from the laser pointers intersect with each other.

[0062] In the mobile medical system according to the first embodiment, the first imaging device may be disposed on the robot or on the hand of the robot.

[0063] Furthermore, in the mobile medical system according to the first embodiment, the first display device may be configured to display a virtual model indicating positional information of the medical examination instrument and / or the medical diagnosis instrument.

[0064] Furthermore, in the medical mobile body system according to the first embodiment, an operation switch configured to instruct release of holding of the medical examination instrument and / or the medical diagnosis instrument may be provided in the operation unit.

[0065] Furthermore, in the medical mobile body system according to the first embodiment, the robot and the manipulator may be configured in a master-slave system.

[0066] Furthermore, in the medical mobile body system according to the first embodiment, the second space may be located outside the medical mobile body.

[0067] Furthermore, in the mobile medical body system according to the first embodiment, the mobile medical body may be a hospital ship.

[0068] The operating method of the medical mobile body system involved in this embodiment 1 is a method for operating a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes: a medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; an operator, which is configured to operate the robot, the robot is configured in a first space inside the medical mobile body, and the operator is configured in a second space isolated from the first space, and includes: A, which automatically moves the robot to the vicinity of the patient based on the patient's position information input from the operator; and B, which, after executing A, causes the arm and / or hand to move based on the operation instruction information of the arm and / or hand input from the operator.

[0069] In addition, in the operating method of the medical mobile body system involved in this embodiment 1, the medical mobile body system also includes: a first photographic device; and a first display device, which is configured to display the image information and / or video information captured by the first photographic device, and B can also be executed in a state where the first display device displays the image information and / or video information captured by the first photographic device.

[0070] Furthermore, in the operating method of the medical mobile system according to the first embodiment, a pair of laser pointers may be arranged on the hand so that light emitted from the laser pointers intersect with each other.

[0071] Furthermore, in the method of operating the medical mobile system according to the first embodiment, the first imaging device may be disposed on the robot or on the hand of the robot.

[0072] Furthermore, in the operating method of the mobile medical system according to the first embodiment, the first display device may be configured to display a virtual model indicating position information of the medical examination instrument and / or the medical diagnosis instrument.

[0073] Furthermore, in the operating method of the medical mobile body system according to the first embodiment, the first display device may be configured to display a virtual model of the patient's part to be treated by medical procedures.

[0074] Furthermore, in the operating method of the medical mobile system according to the first embodiment, an operating switch for instructing to release the hold of the medical examination instrument and / or the medical diagnosis instrument may be provided in the operating device.

[0075] Furthermore, in the operating method of the medical mobile body system according to the first embodiment, the robot and the manipulator may be configured in a master-slave system.

[0076] Furthermore, in the operating method of the medical mobile body system according to the first embodiment, the second space may be located outside the medical mobile body.

[0077] Furthermore, in the operating method of the mobile medical body system according to the first embodiment, the mobile medical body may be a hospital ship.

[0078] Below, refer to Figures 1 to 10 An example of the medical mobile system according to the first embodiment will be described.

[0079] [Structure of medical mobile system]

[0080] Figure 1 and Figure 2 This is a schematic diagram showing a schematic configuration of the medical mobile system according to the first embodiment.

[0081] like Figure 1 As shown, the medical mobile body system 100 according to the first embodiment includes a medical mobile body 200, a robot 101, an operating unit 102, a first display device 103, and a control device 110. The robot 101 is disposed in the medical mobile body 200, and the operating unit 102 and the first display device 103 are disposed so as to be isolated from the medical mobile body 200.

[0082] Specifically, the robot 101 is arranged in a first space 201 which is an internal space of the medical mobile body 200 , and the operating unit 102 , the first display device 103 , and the control device 110 are arranged in a second space 202 isolated from the first space 201 .

[0083] Furthermore, the second space 202 may be inside or outside the medical mobile body 200 as long as it is isolated from the first space 201. The outside of the medical mobile body 200 may be a hospital.

[0084] Furthermore, a photographing device (first photographing device) for photographing the patient's profile may be disposed within the first space 201. The photographing device may be mounted on the partition member 210 forming the first space 201 or held by a robot separate from the robot 101.

[0085] Furthermore, instruments, experimental equipment, and various test reagents used by the robot 101 to perform medical examinations may be placed in the room (consultation room / examination room) forming the first space 201. Examples of instruments include automatic pipettes, pipette tips used in automatic pipettes, microtubes, centrifuge tubes, and remote sink tubes; and examples of experimental equipment include centrifuges and PCR equipment.

[0086] The medical mobile body 200 is configured to accommodate and transport patients with various diseases. The medical mobile body 200 may be, for example, a hospital ship or a railway vehicle. A first space 201 is formed in the medical mobile body 200 by a partition member 210 .

[0087] In addition, the medical mobile body 200 may be equipped with various rescue / ambulance equipment such as a generator 211, a rescue / ambulance vehicle 212, a rescue / ambulance humanoid robot 213, a sample collection / inspection support robot 214, and an emergency medical helicopter 215.

[0088] In addition, the rescue / ambulance humanoid robot 213 and / or the sampling / inspection support robot 214 can be composed of robots of the same type as the robot 101 or robots of different types.

[0089] For example, the second space 202 may be formed by the partition member 210 inside the medical movable body 200. Alternatively, the second space 202 may be formed by the partition member 210 inside a hospital that is outside the medical movable body 200.

[0090] Alternatively, a vestibule may be provided in the room (operation room) forming the second space 202. Furthermore, a fan filter unit may be provided in the vestibule, configured to maintain a negative pressure in the vestibule and a positive pressure in the second space 202 (the interior space of the operation room). A known fan filter unit may be used as the fan filter unit.

[0091] Furthermore, the partition member 210 may be provided with a roll-up door (gate) 204 that allows / forbids movement into the first space 201 , or a roll-up door (gate) 205 that allows / forbids movement into the second space 202 .

[0092] Furthermore, the partition member 210 may be configured so that a portion thereof is formed of a transparent member such as a glass plate so that an operator (medical staff) or the like can observe the interior of the first space 201 from the outside.

[0093] The operating device 102 is configured to operate the robot 101. As the operating device 102, for example, a known operating device such as a joystick, a keyboard, a numeric keypad, or a teaching pendant can be used.

[0094] Furthermore, the manipulator 102 may be provided with a device that transmits force information or sound information detected by a force sensor provided on the hand 18 of the robot 101 (described later) to the operator. Examples of such a device include a vibration motor, a speaker, and a mechanism for extending and retracting a gripping frame.

[0095] Furthermore, the manipulator 102 may be configured to be portable by the operator (medical staff). Furthermore, the robot 101 and the manipulator 102 may be configured in a master-slave manner.

[0096] Furthermore, a release button 102A may be provided on the operating device 102 for releasing the medical examination instrument or medical diagnostic tool held by the hand 18 in an emergency (e.g., when the robot 101 performs an abnormal operation). When the operator presses the release button 102A, the control device 110 may cause the robot 101 to move the hand 18 away from the patient.

[0097] The first display device 103 is configured to display image information and / or video information captured by the first imaging device 20, described later. The first display device 103 may be, for example, a fixed display placed on a table or floor. Alternatively, the first display device 103 may be a head-mounted display or glasses worn by the operator.

[0098] The robot 101 is configured to be able to move to the vicinity of the patient on its own based on the patient's position information input from the operator 102 and / or position information inside the medical mobile body (eg, position information of a ward or examination room).

[0099] Furthermore, the robot 101 moves its arms and / or hands based on arm and / or hand operation information input from the manipulator 102. In this case, the robot 101 may be configured to automatically move the patient under the control of the control device 110 so that a predetermined first distance between the robot 101 and the patient is maintained in accordance with the content of the medical procedure being performed (e.g., diagnosis and / or examination).

[0100] For example, after performing an operation (examination) of auscultating the front of a patient with a stethoscope, when performing an operation (examination) of auscultating the back of the patient with a stethoscope, when the patient turns his back toward the robot 101, the robot 101 automatically moves backward, and can also automatically move to close the distance between itself and the patient (maintaining the first distance).

[0101] Thus, medical personnel can perform medical procedures (such as diagnosis and / or examination) on patients by remotely controlling the robot 101 .

[0102] Here, refer to Figure 3 The structure of the robot 101 will be described in detail. In the following, a horizontal articulated dual-arm robot will be described as the robot 101 , but other robots such as a horizontal articulated robot or a vertical articulated robot may be employed as the robot 101 .

[0103] Figure 3 To express Figure 1 and Figure 2 Schematic diagram of the schematic structure of the robot in the medical mobile system shown in FIG. Figure 3 In the figure, the up and down directions of the robot are represented as the up and down directions in the figure.

[0104] like Figure 3 As shown, the robot 101 includes a carriage 12 , a first arm 13A, a second arm 13B, a first hand 18A, a second hand 18B, and a controller 14 disposed in the carriage 12 .

[0105] Furthermore, when the first arm 13A and the second arm 13B are not distinguished, they are simply referred to as the arm 13. Similarly, when the first hand 18A and the second hand 18B are not distinguished, they are simply referred to as the hand 18.

[0106] In addition, although the controller 14 is arranged inside the carriage 12 in the first embodiment, the present invention is not limited thereto, and the controller 14 may be arranged outside the carriage 12. The controller 14 will be described later.

[0107] Wheels 19 are arranged on the bottom surface of the carriage 12. Appropriate gears and drive motors are connected to the wheels 19. This enables the robot 101 to move autonomously.

[0108] Furthermore, a base shaft 16 and a first imaging device 20 are fixed to the upper surface of the carriage 12. The first imaging device 20 is configured to capture images and / or videos and output the captured image information and / or video information to the control device 110. The first imaging device 20 may be, for example, a camera or an X-ray imaging device.

[0109] Furthermore, the first imaging device 20 may be configured to output captured image information and / or video information to the first display device 103 without passing through the control device 110. Furthermore, the first imaging device 20 may be held by an arm other than the first arm 13A and the second arm 13B.

[0110] A first arm 13A and a second arm 13B are mounted on a base shaft 16. The first and second arms 13A and 13B are rotatable about a rotation axis L1 passing through the axis of the base shaft 16. Specifically, the first and second arms 13A and 13B are arranged with a vertical height difference. Furthermore, the first and second arms 13A and 13B are configured to operate independently or in conjunction with each other.

[0111] The first arm 13A includes a first arm portion 15A, a first wrist portion 17A, a first hand portion 18A, and a first mounting portion 2A. Similarly, the second arm 13B includes a second arm portion 15B, a second wrist portion 17B, a second hand portion 18B, and a second mounting portion 2B. Since the second arm 13B has the same structure as the first arm 13A, a detailed description thereof will be omitted.

[0112] In this embodiment 1, the first arm 15A is composed of a first link 5a and a second link 5b in a substantially rectangular parallelepiped shape. The first link 5a has a rotary joint J1 at its base and a rotary joint J2 at its tip. Furthermore, the second link 5b has a linear joint J3 at its tip.

[0113] The distal end of the first link 5a is connected to the base shaft 16 via a rotary joint J1 and is rotatable about the rotation axis L1 via the rotary joint J1. Furthermore, the proximal end of the second link 5b is connected to the distal end of the first link 5a via a rotary joint J2 and is rotatable about the rotation axis L2 via the rotary joint J2.

[0114] A first arm 17A is connected to the front end of the second link 5b via a linear joint J3 so as to be movable relative to the second link 5b. A rotary joint J4 is provided at the lower end of the first arm 17A, and a first mounting portion 2A is provided at the lower end of the rotary joint J4.

[0115] The first mounting portion 2A is configured to allow for the attachment and detachment of the first hand 18A. Specifically, for example, the first mounting portion 2A includes a pair of rod members whose spacing can be adjusted. These rod members sandwich the first hand 18A, allowing the first hand 18A to be attached to the first wrist 17A. This allows the first hand 18A to rotate about the rotation axis L3 via the rotary joint J4. Furthermore, the distal end of the rod member may be bent.

[0116] The first hand 18A may be in any form as long as it is configured to hold a medical examination tool or a medical diagnosis tool. Figure 1 and Figure 3 As shown, the device can also be configured to use two claws to hold a medical examination instrument or medical diagnostic instrument. Examples of medical examination instruments include sterile cotton swabs, various tubes such as tubes with screw caps, syringes, catheters, and endoscopes. Furthermore, examples of medical diagnostic instruments include stethoscopes and tongue depressors.

[0117] Furthermore, the first hand 18A is configured to be able to hold and release various workpieces such as medicines, foods and beverages, and test reagents.

[0118] Here, refer to Figure 4 Another example of the first hand 18A (hand 18 ) will be described.

[0119] Figure 4 Schematic diagram for showing the schematic structure of the robot hand in the medical mobile system according to the first embodiment. Figure 4 In the figure, the up-down direction and the front-back direction of the robot are represented as the up-down direction and the front-back direction.

[0120] like Figure 4 As shown, the first hand 18A includes a main body 31, an intermediate component 32, and a retaining component 33. The main body 31 and the intermediate component 32 are connected via a rotary joint J5. Furthermore, the intermediate component 32 and the retaining component 33 are connected via a rotary joint J6. This allows the retaining component 33 to rotate relative to the main body 31 about the rotation axis L4 and / or the rotation axis L5.

[0121] The main body 31 is provided with an actuator 34 for rotating the holding member 33. The actuator 34 may be, for example, a servo motor controlled by the controller 14. Furthermore, the main body 31 is provided with a rotation sensor (not shown) for detecting the rotational position of the servo motor and a current sensor (not shown) for detecting the current used to control the rotation of the servo motor. The rotation sensor may be, for example, an encoder. Position information detected by the rotation sensor and current information detected by the current sensor may also be output to the control device 110 via the controller 14.

[0122] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is mounted on the support member 35. The camera 36 is configured to capture images and / or videos and output the captured image information and / or video information to the control device 110. The camera 36 may be, for example, a video camera or an X-ray imaging device.

[0123] Furthermore, the subject captured by the camera 36 may be, for example, the patient's nostrils when collecting nasopharyngeal swabs using a sterile cotton swab, or the patient's oral cavity when collecting saliva or lower respiratory tract samples (sputum, etc.) using a suction catheter.

[0124] In addition, in this first embodiment, the support member 35 and the camera 36 are arranged at the lower end of the intermediate member 32, but the present invention is not limited to this. The support member 35 and the camera 36 may also be arranged at the upper end of the intermediate member 32. Furthermore, the support member 35 and the camera 36 may also be arranged on the holding member 33.

[0125] A chuck mechanism 37 for holding and releasing a medical examination instrument or a medical diagnosis instrument is mounted on the holding member 33. The chuck mechanism 37 may be, for example, an air chuck. The chuck mechanism 37 holds a sterilized cotton swab 50 for collecting a sample for PCR testing.

[0126] Furthermore, a pair of laser pointers (laser pointing tools) 38A and 38B are provided on the holding member 33. The laser pointers 38A and 38B are positioned so that laser beams 39A and 39B emitted therefrom intersect in front of the first hand 18A. Furthermore, three or more laser pointing tools may be provided on the first hand 18A.

[0127] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B irradiating the patient decreases. Furthermore, as first hand 18A approaches the patient, the laser beam irradiating the patient becomes a single point. Furthermore, as first hand 18A approaches the patient even further, the distance between laser beam 39A and laser beam 39B irradiating the patient increases.

[0128] Therefore, the operator (medical staff) can easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical examination instrument (sterile cotton swab 50 ) by using the laser beams 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0129] In addition, each joint J1 to J4 of the first arm 13A and the second arm 13B is provided with a drive motor (not shown) as an example of an actuator that causes the two parts connected by each joint to rotate or lift relative to each other. The drive motor may also be, for example, a servo motor that is servo-controlled by the controller 14. In addition, each joint J1 to J4 is provided with a rotation sensor (not shown) for detecting the rotation position of the drive motor and a current sensor (not shown) for detecting the current that controls the rotation of the drive motor. The rotation sensor may be, for example, an encoder. The position information detected by the rotation sensor and the current information detected by the current sensor may also be output to the control device 110 via the controller 14.

[0130] The controller 14 includes an arithmetic processor and a memory (not shown). The arithmetic processor is composed of a microprocessor, a CPU, etc., and controls various actions of the robot 101 by reading and executing software such as a basic program stored in the memory.

[0131] The memory stores information such as basic programs and various fixed data. For example, map information of a medical mobile body may be stored in advance in the memory.

[0132] The memory may be configured as a plurality of memories (e.g., random access memory and hard disk drive) rather than a single memory. In the case where the operation processor is configured as a microcomputer, at least a portion of the memory may be configured as an internal memory of the microcomputer or as an independent memory.

[0133] Furthermore, the controller 14 may also control various operations of the robot 101 based on various command information input from the control device 110 .

[0134] like Figure 1 and Figure 2 As shown, the control device 110 includes a processor 110a, a memory 110b, and an input device (operator) 110c. The processor 110a is composed of a microprocessor, a CPU, etc., and controls various operations of the medical mobile system 100 by reading and executing software such as a basic program stored in the memory 110b.

[0135] The memory 110b stores information such as basic programs and various fixed data. The memory 110b may be configured as multiple memories (e.g., random access memory and a hard disk drive), rather than a single memory. If the arithmetic processor 110a is configured as a microcomputer, at least a portion of the memory 110b may be configured as the microcomputer's internal memory or as an independent memory.

[0136] The input device 110c is capable of inputting various parameters and other data related to the control of the medical mobile system 100 to the arithmetic processing unit 110a. It is composed of a well-known input device such as a keyboard, a touch panel, or a push button switch group. In this first embodiment, for example, the patient's position information can also be input via the input device 110c. Alternatively, the patient's position information can be input via the operating unit 102.

[0137] The control device 110 may be a single control device 110 for centralized control or a plurality of control devices 110 for coordinated decentralized control. The control device 110 may be a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.

[0138]

Operation and effects of medical mobile system

[0139] Next, refer to Figures 1 to 10 The operation and effects of the medical mobile system 100 according to Embodiment 1 will be described in detail. The following operation is executed by the arithmetic processor 110 a of the control device 110 reading a program stored in the memory 110 b .

[0140] Figure 5 This is a flowchart showing an example of the operation of the medical mobile system according to the first embodiment. Figure 6 This is a schematic diagram for illustrating an example of the operation of the robot of the medical mobile system according to the first embodiment.

[0141] like Figure 5 As shown, the control device 110 acquires the patient's position information from the input device 110 c (and / or the operator 102 ) when the operator operates the input device 110 c (and / or the operator 102 ) (step S101 ).

[0142] Next, the control device 110 causes the robot 101 to move from a preset waiting location to the vicinity of the patient (automatic movement) based on the patient's position information acquired in step S101 (step S102 ).

[0143] Specifically, the control device 110 outputs the patient's position information acquired in step S101 to the controller 14. The controller 14 drives the driving motor based on the input patient's position information and the hospital map information stored in the memory, so that the robot 101 moves to the vicinity of the patient.

[0144] In addition, the waiting place may be a room (space) separated from the first space 201 and the second space 202 .

[0145] Next, the control device 110 obtains the image information and / or video information captured by the first imaging device 20 and displays it on the first display device 103 (step S103). The control device 110 may also execute step S103 before executing step S101 or step S102.

[0146] Here, we will refer to Figures 7 to 10 The image information and / or video information displayed on the first display device 103 is described.

[0147] Figure 7 To express in Figure 1 A schematic diagram of an example of image information and / or video information displayed in a first display device is shown. Figures 8 to 10 To express in Figure 1 FIG. 1 is a schematic diagram showing another example of image information and / or video information displayed in the first display device. Figures 8 to 10 , description of the robot 101 and part of the first hand 18A is omitted.

[0148] like Figure 7 As shown, the image information captured by the first imaging device 20 (image information captured from the front of the patient) can also be displayed as first image information 103A on the first display device 103. In addition, image information captured by an imaging device (not shown) for capturing the side of the patient's face can also be displayed as second image information 103B on the first display device 103.

[0149] In addition, if Figure 8 As shown, the image information captured by the first imaging device 20 can also be displayed as first image information 103A on the first display device 103. In addition, the image information captured by the camera 36 provided on the first hand 18A can also be displayed on the first display device 103 as third image information 103C.

[0150] In addition, if Figure 9As shown, the image information captured by the first imaging device 20 can also be displayed as first image information 103A on the first display device 103. In addition, the image information captured by the camera 36 provided on the first hand 18A can also be displayed on the first display device 103 as third image information 103C.

[0151] Furthermore, a virtual model representing the positional information of a medical examination instrument and / or a medical diagnosis instrument may also be displayed as fourth image information 103D on the first display device 103. Specifically, a virtual sterilization swab 50A, which is a virtual model of the sterilization swab 50, and a virtual patient 60, which is a virtual model of the patient's medical target area, are displayed as fourth image information 103D.

[0152] At this time, the control device 110 may also move the virtual sterilization swab 50A in the fourth image information 103D based on the patient's position information, the position information detected by the rotation sensor for detecting the rotational position of each drive motor, and / or the operation information input to the operator 102. Thus, the operator can easily grasp the distance between the patient and the medical examination instrument and / or the front end of the medical examination instrument (sterile swab 50).

[0153] And, as Figure 10 As shown, the image information captured by the first imaging device 20 can also be displayed as first image information 103A on the first display device 103. In addition, the image information captured by the camera 36 provided on the first hand 18A can also be displayed on the first display device 103 as third image information 103C.

[0154] Furthermore, a virtual model representing the position information of a medical examination instrument and / or a medical diagnosis instrument may also be displayed as fourth image information 103D on the first display device 103. Specifically, a virtual sterilization swab 50A, which is a virtual model of the sterilization swab 50, is displayed as fourth image information 103D.

[0155] At this time, the control device 110 may also display the area of ​​the sterilization cotton swab 50 that has entered the patient's body as the first area 50B in the fourth image information 103D based on the patient's position information, the position information detected by the rotation sensor for detecting the rotation position of each drive motor, and / or the operation information input to the operator 102. The first area 50B is, for example, Figure 10 As shown, it can be represented by shading or by a color different from that of the virtual sterilized cotton swab 50A.

[0156] This allows the operator to easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical examination instrument (sterile cotton swab 50 ).

[0157] Then, if Figure 5 As shown, the control device 110 obtains operation instruction information of the arm 13 and / or hand 18 from the operating device 102 (step S104). Next, the control device 110 operates the arm 13 and / or hand 18 according to the operation instruction information obtained in step S104 (step S105).

[0158] Thus, the operator can remotely control the robot 101 to move the patient and perform medical procedures (eg, examination and / or testing). For example, the operator can also collect samples for PCR testing from the patient.

[0159] Here, refer to Figure 6 The medical operation of the robot 101 is described. Figure 6 In the embodiment, the robot 101 is provided with a second display device 24 described later.

[0160] like Figure 6 As shown, a shielding plate 221 is placed between the robot 101 and the patient. The shielding plate 221 may be placed on a base 220 such as a table. The shielding plate 221 is made of a transparent member such as a glass plate and has an opening 222 substantially in the center.

[0161] Furthermore, the position and size of opening 222 can be appropriately set depending on the type of medical procedure. For example, when performing medical procedures in internal medicine, otolaryngology, or the like, the position and size of opening 222 can be appropriately set so that the patient's mouth and nose (the parts to be treated) are located within opening 222. Furthermore, when performing medical procedures in ophthalmology, the position and size of opening 222 can be appropriately set so that the patient's eyes (the parts to be treated) are located within opening 222.

[0162] This can prevent droplets from adhering to the robot 101 when the patient coughs or sneezes.

[0163] Furthermore, a positioner 230 is provided between the shielding plate 221 and the patient. The positioner 230 includes a main body 231, a contact portion 232, and a lower jaw support 233. The main body 231 may also be configured so that the patient can grasp it. Furthermore, the lower jaw support 233 may also be configured so that it can move up and down.

[0164] The positioner 230 is configured so that the patient's part to be treated is positioned within a predetermined range (opening 222) by placing their forehead against the contact portion 232 and their chin on the chin rest 233. This facilitates positioning of the patient's part to be treated and reduces the operator's burden.

[0165] When the control device 110 executes the process of step S105 , for example, the arm 13 and / or the hand 18 may be automatically operated so that the medical examination instrument or the distal end of the medical examination instrument held by the hand 18 approaches the patient.

[0166] Furthermore, the control device 110 may store, in the memory 110 b, the operation instruction information for the arm 13 and / or hand 18 input from the manipulator 102. Furthermore, the control device 110 may cause the arm 13 and / or hand 18 to operate according to the operation instruction information stored in the memory 110 b, thereby performing medical procedures (e.g., diagnosis and / or examination) on the patient.

[0167] Furthermore, the control device 110 may also be configured to learn diagnostic tasks, etc. Specifically, for example, when the control device 110 causes the robot 101 to perform diagnostic tasks, etc., and the operator corrects the movement of the arm 13 and / or hand 18 by operating the manipulator 102, the corrected operation instruction information for the arm 13 and / or hand 18 is stored in the memory 110b.

[0168] Next, the control device 110 causes the arm 13 and / or hand 18 to move according to the corrected operation instruction information, thereby performing a medical procedure (e.g., a diagnosis and / or examination) on the patient. Subsequently, when the operator corrects the movement of the arm 13 and / or hand 18 again, the corrected operation instruction information for the arm 13 and / or hand 18 is stored in the memory 110b, and the diagnosis and examination procedures are learned.

[0169] Next, when the operator inputs the medical procedure end instruction from the operator 102 (and / or input device 110c) by operating the operator 102 (and / or input device 110c), the control device 110 causes the robot 101 to walk to the waiting place by itself (step S106) and ends this program.

[0170] In addition, the control device 110 can also disinfect the robot 101 by appropriate means after the robot 101 walks to the waiting place, and then control the robot 101 to be in a standby state. In addition, the robot 101 can also be disinfected by a staff member wearing a protective mask and protective clothing.

[0171] In the mobile medical system 100 according to the first embodiment, the operator (medical staff) only needs to input the patient's position information, and the robot 101 automatically moves to the patient's vicinity. This allows the operator to concentrate on medical procedures and reduces the operator's operational burden.

[0172] Furthermore, in the medical mobile system 100 according to the first embodiment, the operator is configured to operate the robot 101 in the second space 202 isolated from the patient.

[0173] This can suppress contact with patients suspected of being infected with viruses, etc. Therefore, it is possible to sufficiently suppress infection of operators with viruses, etc.

[0174] Furthermore, since the robot 101 moves to the vicinity of the patient in each inpatient ward, etc., the operator does not need to move around the hospital. Therefore, infection of the operator can be sufficiently suppressed.

[0175] Furthermore, the movement of the robot 101 can reduce the number of times and / or distances that patients infected with viruses etc. have to move within the hospital, thereby reducing the spread of viruses etc.

[0176] Furthermore, in the mobile medical system 100 according to Embodiment 1, when the mobile medical system 200 is a hospital ship, the following effects are achieved. Even if the hospital ship sways at sea, the patient, the robot 101, or the first imaging device 20 mounted on the robot 101 will not sway significantly relative to the ship. Therefore, the operator (medical staff) will not be aware of the swaying and can smoothly perform medical treatment on the patient.

[0177] Furthermore, in the medical mobile system 100 according to the first embodiment, since the pair of laser pointers 38A and 38B are arranged on the first hand 18A (hand 18 ), the laser beams 39A and 39B emitted therefrom intersect with each other.

[0178] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B irradiating the patient decreases. Furthermore, as first hand 18A approaches the patient, the laser beam irradiating the patient becomes a single point. Furthermore, as first hand 18A approaches the patient even further, the distance between laser beam 39A and laser beam 39B irradiating the patient increases.

[0179] Therefore, the operator (medical staff) can easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical examination instrument (sterile cotton swab 50 ) by using the laser beams 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0180] Furthermore, in the mobile medical system 100 according to the first embodiment, a virtual model representing the positional information of the medical examination instrument and / or the medical diagnostic instrument is displayed as fourth image information 103D on the first display device 103. This allows the operator to easily grasp the distance between the patient and the medical examination instrument and / or the tip of the medical diagnostic instrument (sterile cotton swab 50).

[0181] At this time, the control device 110 displays the virtual patient 60 as a virtual model of the patient's medical object part on the first display device 103, which makes it easier to grasp the distance between the patient and the medical examination instrument and / or the front end of the medical examination instrument (sterile cotton swab 50).

[0182] [Variation 1]

[0183] Next, refer to Figure 11 A modification of the medical mobile system 100 according to the first embodiment will be described.

[0184] Figure 11 This is a schematic diagram showing a schematic configuration of a medical mobile system according to Modification 1 of the first embodiment.

[0185] like Figure 11 As shown, although the basic structure of the medical movable body system 100 according to the present modification 1 is the same as that of the medical movable body system 100 according to the embodiment 1, it is different in that the robot 101 is constituted by a vertical articulated robot.

[0186] The medical mobile system 100 according to the first modification having such a configuration also exhibits the same operational effects as those of the medical mobile system 100 according to the first embodiment.

[0187] (Implementation Method 2)

[0188] In the medical mobile body system involved in this embodiment 2, in the medical mobile body system involved in embodiment 1 (including the modified example), the robot further includes a first sound input device and a first sound output device, and a second sound input device and a second sound output device are further arranged in the second space, and the control device is configured to output sound information input to the first sound input device to the second sound output device, and to output sound information input to the second sound input device to the first sound output device.

[0189] In the operating method of the medical mobile body system involved in this embodiment 2, in the operating method of the medical mobile body system involved in embodiment 1 (including the modified example), the robot further includes a first sound input device and a first sound output device, and a second sound input device and a second sound output device are further arranged in the second space, and the control device is configured to output sound information input to the first sound input device to the second sound output device, and output sound information input to the second sound input device to the first sound output device.

[0190] Below, refer to Figure 12 A unified example of a medical mobile system according to the second embodiment will be described.

[0191] [Structure of medical mobile system]

[0192] Figure 12 It is a schematic diagram for showing the general configuration of the medical mobile system according to the second embodiment.

[0193] like Figure 12 As shown, although the basic structure of the medical mobile system 100 involved in this embodiment 2 is the same as that of the medical mobile system 100 involved in embodiment 1, it is different in that the robot 101 has a first sound input device 21 and a first sound output device 22, and a second sound input device 104 and a second sound output device 105 are arranged in the second space 202.

[0194] The first sound input device 21 and the second sound input device 104 may be constituted by, for example, microphones. In addition, the first sound output device 22 and the second sound output device 105 may be constituted by speakers.

[0195] Alternatively, the second sound input device 104 and the second sound output device 105 may be headphones with microphones. Furthermore, if the first display device 103 is a head-mounted display, the second sound input device 104 and the second sound output device 105 may be microphones and headphones mounted on the head-mounted display.

[0196] The medical mobile system 100 according to the second embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the first embodiment.

[0197] Furthermore, in the medical mobile system 100 according to the second embodiment, since the first sound input device 21 and the first sound output device 22 are provided on the robot 101, and the second sound input device 104 and the second sound output device 105 are arranged in the second space 202, communication can be performed between the patient and the operator.

[0198] Thus, for example, when the operator is a medical staff, or when there is a medical staff beside the operator, medical actions such as questioning, auscultation, communication of examination results, and communication of treatment guidelines can be performed on the patient.

[0199] (Implementation 3)

[0200] In the medical mobile body system involved in this embodiment 3, in the medical mobile body system involved in embodiment 1 (including modified examples) or embodiment 2, the robot also has a storage device for storing at least one transport item among medicines, foods, examination reagents, samples, medical examination instruments and medical diagnostic instruments.

[0201] In the operating method of the medical mobile body system involved in this embodiment 3, in the operating method of the medical mobile body system involved in embodiment 1 (including modified examples) or embodiment 2, the robot also has a storage device for storing at least one transported item among medicines, food, examination reagents, samples, medical examination instruments and medical diagnostic instruments.

[0202] Below, refer to Figure 13 A unified example of a medical mobile system according to the third embodiment will be described.

[0203] [Structure of medical mobile system]

[0204] Figure 13 It is a schematic diagram for showing the general configuration of the medical mobile system according to the third embodiment.

[0205] like Figure 13 As shown, although the medical mobile system 100 involved in this embodiment 3 has the same basic structure as the medical mobile system 100 involved in embodiment 1, it is different in that the robot 101 also has a storage device 23 for storing at least one transport item among medicines, food, inspection reagents, samples, medical inspection instruments and medical diagnosis instruments.

[0206] Storage device 23 can be a variety of storage items, such as a box with a lid or a tray. Storage device 23 can also be made of metal (e.g., stainless steel) to accommodate sterilization processes such as autoclaves and dry heat sterilization. Storage device 23 can also be configured to maintain its interior at a predetermined temperature (e.g., 0°C, -20°C, -80°C) to facilitate sample transport.

[0207] Furthermore, the storage device 23 may store various instruments and / or experimental devices such as automatic pipettes, pipette tips used in the automatic pipettes, microtubes, remote sinking tubes, centrifuges, and PCR devices.

[0208] The medical mobile system 100 according to the third embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the first embodiment.

[0209] Furthermore, in the mobile medical system 100 according to Embodiment 3, the robot 101 further includes a storage device 23 for storing at least one transportable item selected from the group consisting of medicine, food and drink, test reagents, specimens, medical examination instruments, and medical diagnostic instruments. This reduces the workload of medical assistants, such as nurses. Furthermore, it reduces the chances of assistants coming into contact with patients suffering from infections such as viruses, effectively preventing them from contracting viruses.

[0210] (Implementation 4)

[0211] The medical mobile body system according to the fourth embodiment further includes a third space isolated from the first space and the second space in the medical mobile body system according to any one of the first and second embodiments (including variations) to 3, and the robot is disinfected in the third space.

[0212] Furthermore, in the medical mobile system according to the fourth embodiment, the robot may be configured to disinfect the robot itself.

[0213] Furthermore, in the medical mobile system according to the fourth embodiment, the control device may be configured to, after B, cause the robot to move to a third space by itself and further perform C for disinfecting the robot.

[0214] In the operating method of the medical mobile body system involved in this embodiment 4, in the operating method of the medical mobile body system involved in any one of embodiments 1 (including variations) to 3, it also includes a third space isolated from the first space and the second space, and the robot is disinfected in the third space.

[0215] Furthermore, in the operating method of the medical mobile system according to the fourth embodiment, the robot may be configured to disinfect the robot itself.

[0216] Furthermore, in the operating method of the medical mobile system according to the fourth embodiment, after step B, the robot may be caused to move to the third space by itself, and step C of disinfecting the robot may be further performed.

[0217] Below, refer to Figure 14 and Figure 15 A unified example of a medical mobile system according to the fourth embodiment will be described.

[0218] [Structure of medical mobile system]

[0219] Figure 14 It is a schematic diagram for showing the general configuration of a medical mobile system according to the fourth embodiment.

[0220] like Figure 14 As shown, although the medical mobile system 100 according to the fourth embodiment has the same basic structure as the medical mobile system 100 according to the first embodiment, it differs in that it further includes a third space 203 isolated from the first space 201 and the second space 202 .

[0221] The first space 201 , the second space 202 , and the third space 203 are separate spaces from each other and are separated by partition members 210 .

[0222] Alternatively, an antechamber may be provided in the room (sterilization chamber) forming the third space 203. Furthermore, a fan filter unit may be provided in the antechamber, configured to maintain a negative pressure in the antechamber and a positive pressure in the second space 202 (the interior space of the sterilization chamber). A known fan filter unit may be used as the fan filter unit.

[0223] The partition member 210 may include a roll-up shutter (door) 206 that allows / forbids movement to the third space 203 .

[0224] The robot 101 may also be configured to disinfect the robot 101 itself. Specifically, for example, a sprayer for spraying a solution such as an ethanol solution having a sterilizing or antiviral effect may be held by the hand 18 and the robot 101 may be disinfected by spraying the solution toward the robot 101.

[0225] Alternatively, the hand 18 may hold an irradiator for irradiating ultraviolet rays, and the robot 101 itself may be sterilized by irradiating the robot 101 with ultraviolet rays.

[0226] Furthermore, a protective cover (surgical sterile drape) may be placed in the third space 203. The robot 101 may be configured to maintain a sterilized and antiviral state by attaching and detaching the protective cover.

[0227] Specifically, the robot 101 puts on a protective mask in the third space 203, then moves to the first space 201 to perform a medical procedure. After the medical procedure is completed, the robot moves to another third space 203 that is not equipped with a protective mask and removes the protective mask. Thereafter, the robot moves to a third space 203 equipped with a protective mask and puts on the protective mask.

[0228]

Operation and effects of medical mobile system

[0229] Next, refer to Figure 14 and Figure 15 The operation and effects of the medical mobile system 100 according to Embodiment 4 will be described in detail. The following operations are executed by the arithmetic processor 110 a of the control device 110 reading a program stored in the memory 110 b .

[0230] Figure 15 This is a flowchart showing an example of the operation of the medical mobile system according to the fourth embodiment.

[0231] like Figure 15As shown, although the operation of the medical mobile system 100 involved in this embodiment 4 is the same as the basic operation of the medical mobile system 100 involved in embodiment 1, it is different in that the control device 110 performs the processing of step S106A instead of the processing of step S106 and performs the processing of step S107 after the processing of step S106A.

[0232] Specifically, when the medical procedure end instruction information is input from the operator 102 (and / or the input device 110 c ), the control device 110 causes the robot 101 to move to the third space 203 by itself (step S106A).

[0233] Next, the control device 110 disinfects the robot 101 in the third space 203 (step S107 ), and ends this procedure.

[0234] The medical mobile system 100 according to the fourth embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the first embodiment.

[0235] Furthermore, in the mobile medical system 100 according to Embodiment 4, the robot 101 is configured to disinfect itself. This eliminates the need for a worker wearing a protective mask and protective clothing to disinfect the robot 101. Consequently, a mobile medical system 100 with excellent usability can be provided.

[0236] [Variation 1]

[0237] Next, a modification of the medical mobile system 100 according to the fourth embodiment will be described.

[0238] In the medical mobile system according to the first modification of the fourth embodiment, a disinfection device configured to disinfect a robot is disposed in the third space.

[0239] In the operating method of the medical mobile body system according to the first modification of the fourth embodiment, a disinfection device configured to disinfect the robot is disposed in the third space.

[0240] Below, refer to Figure 16 A unified example of a medical mobility system according to Modification 1 of the fourth embodiment will be described.

[0241] [Structure of medical mobile system]

[0242] Figure 16 This is a schematic diagram showing a schematic configuration of a medical mobile system according to a first modification of the fourth embodiment.

[0243] like Figure 16As shown, the medical mobile system 100 of the present modification 1 has the same basic structure as the medical mobile system 100 according to the fourth embodiment, but differs in that a disinfection device 300 is disposed in the sterilization chamber constituting the third space 203 .

[0244] Disinfection device 300 may also be a sprayer for spraying a solution such as an ethanol solution with bactericidal and antiviral properties. Alternatively, disinfection device 300 may be an irradiator for irradiating ultraviolet light. Furthermore, a robot separate from robot 101 may be positioned in the sterilization chamber, holding a sprayer or irradiator and performing the disinfection work performed by robot 101.

[0245] Even the medical mobile system 100 according to the first modification configured in this manner can achieve the same operational effects as those of the medical mobile system 100 according to the fourth embodiment.

[0246] (Implementation 5)

[0247] In the medical mobile body system involved in this embodiment 5, in the medical mobile body system involved in any one of embodiments 1 to 4 (including modifications), the robot also has a second display device, and a second photographic device is also arranged in the second space, and the control device is configured to cause the second display device to display image information and / or video information captured by the second photographic device in B.

[0248] In the operating method of the medical mobile body system involved in this embodiment 5, in the operating method of the medical mobile body system involved in any one of embodiments 1 to 4 (including modifications), the robot also has a second display device, and a second photographic device is also arranged in the second space. In B, the second display device is configured to display image information and / or video information captured by the second photographic device.

[0249] Below, refer to Figure 17 and Figure 18 A unified example of a medical mobile system according to the fifth embodiment will be described.

[0250] [Structure of medical mobile system]

[0251] Figure 17 It is a schematic diagram for showing the general configuration of a medical mobile system according to the fifth embodiment.

[0252] like Figure 17As shown, although the medical mobile system 100 involved in this embodiment 5 has the same basic structure as the medical mobile system 100 involved in embodiment 1, it is different in that the robot 101 also has a second display device 24 and a second photographic device 106 is also configured in the second space 202.

[0253] The second display device 24 is configured to display image information and / or video information captured by the second imaging device 106. The second display device 24 may be, for example, a fixed-type display.

[0254] The second imaging device 106 is configured to capture images and / or videos and output the captured image information and / or video information to the second display device 24 via the control device 110 and the controller 14. The second imaging device 106 may be, for example, a camera.

[0255]

Operation and effects of medical mobile system

[0256] Next, refer to Figure 17 and Figure 18 The operation and effects of the medical mobile system 100 according to Embodiment 5 will be described in detail. The following operations are executed by the arithmetic processor 110 a of the control device 110 reading a program stored in the memory 110 b .

[0257] Figure 18 This is a flowchart showing an example of the operation of the medical mobile system according to the fifth embodiment.

[0258] like Figure 18 As shown, although the operation of the medical mobile system 100 according to the fifth embodiment is similar to the basic operation of the medical mobile system 100 according to the first embodiment, it differs in that the control device 110 executes the process of step S103A instead of the process of step S103.

[0259] Specifically, after the control device 110 moves from the waiting place to the vicinity of the patient (step S102 ), it executes the following processing.

[0260] The control device 110 obtains the image information and / or video information captured by the first imaging device 20 and displays it on the first display device 103. It also obtains the image information and / or video information captured by the second imaging device 106 and displays it on the second display device 24 (step S103A). The control device 110 may also perform step S103A before performing step S101 or step S102.

[0261] The medical mobile system 100 according to the fifth embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the first embodiment.

[0262] Furthermore, in the medical mobile system 100 according to the fifth embodiment, the robot 101 further includes a second display device 24 , and a second imaging device 106 is further disposed in the second space 202 .

[0263] This enables communication between the patient and the operator (medical staff).

[0264] (Implementation 6)

[0265] The medical mobile body system involved in this embodiment 6 is a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes: a medical mobile body; a robot having an arm, the arm having a hand for holding medical examination equipment and / or medical diagnosis equipment; a manipulator configured to operate the robot; and a control device, the robot being arranged in a first space inside the medical mobile body, the manipulator being arranged in a second space isolated from the first space, a first photographic device being arranged on the hand, and the control device being configured to execute α, which moves the arm and / or hand according to operation instruction information of the arm and / or hand input from the manipulator.

[0266] In addition, in the medical mobile body system involved in this embodiment 6, the medical mobile body system also includes: a first photographic device; and a first display device, which is configured to display image information and / or video information captured by the first photographic device, and the control device is configured to execute α when the first display device displays the image information and / or video information captured by the first photographic device.

[0267] Furthermore, in the medical mobile body system according to the sixth embodiment, a pair of laser pointers may be arranged on the hand so that the light emitted from the laser pointers intersect.

[0268] Furthermore, in the medical mobile body system according to the sixth embodiment, the robot and the manipulator may be configured in a master-slave system.

[0269] In addition, in the medical mobile system according to the sixth embodiment, the first imaging device may be disposed on the robot or on the hand of the robot.

[0270] Furthermore, in the mobile medical system according to the sixth embodiment, the first display device may be configured to display a virtual model indicating positional information of the medical examination instrument and / or the medical diagnosis instrument.

[0271] Furthermore, in the medical mobile body system according to the sixth embodiment, the first display device may be configured to display a virtual model of a patient's part to be treated by medical procedures.

[0272] Furthermore, in the medical mobile body system according to the sixth embodiment, an operation switch configured to instruct release of holding of the medical examination instrument and / or the medical diagnosis instrument may be provided in the operation unit.

[0273] Furthermore, in the medical mobile body system according to the sixth embodiment, the second space may be located outside the medical mobile body.

[0274] Furthermore, in the mobile medical body system according to the sixth embodiment, the mobile medical body may be a hospital ship.

[0275] The operating method of the medical mobile body system involved in this embodiment 6 is a method for operating a medical mobile body system including a medical mobile body for accommodating patients with various diseases, wherein the medical mobile body system includes a medical mobile body, a robot is configured in a first space inside the medical mobile body, an operator is configured in a second space isolated from the first space, a first photographic device is configured in the hand, and includes α, which moves the arm and / or hand according to operation instruction information of the arm and / or hand input from the operator.

[0276] In addition, in the operating method of the medical mobile body system involved in this embodiment 6, the medical mobile body system also includes: a first photographic device; and a first display device, which is configured to display the image information and / or video information captured by the first photographic device, and executes α when the first display device displays the image information and / or video information captured by the first photographic device.

[0277] Furthermore, in the method of operating the medical mobile system according to the sixth embodiment, a pair of laser pointers may be arranged on the hand so that the light emitted from the laser pointers intersect.

[0278] Furthermore, in the operating method of the medical mobile body system according to the sixth embodiment, the robot and the manipulator may be configured in a master-slave system.

[0279] Furthermore, in the operating method of the medical mobile system according to the sixth embodiment, the first imaging device may be disposed on the robot or on the hand.

[0280] Furthermore, in the operating method of the medical mobile body system according to the sixth embodiment, the first display device may be configured to display a virtual model for indicating position information of the medical examination instrument and / or the medical diagnosis instrument.

[0281] Furthermore, in the operating method of the medical mobile body system according to the sixth embodiment, the first display device may be configured to display a virtual model of the patient's part to be treated by medical procedures.

[0282] Furthermore, in the operating method of the medical mobile body system according to the sixth embodiment, an operating switch configured to instruct release of holding of the medical examination instrument and / or medical diagnosis instrument may be provided in the operating unit.

[0283] Furthermore, in the operating method of the medical mobile body system according to the sixth embodiment, the second space may be located outside the medical mobile body.

[0284] Furthermore, in the operating method of the mobile medical body system according to the sixth embodiment, the mobile medical body may be a hospital ship.

[0285] Below, refer to Figures 19 to 22 An example of the medical mobile system according to the sixth embodiment will be described.

[0286] [Structure of medical mobile system]

[0287] Figure 19 and Figure 20 It is a schematic diagram for showing the general configuration of a medical mobile system according to the sixth embodiment.

[0288] like Figure 19 and Figure 20 As shown, although the basic structure of the mobile medical system 100 according to the sixth embodiment is the same as that of the mobile medical system 100 according to the first embodiment, the robot 101 is placed in the first space 201 (the robot 101 is stationary). In addition, the structure of the first hand 18A of the robot 101 is different.

[0289] Here, refer to Figure 21 The structure of the first hand 18A of the robot 101 will be described.

[0290] Figure 21 To express Figure 19 The schematic diagram of the general structure of the robot's hand is shown in FIG. Figure 21 In the figure, the up-down direction and the front-back direction of the robot are represented as the up-down direction and the front-back direction.

[0291] like Figure 21As shown, the first hand 18A includes a main body 31, an intermediate component 32, and a retaining component 33. The main body 31 and the intermediate component 32 are connected via a rotary joint J5. Furthermore, the intermediate component 32 and the retaining component 33 are connected via a rotary joint J6. This allows the retaining component 33 to rotate relative to the main body 31 about the rotation axis L4 and / or the rotation axis L5.

[0292] The main body 31 is provided with an actuator 34 for rotating the holding member 33. The actuator 34 may be, for example, a servo motor controlled by the controller 14. Furthermore, the main body 31 is provided with a rotation sensor (not shown) for detecting the rotational position of the servo motor and a current sensor (not shown) for detecting the current used to control the rotation of the servo motor. The rotation sensor may be, for example, an encoder. The position information detected by the rotation sensor and the current information detected by the current sensor may also be output to the control device 110 via the controller 14.

[0293] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is mounted on the support member 35. The camera 36 is configured to capture images and / or videos and output the captured image information and / or video information to the control device 110. The camera 36 may be, for example, a video camera or an X-ray imaging device.

[0294] The subject captured by the camera 36 may be the patient's nostrils when collecting nasopharyngeal swabs using a sterile cotton swab, or the patient's oral cavity when collecting saliva or lower respiratory tract samples (sputum, etc.) using a suction catheter.

[0295] In addition, although the support member 35 and the camera 36 are arranged at the lower end of the intermediate member 32 in this first embodiment, the present invention is not limited to this. The support member 35 and the camera 36 may also be arranged at the upper end of the intermediate member 32. Furthermore, the support member 35 and the camera 36 may also be arranged on the holding member 33.

[0296] A chuck mechanism 37 for holding and releasing a medical examination instrument or a medical diagnosis instrument is mounted on the holding member 33. The chuck mechanism 37 may be, for example, an air chuck. The chuck mechanism 37 holds a sterilized cotton swab 50 for collecting a sample for PCR testing.

[0297] Furthermore, a pair of laser pointers (laser pointers) 38A and 38B are provided on the holding member 33. The laser pointers 38A and 38B are arranged so that laser beams 39A and 39B emitted therefrom intersect in front of the first hand 18A. Furthermore, three or more laser pointers may be provided on the first hand 18A.

[0298] As a result, as first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B irradiating the patient decreases. Furthermore, as first hand 18A approaches the patient, the laser beam irradiating the patient becomes a single point. Furthermore, as first hand 18A approaches the patient even further, the distance between laser beam 39A and laser beam 39B irradiating the patient increases.

[0299] Therefore, the operator (medical staff) can easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical examination instrument (sterile cotton swab 50 ) by using the laser beams 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0300]

Operation and effects of medical mobile system

[0301] Next, refer to Figures 19 to 22 The operation and effects of the medical mobile system 100 according to Embodiment 6 will be described in detail. The following operations are executed by the arithmetic processor 110 a of the control device 110 reading a program stored in the memory 110 b .

[0302] Figure 22 This is a flowchart showing an example of the operation of the medical mobile system according to the sixth embodiment.

[0303] like Figure 22 As shown, the control device 110 obtains the image information and / or video information taken by the first photographing device 20 and displays it on the first display device 103 (step S201). In addition, the image information and / or video information displayed on the first display device 103 may also be Figures 7 to 10 Example shown.

[0304] Next, the control device 110 obtains operation command information of the arm 13 and / or hand 18 from the operating device 102 (step S202). Next, the control device 110 operates the arm 13 and / or hand 18 based on the operation command information obtained in step S104 (step S203).

[0305] Thus, the operator can remotely control the robot 101 to move the patient and perform medical actions (such as diagnosis and / or examination) (see Figure 6 ). For example, the operator may also perform the operation of collecting samples for PCR testing.

[0306] Furthermore, the control device 110 may also store, in the memory 110 b, the operation instruction information for the arm 13 and / or hand 18 input by the operator 102. Furthermore, the control device 110 may also operate the arm 13 and / or hand 18 according to the operation instruction information stored in the memory 110 b to perform medical procedures (e.g., diagnosis and / or examination) on the patient.

[0307] Furthermore, the control device 110 may also be configured to learn diagnostic tasks, etc. Specifically, for example, when the control device 110 causes the robot 101 to perform diagnostic tasks, if the operator corrects the movement of the arm 13 and / or hand 18 by operating the manipulator 102, the corrected operation instruction information for the arm 13 and / or hand 18 is stored in the memory 110b.

[0308] Next, the control device 110 causes the arm 13 and / or hand 18 to move according to the corrected operation instruction information, thereby performing a medical procedure (e.g., a diagnosis and / or examination) on the patient. Subsequently, when the operator corrects the movement of the arm 13 and / or hand 18 again, the corrected operation instruction information for the arm 13 and / or hand 18 is stored in the memory 110b, and the diagnosis and examination procedures are learned.

[0309] Next, when the operator inputs medical procedure end instruction information from the operator 102 (and / or input device 110c) by operating the operator 102 (and / or input device 110c) ("Yes" in step S204), the control device 110 ends this program.

[0310] In addition, the control device 110 can also disinfect the robot 101 by appropriate means after finishing this program, and then control the robot 101 to be in a standby state. In addition, the robot 101 can also be disinfected by a staff wearing a protective mask and protective clothing.

[0311] In the medical mobile system 100 according to the sixth embodiment configured in this manner, the operator is configured to operate the robot 101 in the second space 202 isolated from the patient.

[0312] This can suppress contact with patients suspected of being infected with viruses, etc. Therefore, it is possible to sufficiently suppress infection of the operator with viruses, etc.

[0313] Furthermore, in the medical mobile system 100 according to the sixth embodiment, a pair of laser pointers 38A and 38B are arranged on the first hand 18A (hand 18 ) so that the laser beams 39A and 39B emitted therefrom intersect with each other.

[0314] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B irradiating the patient decreases. Furthermore, as first hand 18A approaches the patient, the laser beam irradiating the patient becomes a single point. Furthermore, as first hand 18A approaches the patient even further, the distance between laser beam 39A and laser beam 39B irradiating the patient increases.

[0315] Therefore, the operator (medical staff) can easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical examination instrument (sterile cotton swab 50 ) by using the laser beams 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0316] Furthermore, in the mobile medical system 100 according to the sixth embodiment, a virtual model representing positional information of a medical examination instrument and / or a medical diagnostic instrument is displayed as fourth image information 103D on the first display device 103. This allows the operator to easily grasp the distance between the patient and the medical examination instrument and / or the distal end of the medical diagnostic instrument (sterile cotton swab 50).

[0317] At this time, the control device 110 displays the virtual patient 60 as a virtual model of the patient's medical object part on the first display device 103, which makes it easier to grasp the distance between the patient and the medical examination instrument and / or the front end of the medical examination instrument (sterile cotton swab 50).

[0318] [Variation 1]

[0319] Next, refer to Figure 23 A modified example of the medical mobile system according to the sixth embodiment will be described.

[0320] Figure 23 This is a schematic diagram showing a schematic configuration of a medical mobile system according to a first modification of the sixth embodiment.

[0321] like Figure 23 As shown, although the basic structure of the medical movable body system 100 according to the present modification 1 is the same as that of the medical movable body system 100 according to the sixth embodiment, it differs in that the robot 101 is constituted by a vertical articulated robot.

[0322] Even the medical mobile system 100 according to the first modification configured in this manner can achieve the same operational effects as those of the medical mobile system 100 according to the sixth embodiment.

[0323] (Implementation 7)

[0324] In the medical mobile body system involved in this embodiment 7, in the medical mobile body system involved in embodiment 6 (including modified examples), the robot further includes a first sound input device and a first sound output device, and a second sound input device and a second sound output device are further arranged in the second space, and the control device is configured to output sound information input to the first sound input device to the second sound output device, and to output sound information input to the second sound input device to the first sound output device.

[0325] Below, refer to Figure 24 An example of the medical mobile system according to the seventh embodiment will be described.

[0326] [Structure of medical mobile system]

[0327] Figure 24 It is a schematic diagram for showing the general configuration of a medical mobile system according to the seventh embodiment.

[0328] like Figure 24 As shown, although the basic structure of the medical mobile system 100 involved in this embodiment 7 is the same as that of the medical mobile system 100 involved in the embodiment 6, it is different in that the robot 101 has a first sound input device 21 and a first sound output device 22, and a second sound input device 104 and a second sound output device 105 are arranged in the second space 202.

[0329] The first sound input device 21 and the second sound input device 104 may be constituted by, for example, microphones. In addition, the first sound output device 22 and the second sound output device 105 may be constituted by speakers.

[0330] Alternatively, the second sound input device 104 and the second sound output device 105 may be headphones with microphones. Furthermore, if the first display device 103 is a head-mounted display, the second sound input device 104 and the second sound output device 105 may be microphones and headphones mounted on the head-mounted display.

[0331] The medical mobile system 100 according to the seventh embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the sixth embodiment.

[0332] Furthermore, in the medical mobile system 100 according to the seventh embodiment, since the first sound input device 21 and the first sound output device 22 are provided on the robot 101, and the second sound input device 104 and the second sound output device 105 are arranged in the second space 202, communication between the patient and the operator is possible.

[0333] Thus, for example, when the operator is a medical staff, or when there is a medical staff beside the operator, medical actions such as questioning, auscultation, communication of examination results, and communication of treatment guidelines can be performed on the patient.

[0334] (Implementation 8)

[0335] In the medical mobile body system involved in this embodiment 8, in the medical mobile body system of any one of embodiments 6 (including variations) or 7, the robot also has a second display device, and a second photographic device is also arranged in the second space, and the control device is configured to cause the second display device to display image information and / or video information captured by the second photographic device in α.

[0336] In the operating method of the medical mobile body system involved in this embodiment 8, in the operating method of the medical mobile body system involved in any one of embodiments 6 (including variations) or 7, the robot also has a second display device, and a second photographic device is also arranged in the second space, and the control device is configured to cause the second display device to display image information and / or video information captured by the second photographic device in α.

[0337] Below, refer to Figure 25 and Figure 26 An example of the medical mobile system according to the eighth embodiment will be described.

[0338] [Structure of medical mobile system]

[0339] Figure 25 It is a schematic diagram for showing the general configuration of a medical mobile system according to the eighth embodiment.

[0340] like Figure 25 As shown, although the medical mobile system 100 involved in this embodiment 8 has the same basic structure as the medical mobile system 100 involved in embodiment 6, it differs in that the robot 101 also has a second display device 24 and a second photographic device 106 is also configured in the second space 202.

[0341] The second display device 24 is configured to display image information and / or video information captured by the second imaging device 106. The second display device 24 may be configured as a fixed-type display, for example.

[0342] The second imaging device 106 is configured to capture images and / or videos and output the captured image information and / or video information to the second display device 24 via the control device 110 and the controller 14. The second imaging device 106 may be, for example, a camera.

[0343]

Operation and effects of medical mobile system

[0344] Next, refer to Figure 25 and Figure 26 The operation and effects of the medical mobile system 100 according to Embodiment 8 will be described in detail. The following operations are executed by the arithmetic processor 110 a of the control device 110 reading a program stored in the memory 110 b .

[0345] Figure 26 This is a flowchart showing an example of the operation of the medical mobile system according to the eighth embodiment.

[0346] like Figure 26 As shown, although the operation of the medical mobile system 100 involved in this embodiment 8 is the same as the basic operation of the medical mobile system 100 involved in the embodiment 6, it is different in that the control device 110 performs the process of step S201A instead of the process of step S201.

[0347] Specifically, the control device 110 obtains the image information and / or video information captured by the first photographic device 20 and displays it on the first display device 103, and obtains the image information and / or video information captured by the second photographic device 106 and displays it on the second display device 24 (step S201A).

[0348] The medical mobile system 100 according to the eighth embodiment configured in this manner also exhibits the same operational effects as those of the medical mobile system 100 according to the sixth embodiment.

[0349] Furthermore, in the medical mobile system 100 according to the eighth embodiment, the robot 101 further includes a second display device 24 , and a second imaging device 106 is further disposed in the second space 202 .

[0350] This enables communication between the patient and the operator (medical staff).

[0351] Numerous modifications and alternative embodiments of the present invention will be readily apparent to those skilled in the art from the foregoing description. Therefore, the foregoing description should be construed as merely illustrative and is provided to teach those skilled in the art the best mode of carrying out the present invention. Details of the structure and / or function may be substantially modified without departing from the present invention.

[0352] Industrial applicability

[0353] According to the medical mobile system and the operating method thereof of the present invention, infection among medical personnel and the like can be sufficiently reduced, and therefore, they are useful.

[0354] Description of labels

[0355] 2A First installation section

[0356] 2B Second installation section

[0357] 5a First connecting rod

[0358] 5b Second connecting rod

[0359] 12 cars

[0360] 13 arms

[0361] 13A First Arm

[0362] 13B Second Arm

[0363] 14 Controller

[0364] 15A First arm

[0365] 15B Second arm

[0366] 16 base axis

[0367] 17A First wrist

[0368] 17B Second wrist

[0369] 18 Hands

[0370] 18A First Hand

[0371] 18B Second Hand

[0372] 19 wheels

[0373] 20 First Photographic Device

[0374] 21 First sound input device

[0375] 22 first sound output device

[0376] 23 Storage device

[0377] 24 Second display device

[0378] 31 Subject

[0379] 32 middle parts

[0380] 33 Retaining parts

[0381] 34 Actuator

[0382] 35 Support components

[0383] 36 Camera

[0384] 37 Chuck mechanism

[0385] 38A Laser Designator

[0386] 38B Laser Designator

[0387] 39B Laser

[0388] 39A Laser

[0389] 50 sterile cotton swabs

[0390] 50A virtual sterile cotton swab

[0391] 50B First Area

[0392] 60 virtual patients

[0393] 100 Medical mobile systems

[0394] 101 Robot

[0395] 102 Operator

[0396] 102A Release button

[0397] 103 first display device

[0398] 103A First Image Information

[0399] 103B Second image information

[0400] 103C Third Image Information

[0401] 103D Fourth Image Information

[0402] 104 Second sound input device

[0403] 105 Second sound output device

[0404] 106 Second Photographic Device

[0405] 110 Control Device

[0406] 110a computing processor

[0407] 110b memory

[0408] 110c Input

[0409] 201 First Space

[0410] 202 Second Space

[0411] 203 Third Space

[0412] 204 Rolling Door

[0413] 205 Rolling Door

[0414] 206 Rolling Door

[0415] 210 Partition components

[0416] 211 Generator

[0417] 212 rescue / ambulance vehicles

[0418] 213 Rescue / Ambulance Humanoid Robot

[0419] 214 Sample collection / inspection support robot

[0420] 215 Emergency Medical Helicopter

[0421] 220 abutment

[0422] 221 shielding plate

[0423] 222 opening

[0424] 230 Locator

[0425] 231 Subject

[0426] 232 Abutted portion

[0427] 233 Mandibular support platform

[0428] 300 disinfection device

[0429] J1 rotary joint

[0430] J2 rotary joint

[0431] J3 linear motion joint

[0432] J4 rotary joint

[0433] J5 rotary joint

[0434] J6 rotary joint

[0435] L1 rotation axis

[0436] L2 rotation axis

[0437] L3 rotation axis

[0438] L4 rotation axis

[0439] L5 rotation axis

Claims

1. A medical mobile body system, comprising a medical mobile body for accommodating patients with various diseases, characterized in that: The medical mobile system comprises: The medical mobile body; A robot having an arm having a hand for holding a medical examination tool and / or a medical diagnosis tool; an operator configured to operate the robot; and Control device, The robot is arranged in a first space inside the medical mobile body. The operator is arranged in a second space isolated from the first space, The control device is configured to perform: A, which causes the robot to walk on its own to approach the patient; and B. After executing A, the arm and / or the hand are moved according to the operation instruction information of the arm and / or the hand input from the operator.

2. The medical mobile system according to claim 1, wherein: The medical mobile system further includes: a first photographing device; and a first display device configured to display the image information and / or video information captured by the first photographing device; The control device is configured to execute B while causing the first display device to display image information and / or video information captured by the first photographing device.

3. The medical mobile system according to claim 1 or 2, characterized in that: The robot further comprises a first sound input device and a first sound output device. A second sound input device and a second sound output device are also arranged in the second space. The control device is configured to output the sound information input to the first sound input device to the second sound output device, and to output the sound information input to the second sound input device to the first sound output device.

4. The medical mobile system according to any one of claims 1 to 3, characterized in that: The robot further includes a storage device for storing at least one transportable product selected from the group consisting of medicines, food and drink, test reagents, samples, medical examination instruments, and medical diagnostic instruments.

5. The medical mobile system according to any one of claims 1 to 4, characterized in that: further comprising a third space isolated from the first space and the second space, The robot is disinfected in the third space.

6. The medical mobile system according to claim 5, characterized in that: The robot is configured to sterilize the robot itself.

7. The medical mobile system according to claim 5, characterized in that: A disinfection device configured to disinfect the robot is disposed in the third space.

8. The medical mobile system according to any one of claims 5 to 7, characterized in that: The control device is configured to, after B, cause the robot to walk to the third space by itself and further perform C for disinfecting the robot.

9. The medical mobile system according to any one of claims 1 to 8, characterized in that: The robot also has a second display device, A second photographing device is also arranged in the second space. Furthermore, the control device is configured to cause the second display device to display the image information and / or video information captured by the second photographic device in B.

10. The medical mobile system according to any one of claims 1 to 9, characterized in that: The robot and the operator are configured in a master-slave manner.

11. The medical mobile system according to any one of claims 1 to 10, characterized in that: A pair of laser pointers are arranged on the hand so that lights emitted from the laser pointers intersect with each other.

12. The medical mobile system according to any one of claims 2 to 11, characterized in that: The first photographing device is configured on the robot.

13. The medical mobile system according to any one of claims 2 to 12, characterized in that: The first display device is configured to display a virtual model for indicating the position information of the medical examination tool and / or the medical examination tool.

14. The medical mobile system according to any one of claims 2 to 13, characterized in that: The first display device is configured to display a virtual model of a patient's medical procedure target site.

15. The medical mobile system according to any one of claims 1 to 14, characterized in that: The operating device is provided with an operating switch configured to instruct release of holding of the medical examination tool and / or the medical diagnosis tool.

16. A medical mobile body system, comprising a medical mobile body for accommodating patients with various diseases, characterized in that: The medical mobile system comprises: The medical mobile body; A robot having an arm having a hand for holding a medical examination tool and / or a medical diagnosis tool; an operator configured to operate the robot; and Control device, The robot is arranged in a first space inside the medical mobile body. The operator is arranged in a second space isolated from the first space, A first photographing device is arranged on the hand, The control device is configured to execute α for moving the arm and / or the hand according to operation instruction information of the arm and / or the hand input from the operator.

17. The medical mobile system according to any one of claims 1 to 16, characterized in that: The medical mobile object is a hospital ship.

18. A method for operating a medical mobile system, the medical mobile system comprising a medical mobile for accommodating patients with various diseases, characterized in that: The medical mobile system comprises: The medical mobile body; A robot having an arm having a hand for holding a medical examination tool and / or a medical diagnosis tool; an operator configured to operate the robot; and an operator configured to operate the robot, The robot is arranged in a first space inside the medical mobile body. The operator is arranged in a second space isolated from the first space, And comprising: A, which automatically moves the robot to the vicinity of the patient according to the patient's position information input from the operator; and B. After executing A, the arm and / or the hand are moved according to the operation instruction information of the arm and / or the hand input from the operator.

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