Robot system and method for operating the same

Abstract

To provide a robot system and a method for operating the same that can sufficiently reduce infection for such as medical workers in a hospital.SOLUTION: In a robot system (100), a control device is configured to execute self-travelling of a robot (101) to approach a patient, and then to execute operation of an arm (13) and / or a hand (18) on the basis of operation command information of the arm (13) and / or the hand (18) that are input from an operation unit (102).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot system and an operating method thereof. [Background technology]

[0002] A self-propelled tray transport robot is known that manages whether a patient is present or absent, and propels itself to supply blood collection tube storage trays for present patients that have been prepared in a blood collection tube preparation room to a blood collection stand (see, for example, Patent Document 1).

[0003] The self-propelled tray transport robot disclosed in Patent Document 1 uses a non-contact medium such as an RF-ID on the test reception slip, and a reader for the non-contact medium is installed at the entrance gate of the blood collection room to check the patient's entry and exit.

[0004] When a 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 designated storage area; when a patient is present in the blood collection room, the robot drives itself to the requested blood collection stand to assist with medical procedures. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2007-130282 A Summary of the Invention [Problem to be solved by the invention]

[0006] In recent years, infectious diseases caused by coronaviruses such as SARS, MERS, and COVID-19 have spread. In addition, infectious diseases caused by viruses other than coronaviruses or various bacteria are also well known.

[0007] For patients suspected of having these infectious diseases, samples from mucous membranes, etc. are taken and tests such as PCR tests are carried out to diagnose whether or not they are infected, but there is a risk that the medical staff who take the samples themselves may become infected with the virus.

[0008] In addition, if medical staff who have come into contact with a patient infected with a virus or other disease move around the hospital between the time the test is carried out and the infection is confirmed, there is a risk that other patients with illnesses in the hospital may become infected with the virus or other disease.

[0009] The inventors therefore discovered that by having a robot remotely perform testing and medical examinations on patients suspected of being infected with a virus or the like, it is possible to sufficiently reduce infection among medical staff and others in hospitals, and thus came up with the present invention.

[0010] An object of the present invention is to provide a robot system and an operating method thereof that can sufficiently reduce infection among medical staff and others in a hospital. [Means for solving the problem]

[0011] In order to solve the above-mentioned problems, the robot system of the present invention comprises a robot having an arm with a hand including a chuck mechanism that holds / releases a specimen collection tool for collecting specimens from a patient suspected of having an infectious disease, an operating device configured to operate the robot, and a control device, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and the control device is configured to perform the following operations: (A) cause the robot to move by itself so as to approach the patient; and (B) after performing (A), display a virtual model indicating the position information of the specimen collection tool and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the operating device, and collect a specimen from the patient by operating the arm and / or the hand that holds the specimen collection tool.

[0012] This allows medical staff to operate the robot in a space isolated from patients, thereby reducing contact with patients suspected of infection with viruses, etc. This makes it possible to adequately prevent medical staff from becoming infected with viruses, etc.

[0013] In addition, by having the robot move close to patients in their hospital rooms, medical staff do not need to move around the hospital, which makes it possible to adequately prevent infection among medical staff.

[0014] Furthermore, by using robots separately for patients suspected of having an infectious disease and for patients with other diseases, it is possible to sufficiently prevent infection of patients with other diseases.

[0015] The robot system according to the present invention comprises a robot having an arm with a hand including a chuck mechanism for holding / releasing a specimen collection tool for collecting a specimen from a patient suspected of having an infectious disease, an operating device configured to operate the robot, and a control device, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and a first imaging device is disposed in the hand, and the control device is configured to display a virtual model indicating positional information of the specimen collection tool and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the operating device, and to operate the arm and / or the hand holding the specimen collection tool to collect a specimen (α) from the patient.

[0016] This allows medical staff to operate the robot in a space isolated from patients, thereby reducing contact with patients suspected of infection with viruses, etc. This makes it possible to adequately prevent medical staff from becoming infected with viruses, etc.

[0017] Furthermore, a method of operating a robot system according to the present invention includes a robot system comprising a robot having an arm with a hand including a chuck mechanism that holds / releases a specimen collection tool for collecting a specimen from a patient suspected of having an infectious disease, and an operating device configured to operate the robot, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and the robot moves by itself to approach the patient (A); and after executing (A), displaying a virtual model indicating positional information of the specimen collection tool and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the operating device, and (B) operating the arm and / or the hand holding the specimen collection tool to collect a specimen from the patient.

[0018] This allows medical staff to operate the robot in a space isolated from patients, thereby reducing contact with patients suspected of infection with viruses, etc. This makes it possible to adequately prevent medical staff from becoming infected with viruses, etc.

[0019] In addition, by having the robot move close to patients in their hospital rooms, medical staff do not need to move around the hospital, which makes it possible to adequately prevent infection among medical staff.

[0020] Furthermore, by using robots separately for patients suspected of having an infectious disease and for patients with other diseases, it is possible to sufficiently prevent infection of patients with other diseases.

[0021] The above and other objects, features, and advantages of the present invention will become apparent from the following detailed description of preferred embodiments, taken in conjunction with the accompanying drawings. Effect of the Invention

[0022] According to the robot system and the operating method thereof of the present invention, it is possible to sufficiently reduce infection among medical staff and others in a hospital. [Brief description of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment. [Diagram 3] FIG. 3 is a schematic diagram showing a schematic configuration of a robot in the robot system shown in FIGS. [Figure 4] FIG. 4 is a schematic diagram showing a schematic configuration of a robot hand in the robot system according to the first embodiment. [Diagram 5] FIG. 5 is a flowchart showing an example of the operation of the robot system according to the first embodiment. [Figure 6] FIG. 6 is a schematic diagram showing an example of the operation of the robot in the robot system according to the first embodiment. [Figure 7] FIG. 7 is a schematic diagram showing an example of image information and / or video information displayed on the first display device shown in FIG. [Figure 8] FIG. 8 is a schematic diagram showing another example of the image information and / or video information displayed on the first display device shown in FIG. [Figure 9] FIG. 9 is a schematic diagram showing another example of the image information and / or video information displayed on the first display device shown in FIG. [Figure 10] FIG. 10 is a schematic diagram showing another example of the image information and / or video information displayed on the first display device shown in FIG. [Figure 11] FIG. 11 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the first embodiment. [Figure 12] FIG. 12 is a schematic diagram showing a schematic configuration of a robot system according to the second embodiment. [Figure 13] FIG. 13 is a schematic diagram showing a schematic configuration of a robot system according to the third embodiment. [Figure 14]FIG. 14 is a schematic diagram showing a schematic configuration of a robot system according to the fourth embodiment. [Figure 15] FIG. 15 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment. [Figure 16] FIG. 16 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the fourth embodiment. [Figure 17] FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to the fifth embodiment. [Figure 18] FIG. 18 is a flowchart showing an example of the operation of the robot system according to the fifth embodiment. [Figure 19] FIG. 19 is a schematic diagram showing a schematic configuration of a robot system according to the sixth embodiment. [Figure 20] FIG. 20 is a schematic diagram showing a schematic configuration of a robot system according to the sixth embodiment. [Figure 21] FIG. 21 is a schematic diagram showing a schematic configuration of a hand of the robot shown in FIG. [Figure 22] FIG. 22 is a flowchart showing an example of the operation of the robot system according to the sixth embodiment. [Diagram 23] FIG. 23 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the sixth embodiment. [Figure 24] FIG. 24 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment. [Diagram 25] FIG. 25 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment. [Figure 26] FIG. 26 is a flowchart showing an example of the operation of the robot system according to the eighth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0024] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In all drawings, the same or corresponding parts are given the same reference numerals, and duplicated explanations are omitted. In addition, in all drawings, components for explaining the present invention are selected and illustrated, and other components may be omitted. Furthermore, the present invention is not limited to the following embodiment.

[0025] (Embodiment 1) The robot system according to the first embodiment includes a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, an operating device configured to operate the robot, and a control device, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and the control device is configured to execute (A) to cause the robot to move by itself so as to approach a patient, and (B) to operate the arm based on operation command information for the arm and / or hand input from the operating device after executing (A).

[0026] In addition, in the robot system according to the first embodiment, the robot system may further include a first photographing device and a first display device configured to display image information and / or video information photographed by the first photographing device, and the control device may be configured to execute (B) while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0027] In the robot system according to the first embodiment, the robot and the operating device may be configured in a master-slave manner.

[0028] In the robot system according to the first embodiment, a pair of laser beam pointing tools may be disposed on the hand so that the beams of light irradiated from the laser beam pointing tools cross each other.

[0029] In the robot system according to the first embodiment, the first image capturing device may be disposed on the robot or on the hand of the robot.

[0030] In the robot system according to the first embodiment, the first display device may be configured to display a virtual model indicating position information of a medical testing tool and / or a medical examination tool.

[0031] Furthermore, in the robot system according to the first embodiment, the operating device may be provided with an operating switch configured to instruct the release of the holding of the medical testing instrument and / or the medical examination instrument.

[0032] The method of operating the robot system according to the first embodiment includes a robot system including a robot having an arm having a hand for holding a medical testing instrument and / or a medical examination instrument, and an operating device configured to operate the robot, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and the method includes (A) automatically moving the robot to a position close to a patient based on position information of the patient input from the operating device, and (B) operating the arm and / or hand based on operation command information of the arm and / or hand input from the operating device after (A) is executed.

[0033] Furthermore, in the method of operating the robot system according to the first embodiment, the robot system may further include a first photographing device and a first display device configured to display image information and / or video information photographed by the first photographing device, and (B) may be performed while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0034] In the method for operating the robot system according to the first embodiment, the robot and the operating device may be configured in a master-slave manner.

[0035] In the method for operating the robot system according to the first embodiment, a pair of laser beam pointing tools may be disposed on the hand such that the beams of light irradiated from the laser beam pointing tools cross each other.

[0036] In the method for operating the robot system according to the first embodiment, the first image capturing device may be disposed on the robot or on the hand of the robot.

[0037] In the method of operating the robot system according to the first embodiment, the first display device may be configured to display a virtual model indicating position information of the medical testing tool and / or the medical examination tool.

[0038] In the method of operating the robot system according to the first embodiment, the first display device may be configured to display a virtual model of a part of a patient that is to be treated by a medical procedure.

[0039] Furthermore, in the operating method of the robot system according to the first embodiment, the operating device may be provided with an operating switch configured to instruct the release of the holding of the medical testing instrument and / or the medical examination instrument.

[0040] Hereinafter, an example of a robot system according to the first embodiment will be described with reference to FIGS.

[0041] [Robot system configuration] 1 and 2 are schematic diagrams showing a schematic configuration of a robot system according to the first embodiment.

[0042] 1, a robot system 100 according to the first embodiment includes a robot 101, an operating device 102, a first display device 103, and a control device 110. The robot 101 is disposed in a first space 201, and the operating device 102, the first display device 103, and the control device 110 are disposed in a second space 202.

[0043] The first space 201 and the second space 202 are separated from each other by a partition member 210.

[0044] An imaging device (first imaging device) for capturing an image of the patient's profile may be disposed in the first space 201. The imaging device may be installed in a partition member 210 that forms the first space 201, and may be held by a robot different from the robot 101.

[0045] Furthermore, in the room (examination room / examination room) constituting the first space 201, instruments for performing medical examinations by the robot 101, experimental equipment, various test reagents, etc. may be placed. Examples of the instruments include an autopipette, tips used in an autopipette, microtubes, centrifuge tubes, and centrifuge tubes, and examples of the experimental equipment include a centrifuge, a PCR device, etc.

[0046] A front room may be provided in the room (operation room) constituting the second space 202. A fan filter unit configured to make the front room negative pressure and the second space 202 (internal space of the operation room) positive pressure may be installed in the front room. A known fan filter unit may be used as the fan filter unit.

[0047] In addition, the partition member 210 may be provided with a shutter (door) 204 that allows / prohibits movement to the first space 201, and may be provided with a shutter (door) 205 that allows / prohibits movement to the second space 202.

[0048] Furthermore, a part of the partition member 210 may be made of a transparent member such as a glass plate, so that an operator (medical worker) or the like can see inside the first space 201 from the outside.

[0049] 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 teach pendant can be used.

[0050] The controller 102 may also be provided with a device configured to transmit force information or audio information detected by a force sensor provided in the hand 18 of the robot 101, which will be described later, to the operator. Examples of such a device include a vibration motor, a speaker, and a mechanism for expanding and contracting a housing constituting the gripping portion.

[0051] The operation device 102 may be configured to be portable and carried by an operator (medical worker). The robot 101 and the operation device 102 may be of a master-slave type.

[0052] The controller 102 may also be provided with a release button 102A for releasing the medical testing or medical examination tool held by the hand 18 in an emergency (e.g., when the robot 101 operates abnormally). When the operator presses the release button 102A, the control device 110 may operate the robot 101 so that the hand 18 moves away from the patient.

[0053] The first display device 103 is configured to display image information and / or video information captured by the first imaging device 20 described below. The first display device 103 may be configured as a stationary display that is placed on a desk, a floor, or the like. The first display device 103 may also be configured as a head-mounted display or glasses that an operator wears.

[0054] The robot 101 is configured to be able to move autonomously to the vicinity of the patient based on the patient's position information input from the controller 102 and / or position information within the hospital (e.g., position information of a hospital room, an examination room, etc.).

[0055] Moreover, the robot 101 is configured to operate the arm and / or the hand based on operation information of the arm and / or the hand input from the operation device 102. At this time, the robot 101 may be configured to automatically move under the control of the control device 110 so that the distance between the robot 101 and the patient is kept at a predetermined first distance that is set in advance, depending on the work content of the medical procedure (e.g., examination and / or test) to be performed on the patient.

[0056] For example, when an operation (examination) of auscultating the front of a patient with a stethoscope is performed, and then an operation (examination) of auscultating the back of the patient with the stethoscope is performed, when the patient turns his / her back to the robot 101, the robot 101 may automatically move backwards, and then automatically move so as to close the distance to the patient (so as to maintain a first distance).

[0057] This allows medical personnel to remotely operate the robot 101 and perform medical procedures on the patient.

[0058] Here, the configuration of the robot 101 will be described in detail with reference to Fig. 3. Note that, in the following, a horizontally articulated double-arm robot will be described as the robot 101, but other robots such as a horizontally articulated or vertically articulated robot may also be used as the robot 101.

[0059] Fig. 3 is a schematic diagram showing a schematic configuration of a robot in the robot system shown in Fig. 1 and Fig. 2. In Fig. 3, the up-down direction of the robot is shown as the up-down direction in the figure.

[0060] As shown in FIG. 3, the robot 101 includes a cart 12, a first arm 13A, a second arm 13B, a first hand 18A, a second hand 18B, and a controller 14 disposed within the cart 12.

[0061] In addition, when there is no distinction between the first arm 13A and the second arm 13B, they are simply referred to as the arms 13. Similarly, when there is no distinction between the first hand 18A and the second hand 18B, they are simply referred to as the hands 18.

[0062] In addition, in the present embodiment 1, a configuration is adopted in which the controller 14 is disposed inside the cart 12, but the present invention is not limited to this, and the controller 14 may be disposed outside the cart 12. The controller 14 will be described later.

[0063] Wheels 19 are arranged on the underside of the cart 12. Appropriate gears and drive motors are connected to the wheels 19. This allows the robot 101 to move on its own.

[0064] Furthermore, a base shaft 16 and a first imaging device 20 are fixed to the upper surface of the dolly 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 video camera or an X-ray imaging device.

[0065] The first photographing device 20 may be configured to output the photographed image information and / or video information to the first display device 103 without going through the control device 110. The first photographing device 20 may be held by an arm other than the first arm 13A and the second arm 13B.

[0066] A first arm 13A and a second arm 13B are provided on the base shaft 16 so as to be rotatable about a rotation axis L1 passing through the axis of the base shaft 16. Specifically, the first arm 13A and the second arm 13B are provided so as to have a vertical height difference. The first arm 13A and the second arm 13B are configured so as to be able to operate independently or in relation to each other.

[0067] The first arm 13A has a first arm portion 15A, a first wrist portion 17A, a first hand 18A, and a first attachment portion 2A. Similarly, the second arm 13B has a second arm portion 15B, a second wrist portion 17B, a second hand 18B, and a second attachment portion 2B. Note that the second arm 13B is configured similarly to the first arm 13A, and therefore a detailed description thereof will be omitted.

[0068] In the present embodiment 1, the first arm portion 15A is composed of a first link 5a and a second link 5b each having a substantially rectangular parallelepiped shape. The first link 5a is provided with a rotary joint J1 at its base end and a rotary joint J2 at its tip. The second link 5b is provided with a linear joint J3 at its tip.

[0069] The base end of the first link 5a is connected to the base shaft 16 via a rotary joint J1, and the first link 5a can rotate around the rotation axis L1 via the rotary joint J1. The base end of the second link 5b is connected to the tip end of the first link 5a via a rotary joint J2, and the second link 5b can rotate around the rotation axis L2 via the rotary joint J2.

[0070] A first wrist unit 17A is connected to the tip of the second link 5b via a linear joint J3 so as to be movable up and down relative to the second link 5b. A rotary joint J4 is provided at the lower end of the first wrist unit 17A, and a first mounting unit 2A is provided at the lower end of the rotary joint J4.

[0071] The first attachment unit 2A is configured to allow the first hand 18A to be detachably attached thereto. Specifically, for example, the first attachment unit 2A has a pair of rod members configured to allow the distance between them to be adjusted, and the first hand 18A can be attached to the first wrist unit 17A by sandwiching the first hand 18A between the pair of rod members. This allows the first hand 18A to rotate around the rotation axis L3 by the rotary joint J4. The tip of the rod member may be bent.

[0072] The first hand 18A may have any shape as long as it is configured to hold a medical test instrument or a medical examination instrument. For example, as shown in Figs. 1 and 3, it may be configured to hold a medical test instrument or a medical examination instrument by two claws. The medical test instrument may be, for example, a sterile cotton swab, various types of tubes such as a tube with a screw cap, a syringe, a catheter, or an endoscopic examination instrument. The medical examination instrument may be, for example, a stethoscope or a tongue depressor.

[0073] The first hand 18A is configured to be able to hold various types of work, such as medicine, food, and test reagents, and to release the work.

[0074] Here, with reference to FIG. 4, another example of the first hand 18A (hand 18) will be described.

[0075] Fig. 4 is a schematic diagram showing a schematic configuration of a hand of a robot in the robot system according to the embodiment 1. In Fig. 4, the up-down and front-back directions of the robot are represented as the up-down and front-back directions in the figure.

[0076] 4, the first hand 18A has a main body 31, an intermediate member 32, and a holding member 33. The main body 31 and the intermediate member 32 are connected via a rotary joint J5. The intermediate member 32 and the holding member 33 are connected via a rotary joint J6. This allows the holding member 33 to rotate around the rotation axis L4 and / or the rotation axis L5 with respect to the main body 31.

[0077] The main body 31 is provided with an actuator 34 that rotates the holding member 33. The actuator 34 may be, for example, a servo motor that is servo-controlled by the controller 14. The main body 31 is also provided with a rotation sensor (not shown) that detects the rotation position of the servo motor, and a current sensor (not shown) that detects a current that controls 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 be output to the control device 110 via the controller 14.

[0078] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is attached to 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.

[0079] The object photographed by the camera 36 may be, for example, the patient's nostrils when a nasopharyngeal swab is collected with a sterile cotton swab, or the patient's oral cavity when saliva or a specimen from the lower respiratory tract (such as sputum) is collected with a suction catheter or the like.

[0080] In the first embodiment, the support member 35 and the camera 36 are disposed 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 be disposed at the upper end of the intermediate member 32, or the like. The support member 35 and the camera 36 may be disposed on the holding member 33.

[0081] A chuck mechanism 37 for holding / releasing a medical test or diagnostic instrument is attached to the holding member 33. The chuck mechanism 37 may be configured as an air chuck, for example. The chuck mechanism 37 holds a sterile cotton swab 50 for collecting a specimen for PCR testing.

[0082] Further, a pair of laser pointers (laser light pointing devices) 38A, 38B are disposed on the holding member 33. The laser pointers 38A, 38B are disposed so that laser beams 39A, 39B emitted from the laser pointers 38A, 38B cross each other in front of the first hand 18A. Note that three or more laser light pointing devices may be disposed on the first hand 18A.

[0083] As a result, when the first hand 18A approaches the patient, the distance between the laser light 39A and the laser light 39B that hit the patient becomes smaller. When the first hand 18A approaches the patient further, the laser light that hits the patient becomes a single point. Then, when the first hand 18A approaches the patient further, the distance between the laser light 39A and the laser light 39B that hit the patient becomes larger.

[0084] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by using the laser light 39A, 39B emitted from the pair of laser pointers 38A, 38B.

[0085] Each of the joints 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 relatively rotates or raises and lowers two members connected to each joint. The drive motor may be, for example, a servo motor that is servo-controlled by the controller 14. Each of the joints J1 to J4 is provided with a rotation sensor (not shown) that detects the rotation position of the drive motor, and a current sensor (not shown) that detects a current that controls the rotation of the drive 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 be output to the control device 110 via the controller 14.

[0086] The controller 14 includes a processor and a memory (not shown). The processor is composed of a microprocessor, a CPU, etc., and controls various operations of the robot 101 by reading and executing software such as a basic program stored in the memory.

[0087] The storage device stores information such as a basic program, various fixed data, etc. For example, map information of the inside of a hospital may be stored in advance in the storage device.

[0088] The storage device does not need to be a single device, and may be configured as multiple storage devices (for example, a random access memory and a hard disk drive). When the arithmetic processor is configured as a microcomputer, at least a part of the storage device may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

[0089] In addition, the controller 14 may control various operations of the robot 101 based on various command information input from the control device 110.

[0090] 1 and 2, the control device 110 includes a calculation processor 110a, a storage device 110b, and an input device (operation device) 110c. The calculation processor 110a is composed of a microprocessor, a CPU, etc., and controls various operations of the robot system 100 by reading and executing software such as a basic program stored in the storage device 110b.

[0091] The memory 110b stores information such as a basic program and various fixed data. The memory 110b does not need to be a single memory, and may be configured as multiple memory devices (for example, a random access memory and a hard disk drive). When the arithmetic processor 110a is configured as a microcomputer, at least a part of the memory 110b may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

[0092] The input unit 110c enables various parameters related to the control of the robot system 100 or other data to be input to the arithmetic processor 110a, and is configured with a known input device such as a keyboard, a touch panel, a group of button switches, etc. In the first embodiment, for example, the input unit 110c may enable the input of position information of a patient. In addition, the position information of a patient may be enabled by the operation unit 102.

[0093] The control device 110 may be configured by a single control device 110 performing centralized control, or may be configured by a plurality of control devices 110 working together to perform distributed control. The control device 110 may be configured by a microcomputer, or may be configured by an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.

[0094] [Operation and effects of the robot system] Next, the operation and effects of the robot system 100 according to the first embodiment will be described in detail with reference to Fig. 1 to Fig. 10. Note that the following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory 110b.

[0095] Fig. 5 is a flowchart showing an example of the operation of the robot system according to the embodiment 1. Fig. 6 is a schematic diagram showing an example of the operation of the robot of the robot system according to the embodiment 1.

[0096] As shown in FIG. 5, the control device 110 acquires patient position information from the input device 110c (and / or the operation device 102) by an operator operating the input device 110c (and / or the operation device 102) (step S101).

[0097] Next, based on the patient's position information acquired in step S101, the control device 110 causes the robot 101 to move by itself (automatically move) from a preset waiting location to the vicinity of the patient (step S102).

[0098] Specifically, the control device 110 outputs the patient's position information acquired in step S101 to the controller 14. The controller 14 drives the drive motor based on the input patient's position information and the map information in the hospital stored in the memory, to make the robot 101 move by itself to the vicinity of the patient.

[0099] The waiting place may be a place (space) isolated from the first space 201 and the second space 202.

[0100] Next, the control device 110 acquires image information and / or video information captured by the first image capturing device 20, and displays it on the first display device 103 (step S103). Note that the control device 110 may execute the process of step S103 before the process of step S101 or step S102.

[0101] Here, the image information and / or video information displayed on the first display device 103 will be described with reference to FIGS.

[0102] Fig. 7 is a schematic diagram showing one example of image information and / or video information displayed on the first display device shown in Fig. 1. Figs. 8 to 10 are schematic diagrams showing other examples of image information and / or video information displayed on the first display device shown in Fig. 1. Note that in Figs. 8 to 10, the robot 101 and the first hand 18A are partially omitted.

[0103] 7, the first display device 103 may display image information captured by the first image capturing device 20 (image information capturing the front of the patient) as first image information 103A. The first display device 103 may also display image information captured by an image capturing device (not shown) for capturing a profile image of the patient as second image information 103B.

[0104] 8, the first display device 103 may display the image information captured by the first photographing device 20 as the first image information 103A. The first display device 103 may display the image information captured by the camera 36 provided on the first hand 18A as the third image information 103C.

[0105] 9, the first display device 103 may display the image information captured by the first photographing device 20 as the first image information 103A. The first display device 103 may display the image information captured by the camera 36 provided on the first hand 18A as the third image information 103C.

[0106] Furthermore, a virtual model indicating position information of a medical testing tool and / or a medical examination tool may be displayed as fourth image information 103D on first display device 103. Specifically, a virtual sterile swab 50A, which is a virtual model of a sterile swab 50, and a virtual patient 60, which is a virtual model of a medical target site of a patient, are displayed as fourth image information 103D.

[0107] At this time, the control device 110 may move the virtual sterile swab 50A in the fourth image information 103D based on the patient's position information, position information detected by a rotation sensor that detects the rotational position of each drive motor, and / or operation information input to the operation device 102. This allows the operator to easily understand the distance between the patient and the tip of the medical test instrument and / or medical examination instrument (sterile swab 50).

[0108] 10, the first display device 103 may display the image information captured by the first photographing device 20 as the first image information 103A. Also, the first display device 103 may display the image information captured by the camera 36 provided on the first hand 18A as the third image information 103C.

[0109] Furthermore, a virtual model showing position information of a medical testing instrument and / or a medical examination instrument may be displayed as fourth image information 103D on first display device 103. Specifically, a virtual sterile swab 50A, which is a virtual model of a sterile swab 50, is displayed as fourth image information 103D.

[0110] At this time, the control device 110 may display the area of ​​the sterile swab 50 that has entered the patient's body as a first area 50B in the fourth image information 103D based on the patient's position information, position information detected by a rotation sensor that detects the rotational position of each drive motor, and / or operation information input to the operation device 102. The first area 50B may be shown by hatching, for example, as shown in Fig. 10, or may be shown in a color different from that of the virtual sterile swab 50A.

[0111] This allows the operator to easily understand the distance between the patient and the tip of the medical test and / or examination instrument (sterile swab 50).

[0112] 5, the control device 110 acquires operation command information for the arm 13 and / or the hand 18 from the operation device 102 (step S104). Then, the control device 110 operates the arm 13 and / or the hand 18 based on the operation command information acquired in step S104 (step S105).

[0113] This allows the operator to remotely operate the robot 101 to perform a medical procedure (e.g., examination and / or testing) on ​​the patient. For example, the operator may perform a task of collecting a specimen for a PCR test on the patient.

[0114] Here, a medical procedure performed by the robot 101 will be described with reference to Fig. 6. In Fig. 6, the robot 101 employs a configuration having a second display device 24, which will be described later.

[0115] 6, a shielding plate 221 is disposed between the robot 101 and the patient. The shielding plate 221 may be installed on a base 220 such as a desk. The shielding plate 221 is made of a transparent member such as a glass plate, and has an opening 222 provided in the approximate center.

[0116] The position and size of the opening 222 are appropriately set depending on the type of medical procedure. For example, when performing medical procedures related to internal medicine, otolaryngology, etc., the position and size of the opening 222 are appropriately set so that the patient's mouth and nose (parts of the medical procedure) are located at the opening 222. When performing medical procedures related to ophthalmology, the position and size of the opening 222 are appropriately set so that the patient's eyes (parts of the medical procedure) are located at the opening 222.

[0117] This can prevent droplets from adhering to the robot 101 when the patient coughs or sneezes.

[0118] In addition, a positioning device 230 is installed between the shielding plate 221 and the patient. The positioning device 230 includes a main body 231, an abutment portion 232, and a chin rest 233. The main body 231 may be configured so that it can be held by the patient. In addition, the chin rest 233 may be configured so as to move up and down.

[0119] The positioner 230 is configured so that the part of the patient that is to be treated by the medical procedure is positioned within a preset range (opening 222) by the patient abutting his / her forehead against the abutment portion 232 and placing his / her chin on the chin rest 233. This makes it easy to position the part of the patient that is to be treated by the medical procedure, and reduces the burden of the operation on the operator.

[0120] In addition, when executing the processing of step S105, the control device 110 may automatically operate the arm 13 and / or the hand 18, for example, so that the tip of the medical testing instrument or medical examination instrument held by the hand 18 approaches the patient.

[0121] The control device 110 may also store in the memory 110b operation command information for the arm 13 and / or the hand 18 input from the operation device 102. The control device 110 may also operate the arm 13 and / or the hand 18 based on the operation command information stored in the memory 110b to perform a medical procedure (e.g., a medical examination and / or an examination) on a patient.

[0122] The control device 110 may be configured to learn a medical examination task, etc. Specifically, for example, when the control device 110 is causing the robot 101 to perform a medical examination task, etc., if the operator operates the controller 102 to modify the operation of the arm 13 and / or the hand 18, the control device 110 stores the modified operation command information of the arm 13 and / or the hand 18 in the memory 110b.

[0123] Next, the control device 110 operates the arm 13 and / or the hand 18 based on the corrected operation command information to perform a medical procedure (e.g., a medical examination and / or an examination) on the patient. Then, when the operator corrects the operation of the arm 13 and / or the hand 18 again, the control device 110 stores the corrected operation command information of the arm 13 and / or the hand 18 in the memory 110b, and causes the arm 13 and / or the hand 18 to learn the medical examination and the like.

[0124] Next, when the operator operates the operation device 102 (and / or the input device 110c) to input a command to end the medical procedure from the operation device 102 (and / or the input device 110c), the control device 110 causes the robot 101 to move by itself to a waiting location (step S106) and terminates the program.

[0125] The control device 110 may control the robot 101 to move to a waiting area by itself, and then disinfect the robot 101 by an appropriate means before putting the robot 101 into a waiting state. The robot 101 may also be disinfected by an operator wearing a protective mask and protective clothing.

[0126] In the robot system 100 according to the first embodiment configured as described above, the robot 101 is configured to move to the vicinity of the patient by itself when the operator (medical worker) simply inputs the patient's position information. This allows the operator to concentrate on medical treatment, and reduces the burden of the operation on the operator.

[0127] Moreover, in the robot 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.

[0128] This makes it possible to prevent contact with patients suspected of being infected with a virus, etc., and therefore to sufficiently prevent the operator from becoming infected with a virus, etc.

[0129] In addition, since the robot 101 moves close to the patients in each hospital room, the operator does not need to move around the hospital. This makes it possible to sufficiently prevent infection of the operator. can.

[0130] Furthermore, by moving the robot 101, the number of times and / or the distance that a patient infected with a virus or the like must move within the hospital can be reduced, thereby reducing the spread of the virus or the like.

[0131] In the robot system 100 according to the first embodiment, a pair of laser pointers 38A, 38B are arranged in the first hand 18A (hand 18) such that laser beams 39A, 39B emitted from the first hand 18A intersect with each other.

[0132] As a result, when the first hand 18A approaches the patient, the distance between the laser light 39A and the laser light 39B that hit the patient becomes smaller. When the first hand 18A approaches the patient further, the laser light that hits the patient becomes a single point. Then, when the first hand 18A approaches the patient further, the distance between the laser light 39A and the laser light 39B that hit the patient becomes larger.

[0133] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by using the laser light 39A, 39B emitted from the pair of laser pointers 38A, 38B.

[0134] Furthermore, in the robot system 100 according to the first embodiment, a virtual model showing the position information of the medical testing instrument and / or the medical examination instrument is displayed as the fourth image information 103D on the first display device 103. This allows the operator to easily understand the distance between the patient and the tip of the medical testing instrument and / or the medical examination instrument (sterile cotton swab 50).

[0135] At this time, the control device 110 displays a virtual patient 60, which is a virtual model of the patient's medical target area, on the first display device 103, making it easier to understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50).

[0136] [Variation 1] Next, a modification of the robot system 100 according to the first embodiment will be described with reference to FIG.

[0137] FIG. 11 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the first embodiment.

[0138] As shown in FIG. 11, the robot system 100 of the present modified example 1 has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 is a vertical articulated robot.

[0139] The robot system 100 of the first modification thus configured achieves the same effects as the robot system 100 of the first embodiment.

[0140] (Embodiment 2) The robot system of the second embodiment is a robot system of the first embodiment (including variations), in which the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device is configured to output audio information input to the first audio input device to the second audio output device and output audio information input to the second audio input device to the first audio output device.

[0141] A method of operating a robot system according to the second embodiment is a method of operating a robot system according to the first embodiment (including variations), in which the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device is configured to output audio information input to the first audio input device to the second audio output device and output audio information input to the second audio input device to the first audio output device.

[0142] Hereinafter, an example of a robot system according to the second embodiment will be described with reference to FIG.

[0143] [Robot system configuration] FIG. 12 is a schematic diagram showing a schematic configuration of a robot system according to the second embodiment.

[0144] As shown in FIG. 12, the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 has a first voice input device 21 and a first voice output device 22, and that a second voice input device 104 and a second voice output device 105 are arranged in the second space 202.

[0145] The first voice input device 21 and the second voice input device 104 may be configured, for example, by microphones. The first voice output device 22 and the second voice output device 105 may be configured by speakers.

[0146] The second audio input device 104 and the second audio output device 105 may be configured with headphones (headsets) with a microphone. In addition, when the first display device 103 is configured with a head-mounted display, the second audio input device 104 and the second audio output device 105 may be configured with a microphone and headphones attached to the head-mounted display.

[0147] The robot system 100 according to the second embodiment configured as above achieves the same effects as the robot system 100 according to the first embodiment.

[0148] In addition, in the robot system 100 according to the second embodiment, the robot 101 is provided with a first voice input device 21 and a first voice output device 22, and a second voice input device 104 and a second voice output device 105 are disposed in the second space 202, thereby enabling communication between the patient and the operator.

[0149] This allows, for example, if the operator is a medical professional or if a medical professional is present next to the operator, medical procedures such as interviewing the patient, auscultation, communicating test results, and communicating treatment plans can be performed on the patient.

[0150] (Embodiment 3) The robot system according to the third embodiment is the robot system according to the first embodiment (including the modified examples) or the second embodiment, further comprising a storage device for storing at least one of the items to be transported, including medicine, food, test reagents, specimens, medical test equipment, and medical examination equipment.

[0151] The method of operating a robot system according to the third embodiment is the method of operating a robot system according to the first embodiment (including the modified examples) or the second embodiment, further comprising a storage device for storing at least one of the items to be transported, including medicine, food, test reagents, specimens, medical test equipment, and medical examination equipment.

[0152] Hereinafter, an example of a robot system according to the third embodiment will be described with reference to FIG.

[0153] [Robot system configuration] FIG. 13 is a schematic diagram showing a schematic configuration of a robot system according to the third embodiment.

[0154] As shown in FIG. 13, the robot system 100 according to the third embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 further includes a storage device 23 that stores at least one of the items to be transported, including medicine, food, test reagents, specimens, medical test instruments, and medical examination instruments.

[0155] As the storage device 23, various storage items such as a box with a lid, a tray, etc. can be used. The storage device 23 may be made of metal (e.g., stainless steel) so as to be compatible with sterilization treatments such as autoclave sterilization and dry heat sterilization. Furthermore, the storage device 23 may be configured to maintain the internal space at a predetermined temperature (e.g., 0°C, -20°C, -80°C) so that the specimen can be transported.

[0156] Furthermore, storage device 23 may store various instruments and / or experimental devices, such as an autopipette, tips used in the autopipette, microtubes, centrifuge tubes, a centrifuge, a PCR device, and the like.

[0157] The robot system 100 according to the third embodiment configured as above achieves the same effects as the robot system 100 according to the first embodiment.

[0158] In the robot system 100 according to the third embodiment, the robot 101 further includes a storage device 23 for storing at least one of medicine, food, test reagents, specimens, medical test equipment, and medical examination equipment. This reduces the workload of medical assistants such as nurses. It also reduces the chances of the medical assistants coming into contact with patients with infectious diseases such as viruses, and sufficiently prevents the medical assistants from becoming infected with viruses, etc.

[0159] (Embodiment 4) The robot system of the present embodiment 4 is a robot system of any of embodiments 1 (including modifications) to 3, further comprising a third space isolated from the first space and the second space, in which the robot is disinfected.

[0160] In the robot system according to the fourth embodiment, the robot may be configured to disinfect the robot itself.

[0161] Furthermore, in the robot system according to the fourth embodiment, the control device may be configured to further execute (C) after (B), in which the robot is autonomously driven to a third space and the robot is disinfected.

[0162] The method of operating a robot system according to the fourth embodiment is a method of operating a robot system according to any one of the first (including variants) to third embodiments, further comprising a third space isolated from the first space and the second space, in which the robot is disinfected.

[0163] In the method of operating the robot system according to the fourth embodiment, the robot may be configured to disinfect the robot itself.

[0164] Furthermore, the operating method of the robot system according to the fourth embodiment may further include, after (B), (C) in which the robot travels to the third space by itself and the robot is disinfected. stomach.

[0165] An example of a robot system according to the fourth embodiment will be described below with reference to FIGS.

[0166] [Robot system configuration] FIG. 14 is a schematic diagram showing a schematic configuration of a robot system according to the fourth embodiment.

[0167] As shown in FIG. 14, the robot system 100 according to the fourth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that it further includes a third space 203 isolated from the first space 201 and the second space 202.

[0168] The first space 201, the second space 202, and the third space 203 are spaces separated from each other. The first space 201, the second space 202, and the third space 203 are each separated by a partition member 210. They are kept in isolation.

[0169] An antechamber may be provided in the room (sterilization chamber) constituting the third space 203. A fan filter unit configured to make the antechamber negative pressure and the second space 202 (internal space of the sterilization chamber) positive pressure may be provided in the antechamber. A known fan filter unit may be used as the fan filter unit.

[0170] The partition member 210 may be provided with a shutter (door) 206 that allows / prohibits movement into the third space 203.

[0171] The robot 101 may be configured to disinfect the robot 101 itself. Specifically, for example, the robot 101 may be disinfected by holding a sprayer that sprays a solution such as an ethanol solution having a bactericidal and antiviral effect with the hand 18 and spraying the solution toward the robot 101.

[0172] In addition, the robot 101 itself may be disinfected by holding an ultraviolet ray irradiator with the hand 18 and irradiating the robot 101 with ultraviolet rays.

[0173] Furthermore, a protective cover (surgical drape) may be placed in the third space 203. The robot 101 may be configured to maintain a sterile and antiviral state by attaching and detaching the protective cover.

[0174] Specifically, the robot 101 puts on a protective cover in the third space 203, then moves to the first space 201 and performs a medical procedure. After the medical procedure is completed, the robot 101 moves to another third space 203 where a protective cover is not placed and removes the protective cover. Then, the robot 101 moves to the third space 203 where a protective cover is placed and puts on the protective cover.

[0175] [Operation and effects of the robot system] Next, the operation and effects of the robot system 100 according to the fourth embodiment will be described in detail with reference to Fig. 14 and Fig. 15. Note that the following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory 110b.

[0176] FIG. 15 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.

[0177] As shown in FIG. 15, the operation of the robot system 100 according to the fourth embodiment is basically the same as that of the robot system 100 according to the first embodiment, except that the control device 110 executes the process of step S106A instead of the process of step S106, and executes the process of step S107 after the process of step S106A.

[0178] Specifically, when medical treatment end command information is input from the operation device 102 (and / or the input device 110c), the control device 110 causes the robot 101 to move independently to the third space 203 (step S106A).

[0179] Next, the control device 110 causes the robot 101 to be disinfected in the third space 203 (step S107), and ends this program.

[0180] The robot system 100 according to the fourth embodiment thus configured achieves the same effects as the robot system 100 according to the first embodiment.

[0181] Moreover, in the robot system 100 according to the fourth embodiment, the robot 101 is configured to disinfect the robot 101 itself. This eliminates the need for an operator wearing a protective mask and protective clothing to disinfect the robot 101. This makes it possible to provide a user-friendly robot system 100.

[0182] [Variation 1] Next, a modification of the robot system 100 according to the fourth embodiment will be described.

[0183] In the robot system of the first modification of the fourth embodiment, a disinfection device configured to disinfect the robot is disposed in the third space.

[0184] In the operating method of the robot system according to the first modification of the fourth embodiment, a disinfection device configured to disinfect the robot is disposed in the third space.

[0185] Hereinafter, an example of a robot system according to Modification 1 of the fourth embodiment will be described with reference to FIG.

[0186] [Robot system configuration] FIG. 16 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the fourth embodiment.

[0187] As shown in FIG. 16, the robot system 100 of this modified example 1 has the same basic configuration as the robot system 100 of embodiment 4, but differs in that a sterilization apparatus 300 is disposed in the sterilization chamber that constitutes the third space 203.

[0188] The disinfection device 300 may be a sprayer that sprays a solution such as an ethanol solution having a bactericidal or antiviral effect. The disinfection device 300 may also be an irradiator that irradiates ultraviolet rays. Furthermore, a robot different from the robot 101 may be placed in the sterilization room, and the robot may hold the sprayer or irradiator to perform the disinfection work of the robot 101.

[0189] The robot system 100 of the first modification thus configured achieves the same effects as the robot system 100 of the fourth embodiment.

[0190] (Embodiment 5) A robot system according to the fifth embodiment is a robot system according to any one of the first to fourth embodiments (including variants), in which the robot further includes a second display device, a second photographing device is further disposed in the second space, and the control device is configured to cause the second display device to display image information and / or video information photographed by the second photographing device in (B).

[0191] A method of operating a robot system according to the fifth embodiment is a method of operating a robot system according to any one of the first to fourth embodiments (including variants), in which the robot further includes a second display device, and a second photographing device is further disposed in the second space, and in (B), the second display device is configured to display image information and / or video information photographed by the second photographing device.

[0192] Hereinafter, an example of a robot system according to the fifth embodiment will be described with reference to FIGS.

[0193] [Robot system configuration] FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to the fifth embodiment.

[0194] As shown in FIG. 17, the robot system 100 according to the fifth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 further includes a second display device 24 and that a second imaging device 106 is further arranged in the second space 202.

[0195] The second display device 24 is configured to display image information and / or video information captured by the second image capturing device 106. The second display device 24 may be configured as, for example, a stationary display.

[0196] The second image capturing device 106 is configured to capture an image and / or video 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 image capturing device 106 may be, for example, a video camera.

[0197] [Operation and effects of the robot system] Next, the operation and effects of the robot system 100 according to the fifth embodiment will be described in detail with reference to Fig. 17 and Fig. 18. Note that the following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory 110b.

[0198] FIG. 18 is a flowchart showing an example of the operation of the robot system according to the fifth embodiment.

[0199] As shown in FIG. 18, the operation of the robot system 100 according to the fifth embodiment is basically the same as that of the robot system 100 according to the first embodiment, except that the control device 110 executes the process of step S103A instead of the process of step S103.

[0200] Specifically, after causing the robot to move autonomously from the waiting location to the vicinity of the patient (step S102), the control device 110 executes the following process.

[0201] The control device 110 acquires image information and / or video information captured by the first image capturing device 20 and displays it on the first display device 103, and acquires image information and / or video information captured by the second image capturing device 106 and displays it on the second display device 24 (step S103A). The control device 110 may execute the process of step S103A before the process of step S101 or step S102.

[0202] The robot system 100 according to the fifth embodiment thus configured achieves the same effects as the robot system 100 according to the first embodiment.

[0203] In the robot system 100 according to the fifth embodiment, the robot 101 further includes a second display device 24, and in the second space 202, a second imaging device 106 is further disposed.

[0204] This allows communication between the patient and the operator (medical professional).

[0205] (Embodiment 6) The robot system of the sixth embodiment comprises a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, an operating device configured to operate the robot, and a control device, wherein a first space in which the robot is located and a second space in which the operating device is located are separated, a first imaging device is located in the hand, and the control device is configured to execute (α) to operate the arm and / or hand based on operation command information of the arm and / or hand input from the operating device.

[0206] In addition, in the robot system according to the sixth embodiment, the robot system may further include a first photographing device and a first display device configured to display image information and / or video information photographed by the first photographing device, and the control device may be configured to execute (α) while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0207] In the robot system according to the sixth embodiment, the robot and the operating device may be configured in a master-slave manner.

[0208] In the robot system according to the sixth embodiment, the first image capturing device may be disposed on the robot or on the hand of the robot.

[0209] Furthermore, in the robot system according to the sixth embodiment, a pair of laser beam pointing tools may be disposed on the hand so that the beams of light irradiated from the laser beam pointing tools cross each other.

[0210] In the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model indicating position information of a medical testing tool and / or a medical examination tool.

[0211] In the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model of a part of a patient that is to be treated by a medical procedure.

[0212] Furthermore, in the robot system according to the sixth embodiment, the operating device may be provided with an operating switch configured to instruct the release of the holding of the medical testing instrument and / or the medical examination instrument.

[0213] In a method of operating a robot system according to the sixth embodiment, the robot system comprises a robot having an arm having a hand for holding a medical testing instrument and / or a medical examination instrument, and an operating device configured to operate the robot, a first space in which the robot is disposed and a second space in which the operating device is disposed are separated, a first imaging device is disposed in the hand, and the arm and / or hand operate based on operation command information for the arm and / or hand input from the operating device (α).

[0214] In addition, in the operating method of the robot system according to the sixth embodiment, the robot system may further include a first photographing device and a first display device configured to display image information and / or video information photographed by the first photographing device, and (α) may be executed while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0215] In the method for operating the robot system according to the sixth embodiment, the robot and the operating device may be configured in a master-slave manner.

[0216] In the method for operating a robot system according to the sixth embodiment, the first image capturing device may be disposed on the robot or on the hand.

[0217] In the method for operating the robot system according to the sixth embodiment, a pair of laser beam pointing tools may be disposed on the hand such that the beams of light irradiated from the laser beam pointing tools cross each other.

[0218] In the method of operating the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model indicating position information of the medical testing tool and / or the medical examination tool.

[0219] In the method for operating the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model of a part of a patient that is to be treated by a medical procedure.

[0220] Furthermore, in the operating method of the robot system according to the sixth embodiment, the operating device may be provided with an operating switch configured to instruct the release of the holding of the medical testing instrument and / or the medical examination instrument.

[0221] An example of a robot system according to the sixth embodiment will be described below with reference to FIGS.

[0222] [Robot system configuration] 19 and 20 are schematic diagrams showing a schematic configuration of a robot system according to the sixth embodiment.

[0223] 19 and 20, the robot system 100 according to the sixth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but is different in that the robot 101 is installed in a first space 201 (the robot 101 is a stationary type). Also, the configuration of the first hand 18A of the robot 101 is different.

[0224] Here, the configuration of the first hand 18A of the robot 101 will be described with reference to FIG.

[0225] Fig. 21 is a schematic diagram showing a schematic configuration of a hand of the robot shown in Fig. 19. In Fig. 21, the up-down and front-back directions of the robot are shown as the up-down and front-back directions in the figure.

[0226] 21, the first hand 18A has a main body 31, an intermediate member 32, and a holding member 33. The main body 31 and the intermediate member 32 are connected via a rotary joint J5. The intermediate member 32 and the holding member 33 are connected via a rotary joint J6. This allows the holding member 33 to rotate around the rotation axis L4 and / or the rotation axis L5 with respect to the main body 31.

[0227] The main body 31 is provided with an actuator 34 that rotates the holding member 33. The actuator 34 may be, for example, a servo motor that is servo-controlled by the controller 14. The main body 31 is also provided with a rotation sensor (not shown) that detects the rotation position of the servo motor, and a current sensor (not shown) that detects a current that controls 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 be output to the control device 110 via the controller 14.

[0228] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is attached to 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.

[0229] The object photographed by the camera 36 may be, for example, the patient's nostrils when a nasopharyngeal swab is collected with a sterile cotton swab, or the patient's oral cavity when saliva or a specimen from the lower respiratory tract (such as sputum) is collected with a suction catheter or the like.

[0230] In the first embodiment, the support member 35 and the camera 36 are disposed 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 be disposed at the upper end of the intermediate member 32, or the like. The support member 35 and the camera 36 may be disposed on the holding member 33.

[0231] A chuck mechanism 37 for holding / releasing a medical test or diagnostic instrument is attached to the holding member 33. The chuck mechanism 37 may be configured as an air chuck, for example. The chuck mechanism 37 holds a sterile cotton swab 50 for collecting a specimen for PCR testing.

[0232] Further, a pair of laser pointers (laser light pointing devices) 38A, 38B are disposed on the holding member 33. The laser pointers 38A, 38B are disposed so that laser beams 39A, 39B emitted from the laser pointers 38A, 38B cross each other in front of the first hand 18A. Note that three or more laser light pointing devices may be disposed on the first hand 18A.

[0233] As a result, when the first hand 18A approaches the patient, the distance between the laser light 39A and the laser light 39B that hit the patient becomes smaller. When the first hand 18A approaches the patient further, the laser light that hits the patient becomes a single point. Then, when the first hand 18A approaches the patient further, the distance between the laser light 39A and the laser light 39B that hit the patient becomes larger.

[0234] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by using the laser light 39A, 39B emitted from the pair of laser pointers 38A, 38B.

[0235] [Operation and effects of the robot system] Next, the operation and effects of the robot system 100 according to the sixth embodiment will be described in detail with reference to Fig. 19 to Fig. 22. Note that the following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory 110b.

[0236] FIG. 22 is a flowchart showing an example of the operation of the robot system according to the sixth embodiment.

[0237] 22, the control device 110 acquires image information and / or video information captured by the first imaging device 20, and displays it on the first display device 103 (step S201). Note that the image information and / or video information displayed on the first display device 103 may be the examples shown in FIGS. 6 to 10.

[0238] Next, the control device 110 acquires operation command information for the arm 13 and / or the hand 18 from the operation device 102 (step S202). Next, the control device 110 operates the arm 13 and / or the hand 18 based on the operation command information acquired in step S104 (step S203).

[0239] This allows the operator to remotely operate the robot 101 to perform medical procedures (e.g., examinations and / or tests) on the patient (see FIG. 6). For example, the operator may perform a task of collecting a specimen for a PCR test.

[0240] The control device 110 may store in the memory 110b operation command information for the arm 13 and / or the hand 18 input from the operation device 102. The control device 110 may also operate the arm 13 and / or the hand 18 based on the operation command information stored in the memory 110b to perform a medical procedure (e.g., a medical examination and / or an examination) on a patient.

[0241] The control device 110 may be configured to learn a medical examination task, etc. Specifically, for example, when the control device 110 is causing the robot 101 to perform a medical examination task, etc., if the operator operates the controller 102 to modify the operation of the arm 13 and / or the hand 18, the control device 110 stores the modified operation command information of the arm 13 and / or the hand 18 in the memory 110b.

[0242] Next, the control device 110 operates the arm 13 and / or the hand 18 based on the corrected operation command information to perform a medical procedure (e.g., a medical examination and / or an examination) on the patient. Then, when the operator corrects the operation of the arm 13 and / or the hand 18 again, the control device 110 stores the corrected operation command information of the arm 13 and / or the hand 18 in the memory 110b, and causes the arm 13 and / or the hand 18 to learn the medical examination and the like.

[0243] Next, when the operator operates the operation device 102 (and / or the input device 110c) to input medical procedure end command information from the operation device 102 (and / or the input device 110c) (Yes in step S204), the control device 110 terminates this program.

[0244] After the program is terminated, the control device 110 may control the robot 101 to be disinfected by an appropriate means and then to be put into a standby state. The robot 101 may be disinfected by an operator wearing a protective mask and protective clothing.

[0245] In the robot system 100 according to the sixth embodiment thus configured, the operator operates the robot 101 in the second space 202 isolated from the patient.

[0246] This makes it possible to prevent contact with patients suspected of being infected with a virus, etc., and therefore to sufficiently prevent the operator from becoming infected with a virus, etc.

[0247] In the robot system 100 according to the sixth embodiment, a pair of laser pointers 38A, 38B are disposed in the first hand 18A (hand 18) such that the laser beams 39A, 39B emitted from the first hand 18A intersect with each other.

[0248] As a result, when the first hand 18A approaches the patient, the distance between the laser light 39A and the laser light 39B that hit the patient becomes smaller. When the first hand 18A approaches the patient further, the laser light that hits the patient becomes a single point. Then, when the first hand 18A approaches the patient further, the distance between the laser light 39A and the laser light 39B that hit the patient becomes larger.

[0249] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by using the laser light 39A, 39B emitted from the pair of laser pointers 38A, 38B.

[0250] Furthermore, in the robot system 100 according to the sixth embodiment, a virtual model showing the position information of the medical testing instrument and / or the medical examination instrument is displayed as the fourth image information 103D on the first display device 103. This allows the operator to easily understand the distance between the patient and the tip of the medical testing instrument and / or the medical examination instrument (sterile cotton swab 50).

[0251] At this time, the control device 110 displays a virtual patient 60, which is a virtual model of the patient's medical target area, on the first display device 103, making it easier to understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50).

[0252] [Variation 1] Next, a modification of the robot system according to the sixth embodiment will be described with reference to FIG.

[0253] FIG. 23 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the sixth embodiment.

[0254] As shown in FIG. 23, the robot system 100 of the present modified example 1 has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 is a vertical articulated robot.

[0255] The robot system 100 of the first modification thus configured achieves the same effects as the robot system 100 of the sixth embodiment.

[0256] (Embodiment 7) The robot system of the seventh embodiment is the robot system of the sixth embodiment (including variants) in that the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device is configured to output audio information input to the first audio input device to the second audio output device and output audio information input to the second audio input device to the first audio output device.

[0257] An example of a robot system according to the seventh embodiment will be described below with reference to FIG.

[0258] [Robot system configuration] FIG. 24 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment.

[0259] As shown in FIG. 24, the robot system 100 according to the seventh embodiment has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 has a first voice input device 21 and a first voice output device 22, and that a second voice input device 104 and a second voice output device 105 are arranged in the second space 202.

[0260] The first voice input device 21 and the second voice input device 104 may be configured, for example, by microphones. The first voice output device 22 and the second voice output device 105 may be configured by speakers.

[0261] The second audio input device 104 and the second audio output device 105 may be configured with headphones (headsets) with a microphone. In addition, when the first display device 103 is configured with a head-mounted display, the second audio input device 104 and the second audio output device 105 may be configured with a microphone and headphones attached to the head-mounted display.

[0262] The robot system 100 according to the seventh embodiment configured as above achieves the same effects as the robot system 100 according to the sixth embodiment.

[0263] In addition, in the robot system 100 according to the seventh embodiment, the robot 101 is provided with a first voice input device 21 and a first voice output device 22, and a second voice input device 104 and a second voice output device 105 are disposed in the second space 202, thereby enabling communication between the patient and the operator.

[0264] This allows, for example, if the operator is a medical professional or if a medical professional is present next to the operator, medical procedures such as interviewing the patient, auscultation, communicating test results, and communicating treatment plans can be performed on the patient.

[0265] (Embodiment 8) The robot system of the eighth embodiment is a robot system of either the sixth embodiment (including variants) or the seventh embodiment, in which the robot further includes a second display device, a second photographing device is further disposed in the second space, and the control device is configured to cause the second display device to display image information and / or video information photographed by the second photographing device at (α).

[0266] A method of operating a robot system according to the eighth embodiment is a method of operating a robot system according to any one of the sixth embodiment (including variants) or seventh embodiment, in which the robot further includes a second display device, and a second photographing device is further disposed in the second space, and in (α), the second display device is configured to display image information and / or video information photographed by the second photographing device.

[0267] Hereinafter, an example of a robot system according to the eighth embodiment will be described with reference to FIGS.

[0268] [Robot system configuration] FIG. 25 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment.

[0269] As shown in FIG. 25, the robot system 100 according to the eighth embodiment has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 further includes a second display device 24 and that a second imaging device 106 is further arranged in the second space 202.

[0270] The second display device 24 is configured to display image information and / or video information captured by the second image capturing device 106. The second display device 24 may be configured as, for example, a stationary display.

[0271] The second image capturing device 106 is configured to capture an image and / or video 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 image capturing device 106 may be, for example, a video camera.

[0272] [Operation and effects of the robot system] Next, the operation and effects of the robot system 100 according to the eighth embodiment will be described in detail with reference to Fig. 25 and Fig. 26. Note that the following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory 110b.

[0273] FIG. 26 is a flowchart showing an example of the operation of the robot system according to the eighth embodiment.

[0274] As shown in FIG. 26, the operation of the robot system 100 according to the eighth embodiment is basically the same as that of the robot system 100 according to the sixth embodiment, except that the control device 110 executes the process of step S201A instead of the process of step S201.

[0275] Specifically, the control device 110 acquires image information and / or video information captured by the first photographing device 20 and displays it on the first display device 103, and acquires image information and / or video information captured by the second photographing device 106 and displays it on the second display device 24 (step S201A).

[0276] The robot system 100 according to the eighth embodiment configured as above achieves the same effects as the robot system 100 according to the sixth embodiment.

[0277] In the robot system 100 according to the eighth embodiment, the robot 101 further includes a second display device 24, and in the second space 202, a second imaging device 106 is further disposed.

[0278] This allows communication between the patient and the operator (medical professional).

[0279] From the above description, many improvements or other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. Details of its structure and / or function can be substantially changed without departing from the present invention. [Industrial Applicability]

[0280] INDUSTRIAL APPLICABILITY The robot system and the operating method thereof according to the present invention can sufficiently reduce infection among medical staff and others in hospitals, and are therefore useful in the field of robots. [Explanation of symbols]

[0281] 2A 1st attachment part 2B Second mounting part 5a Link 1 5b 2nd link 12 Carts 13 Arm 13A First Arm 13B Second Arm 14 Controller 15A First Arm 15B Second arm section 16 Principles 17A First List Section 17B Second List Section 18 Hands 18A 1st Hand 18B 2nd hand 19 wheels 20 First Camera 21 First voice input device 22 First audio output device 23 Storage device 24 2nd display device 31 Main unit 32 Intermediate parts 33 Retaining member 34 Actuator 35 Support member 36 Camera 37 Chuck mechanism 38A Laser Pointer 38B Laser Pointer 39B Laser light 39A Laser light 50 Sterile cotton swabs 50A Virtual Sterile Swab 50B 1st area 60 Virtual Patients 100 Robot System 101 Robot 102 Controller 102A Release button 103 1st display device 103A First Video Information 103B 2nd Video Information 103C 3rd Video Information 103D 4th Video Information 104 Second voice input device 105 Second audio output device 106 Second Imaging Device 110 Control device 110a Calculation processor 110b Memory device 110c input device 201 1st space 202 2nd space 203 Third space 204 Shutter 205 Shutter 206 Shutter 210 Partition member 220 Foundation 221 Shielding plate 222 Opening 230 Positioning device 231 Main Body 232 Abutted part 233 Chin rest 300 Disinfection equipment J1 Rotational Joint J2 Rotational Joint J3 linear joint J4 Rotational Joint J5 Rotational Joint J6 Rotational Joint L1 Rotation axis L2 Rotation axis L3 Rotation axis L4 Rotation axis L5 Rotation axis

Claims

1. A robot including an arm having a hand including a chuck mechanism for holding / releasing a specimen collection tool for collecting a specimen from a patient suspected of having an infectious disease; A manipulator configured to operate the robot; and A control device, A first space in which the robot is disposed and a second space in which the operation device is disposed are separated from each other, The control device causes the robot to move toward the patient (A); The robot system is configured to, after executing (A), display a virtual model indicating positional information of the sample collection tool and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the controller, and (B) collect a sample from the patient by operating the arm and / or the hand holding the sample collection tool.

2. The robot system further includes a first image capturing device and a first display device configured to display image information and / or video information captured by the first image capturing device, The robot system according to claim 1 , wherein the control device is configured to execute (B) while displaying image information and / or video information captured by the first imaging device on the first display device.

3. The robot further includes a first voice input device and a first voice output device, a second audio input device and a second audio output device are further disposed in the second space, 3. The robot system according to claim 1 or 2, wherein the control device is configured to output voice information input to the first voice input device to the second voice output device, and to output voice information input to the second voice input device to the first voice output device.

4. The robot system according to any one of claims 1 to 3, wherein the robot further comprises a storage device for storing at least one of the items to be transported, which are medicine, food, a test reagent, a specimen, and the specimen collection tool.

5. A third space is further provided, the third space being isolated from the first space and the second space. The robot system according to any one of claims 1 to 4, wherein the robot is disinfected in the third space.

6. The robotic system of claim 5 , wherein the robot is configured to sterilize itself.

7. The robot system of claim 5 , wherein a disinfection device configured to disinfect the robot is disposed in the third space.

8. The robot system according to any one of claims 5 to 7, wherein the control device is configured to further execute (C) after (B), to cause the robot to self-propel to the third space and disinfect the robot.

9. The robot further includes a second display device, A second imaging device is further disposed in the second space, The robot system according to any one of claims 1 to 8, wherein in (B), the control device is configured to cause the second display device to display image information and / or video information captured by the second imaging device.

10. The robot system according to any one of claims 1 to 9, wherein the robot and the operating device are configured in a master-slave manner.

11. The robot system according to any one of claims 1 to 10, wherein a pair of laser beam pointing devices are arranged on the hand such that the beams of light irradiated from the laser beam pointing devices intersect.

12. The robot system according to claim 2 , wherein the first image capturing device is disposed on the robot.

13. The robot system according to any one of claims 1 to 12, wherein the virtual patient includes a virtual model of a part of the patient that is to be treated by a medical procedure.

14. The robot system according to any one of claims 1 to 13, wherein the operation device is provided with an operation switch configured to instruct the release of the holding of the specimen collecting tool.

15. A robot including an arm having a hand including a chuck mechanism for holding / releasing a specimen collection tool for collecting a specimen from a patient suspected of having an infectious disease; A manipulator configured to operate the robot; and A control device, A first space in which the robot is disposed and a second space in which the operation device is disposed are separated from each other, A first image capturing device is disposed on the hand, The control device is configured to display a virtual model indicating the position information of the sample collection device and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the operating device, and to operate the arm and / or the hand holding the sample collection device to collect a sample (α) from the patient.

16. The robot system further includes the first display device configured to display image information and / or video information captured by the first imaging device, The robot system according to claim 15, wherein the control device is configured to execute (α) while displaying image information and / or video information captured by the first imaging device on the first display device.

17. 17. The robot system according to claim 15, further comprising a pair of laser beam pointing devices disposed on the hand such that beams of light irradiated from the laser beam pointing devices intersect.

18. The robot further includes a first voice input device and a first voice output device, a second audio input device and a second audio output device are further disposed in the second space, The robot system according to any one of claims 15 to 17, wherein the control device is configured to output voice information input to the first voice input device to the second voice output device, and to output voice information input to the second voice input device to the first voice output device.

19. The robot further includes a second display device, A second imaging device is further disposed in the second space, The robot system according to any one of claims 15 to 18, wherein the control device is configured to, in (α), cause the second display device to display image information and / or video information captured by the second imaging device.

20. The robot system according to any one of claims 15 to 19, wherein the robot and the operating device are configured in a master-slave manner.

21. The robot system according to any one of claims 15 to 20, wherein the virtual patient includes a virtual model of a part of the patient that is to be treated by a medical procedure.

22. The robot system according to any one of claims 15 to 21, wherein the operation device is provided with an operation switch configured to instruct the release of the holding of the specimen collection tool.

23. 1. A method of operating a robotic system, comprising: The robot system includes: A robot including an arm having a hand including a chuck mechanism for holding / releasing a specimen collection tool for collecting a specimen from a patient suspected of having an infectious disease; A manipulator configured to operate the robot; A first space in which the robot is disposed and a second space in which the operation device is disposed are separated from each other, (A) the robot automatically moves to the vicinity of the patient based on the patient position information input from the operating device; A method for operating a robot system, comprising: after executing (A), displaying a virtual model indicating positional information of the sample collection device and a virtual patient on a first display device based on operation command information of the arm and / or the hand input from the controller; and (B) operating the arm and / or the hand holding the sample collection device to collect a sample from the patient.

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