Specimen collection robot system, robot system, and method for controlling a specimen collection robot system

Abstract

To provide a sample collecting robot system that can collect a sample from a subject easily while reducing infection risks from a subject to a person who performs the processing.SOLUTION: A sample collecting robot system 100 includes: a slave robot 10 for collecting a sample from a subject S by a sample collecting member 101; a master robot 20 for remotely operating the slave robot 10; and a switch unit 120 located near the subject S, for detecting a separation of a hand of the subject S from a predetermined position. The operation of the slave robot 10 stops operating when the switch operation 120 detects a separation of a hand of the subject S from the predetermined position.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a specimen collection robot system. 、 Robot System and control method for specimen collection robot system In particular, a specimen collection robot system for carrying out procedures such as collecting specimens from subjects 、 Robot System and control method for specimen collection robot system Regarding. [Background technology]

[0002] Conventionally, a specimen collection box for collecting specimens from a subject is known (see, for example, Patent Document 1). Patent Document 1 discloses a specimen collection box including a specimen collection main box and a protective glove provided on the specimen collection main box. In this specimen collection box, a person who collects the specimen enters the specimen collection main box and collects the specimen from the subject through the protective glove. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Utility Model Registration No. 3228999 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the technology described in Patent Document 1, the practitioner who collects the specimen enters the specimen collection main box and collects the specimen from the subject through protective gloves, so the practitioner needs to be located close to the subject. In addition, since the practitioner enters the specimen collection main box, air needs to be taken into the specimen collection main box. Therefore, there is a problem that the practitioner is at high risk of infection when collecting a specimen from the subject.

[0005] This disclosure has been made to solve the above-mentioned problems, and one object of this disclosure is to provide a specimen collection robot system capable of performing procedures such as specimen collection while reducing the risk of infection from a subject to a person performing the procedure. 、 Robot System and control method for specimen collection robot system The purpose of this project is to provide [Means for solving the problem]

[0006] In order to achieve the above object, a specimen collection robot system according to a first aspect of the present disclosure includes a slave robot that collects a specimen from a subject by a specimen collection member, a master robot that remotely operates the slave robot, and a hand detection unit that is disposed in the vicinity of the subject and detects whether or not the subject's hand has moved away from a predetermined position, and the operation of the slave robot is stopped based on the detection by the hand detection unit that the subject's hand has moved away from the predetermined position. A pair of hand detection units are provided to correspond to both hands of the subject, and the operation of the slave robot is stopped based on the detection by either of the pair of hand detection units that the subject's hand has moved away from a predetermined position. .

[0007] As described above, the specimen collection robot system according to the first aspect of the disclosure includes a slave robot that collects a specimen from a subject using a specimen collection member, and a master robot that remotely controls the slave robot. This allows a practitioner to collect a specimen from a subject by remotely controlling the slave robot using the master robot, thereby reducing the risk of infection from the subject to the practitioner. In addition, when collecting a specimen, the subject may try to touch the operating slave robot with his / her hand (move his / her hand close to the operating slave robot). In this case, there is a risk of contact (interference) between the subject's hand and the slave robot. Therefore, as described above, the operation of the slave robot is stopped based on the detection by the hand detection unit that the subject's hand has moved away from a predetermined position, thereby preventing contact between the subject's hand and the operating slave robot. A specimen collecting robot system according to a second aspect of this disclosure comprises a slave robot that collects a specimen from a subject using a specimen collecting member, a master robot that remotely operates the slave robot, and a hand detection unit that is positioned in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, wherein the operation of the slave robot is stopped based on the hand detection unit detecting that the subject's hand has moved away from the predetermined position, and further comprises a shielding plate that shields the slave robot from the subject, and an intrusion detection unit that detects an object intruding into the slave robot side of the shielding plate through the opening, wherein the operation of the slave robot is stopped based on the intrusion detection unit detecting an object intruding into the slave robot side of the shielding plate through the opening. A specimen collecting robot system according to a third aspect of this disclosure includes a slave robot that collects a specimen from a subject using a specimen collecting member, a master robot that remotely operates the slave robot, and a hand detection unit that is positioned in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, wherein operation of the slave robot is stopped based on the hand detection unit detecting that the subject's hand has moved away from the predetermined position, the specimen collecting member includes a specimen collecting member that collects a specimen from the subject's nasal cavity, and operation of the slave robot that collects a specimen from the subject's nasal cavity is stopped based on the hand detection unit detecting that the subject's hand has moved away from the predetermined position.

[0008] This disclosure 4The robot system according to this aspect includes a slave robot that holds a medical examination instrument and performs a treatment on a subject, a master robot that remotely controls the slave robot, and a hand detection unit that is disposed near the subject and detects whether or not the subject's hand has moved away from a predetermined position. The operation of the slave robot is stopped based on the detection by the hand detection unit that the subject's hand has moved away from the predetermined position. A pair of hand detection units are provided to correspond to both hands of the subject, and the operation of the slave robot is stopped when at least one of the pair of hand detection units detects that the subject's hand has moved away from a predetermined position. .

[0009] This disclosure 4 The robot system according to the aspect includes a slave robot that holds a medical test instrument and performs a treatment on a subject, and a master robot that remotely controls the slave robot. This allows a person who performs a medical procedure on the subject (such as taking a sample) by remotely controlling the slave robot using the master robot, thereby reducing the risk of infection from the subject to the person who performs the treatment. In addition, when taking a sample, the subject may try to touch the operating slave robot with his / her hand (move his / her hand close to the operating slave robot). In this case, there is a risk of contact (interference) between the subject's hand and the slave robot. Therefore, as described above, a robot system can be provided that can prevent contact between the subject's hand and the operating slave robot by stopping the operation of the slave robot based on the detection by the hand detection unit that the subject's hand has moved away from a predetermined position. A control method for a specimen collecting robot system according to a fifth aspect of this disclosure includes a slave robot that collects a specimen from a subject using a specimen collecting member that collects a specimen from the subject's nasal cavity, a master robot that remotely operates the slave robot, and a hand detection unit that is positioned in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, the control method comprising: detecting by the hand detection unit that the subject's hand has moved away from the predetermined position; and stopping operation of the slave robot that collects a specimen from the subject's nasal cavity based on the detection by the hand detection unit that the subject's hand has moved away from the predetermined position. Effect of the Invention

[0010] According to the present disclosure, as described above, it is possible to perform treatment such as taking a specimen while reducing the risk of infection from the subject to the person performing the treatment. Also, as described above, it is possible to prevent contact between the subject's hands and the slave robot. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 illustrates a specimen collection robotic system according to one embodiment. [Diagram 2] FIG. 1 is a block diagram of a specimen collection robotic system according to one embodiment. [Diagram 3] FIG. 13 illustrates the collection of a specimen by operating a slave robot according to one embodiment. [Figure 4] FIG. 13 is a diagram showing a slave robot, a shielding plate, and a subject according to an embodiment (as viewed from the slave robot side). [Diagram 5] FIG. 1 is a perspective view of a master robot according to one embodiment. [Figure 6] FIG. 13 is a diagram showing a slave robot, a shielding plate, and a subject according to an embodiment (as viewed from the subject's side). [Figure 7] FIG. 2 is a diagram showing a shielding plate and a switch unit according to an embodiment. [Figure 8] 13A and 13B are diagrams showing a shielding plate and a switch section according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] 1, the specimen collecting robot system 100 includes a slave robot 10, a master robot 20, and a display device 30. The slave robot 10 is disposed in a space 2 different from a space 1 in which the master robot 20 and the display device 30 are disposed. The specimen collecting robot system 100 is an example of a "robot system" in the claims.

[0013] 2, the master robot 20 includes a control unit 20a, a driving unit 20b (servo motor), and an encoder 20c. The slave robot 10 includes a control unit 10a, a driving unit 10b (servo motor), and an encoder 10c. The specimen collecting robot system 100 includes a control device 40. When a person in charge of treatment (hereinafter, referred to as an operator O) operates the operation unit 21 (see FIG. 1) of the master robot 20, an operation command is calculated by the control software 41 of the control device 40, and the calculated operation command is input to the control unit 10a of the slave robot 10. As a result, the driving unit 10b of the slave robot 10 is driven, thereby driving the slave robot 10. The specific configuration of the specimen collecting robot system 100 will be described below.

[0014] As shown in FIG. 1 and FIG. 3, the slave robot 10 collects a specimen from the subject S by using a specimen collecting member 101. The specimen collecting member 101 is, for example, a sterile cotton swab. The sterile cotton swab has a rod shape. The slave robot 10, for example, inserts the specimen collecting member 101 into the nasal cavity Sa of the subject S, and collects a specimen (nasopharyngeal swab) from the nasopharynx of the subject S by using the inserted specimen collecting member 101 (see the specimen collecting member 101 indicated by dotted lines in FIG. 3). The slave robot 10 may also collect a specimen by inserting the specimen collecting member 101 into the oral cavity of the subject S. A virus test such as a PCR (Polymerase Chain Reaction) test is performed on the collected specimen. The specimen collecting member 101 is an example of a "testing instrument" in the claims.

[0015] As shown in Figs. 1 and 3, the slave robot 10 is a vertical articulated robot. The slave robot 10 includes an arm 11 and a hand 12 attached to the tip of the arm 11. The arm 11 has a plurality of joints. Each of the plurality of joints of the arm 11 is provided with a drive unit 10b and an encoder 10c. The hand 12 holds a specimen collecting member 101. The hand 12 has, for example, a chuck 12a (a pair of gripping members), and grips and holds the specimen collecting member 101 with the chuck 12a. Moreover, the chuck 12a is, for example, an air chuck operated by air.

[0016] The slave robot 10 is housed inside a system housing 102. A shielding plate 103 is disposed between the slave robot 10 and the subject S. The shielding plate 103 is installed in the system housing 102. The shielding plate 103 is a transparent member such as a glass plate, and has an opening 103a. The opening 103a is provided at a position corresponding to the nasal cavity Sa of the subject S, and the size of the opening 103a is a size that includes the nose and mouth of the subject S.

[0017] As shown in Fig. 4, a positioning unit 110 is provided between the shielding plate 103 and the subject S. The positioning unit 110 includes a main body 111, an abutment portion 112, and a chin rest 113. The main body 111 can be held by the subject S. The chin rest 113 moves up and down. Note that the positioning unit 110 is omitted in Figs. 1 and 6.

[0018] When the subject S places his / her forehead on the contact portion 112 and places his / her chin on the chin rest 113, the nasal cavity Sa of the subject S is positioned within the opening 103a. This positions the nasal cavity Sa of the subject S.

[0019] 1 and 5, the master robot 20 remotely controls the slave robot 10. Specifically, the master robot 20 is operated by an operator O such as a practitioner (doctor) to remotely control the slave robot 10. The master robot 20 outputs an operation command based on the operation of the operator O. The slave robot 10 performs an action corresponding to the operation of the operator O based on the operation command from the master robot 20. The slave robot 10 and the master robot 20 are connected to each other by wire or wirelessly so as to be able to communicate with each other.

[0020] As shown in Figs. 1 and 5, the master robot 20 includes an operation unit 21 and an arm unit 22. The operation unit 21 is provided to remotely operate the hand 12 of the slave robot 10 that holds the specimen collecting member 101. Specifically, the operation unit 21 is a grip handle having a rod shape. The operation unit 21 is held and moved by the operator O in one hand to accept operation of the slave robot 10 by the operator O. The operation unit 21 is operated, for example, by the right hand of the operator O. The arm unit 22 has a plurality of joints, and supports the operation unit 21 movably in the up-down direction (Z direction), left-right direction (Y direction), and front-back direction (X direction).

[0021] The slave robot 10 is operated in a direction corresponding to the direction in which the operator O moves the operation unit 21. For example, when the operator O moves the operation unit 21 in the up-down direction (Z direction), the hand 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand 12) is moved in the up-down direction. Also, for example, when the operator O moves the operation unit 21 in the left-right direction (Y direction), the hand 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand 12) is moved in the left-right direction. Also, for example, when the operator O moves the operation unit 21 in the front-back direction (X direction), the hand 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand 12) is moved in the front-back direction. When collecting a specimen from the subject S using the specimen collecting member 101, the operator O moves the operating unit 21 forward (X1 direction) to move the hand 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand 12) forward (insertion direction), thereby inserting the specimen collecting member 101 into the nasal cavity of the subject S.

[0022] Here, in this embodiment, as shown in Figs. 6 and 7, a switch unit 120 (see Fig. 7) is disposed near the subject S to detect whether the hand of the subject S has been moved away from a predetermined position. Then, based on the detection by the switch unit 120 that the hand of the subject S has been moved away from the predetermined position, the operation of the slave robot 10 is stopped. Specifically, a detection signal from the switch unit 120 is input to the control device 40 (see Fig. 2). Then, based on the detection signal from the switch unit 120, the control device 40 outputs a command to the control unit 10a of the slave robot 10 to stop the operation of the slave robot 10. The switch unit 120 is an example of a "hand detection unit" in the claims. Also, the switch unit 120 is omitted in Fig. 1.

[0023] Furthermore, in this embodiment, the operation of the slave robot 10 for collecting a specimen from the nasal cavity Sa of the subject S is stopped based on the detection by the switch unit 120 that the hand of the subject S has moved away from a predetermined position. For example, when the specimen collecting member 101 is being brought close to the nasal cavity Sa of the subject S or when the specimen collecting member 101 is being inserted into the nasal cavity Sa of the subject S, the operation of the slave robot 10 (movement of the specimen collecting member 101) is stopped based on the detection by the switch unit 120 that the hand of the subject S has moved away from a predetermined position.

[0024] In this embodiment, a pair of switch units 120 are provided to correspond to both hands of the subject S. The operation of the slave robot 10 is stopped when at least one of the pair of switch units 120 is released from being pressed. That is, when a detection signal indicating that the pressing by the hand of the subject S has been released (the switch unit 120 has been changed from an on state to an off state) is input from one of the pair of switch units 120, the control device 40 outputs a command to the control unit 10a of the slave robot 10 to stop the operation of the slave robot 10.

[0025] Moreover, in this embodiment, the pair of switch units 120 are disposed on the subject S side with respect to the shielding plate 103. Specifically, a pair of rod members 121 are provided so as to extend from the shielding plate 103 toward the subject S side. The pair of switch units 120 are provided on each of the pair of rod members 121. This makes it possible for the subject S to press the switch unit 120 with each of both hands while the subject S is positioned between the pair of rod members 121.

[0026] Moreover, in this embodiment, the pair of switch units 120 are disposed at a position lower than the opening 103a of the shielding plate 103 into which the specimen collecting member 101 held by the slave robot 10 is inserted. That is, the height position of the opening 103a is set so as to correspond to the nasal cavity Sa of the subject S when the subject S is positioned (sitting) in front of the shielding plate 103. Moreover, the height position of the pair of switch units 120 is set so as to be able to be pressed by the hand of the subject S when the subject S is positioned (sitting) in front of the shielding plate 103.

[0027] In this embodiment, as shown in Figs. 4, 6 and 7, a light detection unit 130 is provided that detects an object intruding into the slave robot 10 side of the shielding plate 103 through the opening 103a. Then, based on the light detection unit 130 detecting an object intruding into the slave robot 10 side of the shielding plate 103 through the opening 103a, the operation of the slave robot 10 is stopped. Specifically, a detection signal from the light detection unit 130 is input to the control device 40. Then, based on the detection signal from the light detection unit 130, the control device 40 outputs a command to the control unit 10a of the slave robot 10 to stop the operation of the slave robot 10. The light detection unit 130 is an example of an "intrusion detection unit" in the claims.

[0028] In this embodiment, as shown in FIG. 4 and FIG. 7, the light detection unit 130 is disposed on the slave robot 10 side with respect to the shielding plate 103. The light detection unit 130 has a light emitting unit 131 and a light receiving unit 132. The light emitting unit 131 emits light (indicated by a dotted arrow in FIG. 7) along the opening 103a of the shielding plate 103. The light receiving unit 132 receives the light emitted by the light emitting unit 131. The light emitting unit 131 emits a plurality of lights (band-shaped lights) in the horizontal direction from the upper side to the lower side of the opening 103a. The light receiving unit 132 receives a plurality of lights emitted in the horizontal direction from the light emitting unit 131. That is, the light detection unit 130 is made of a light curtain.

[0029] Furthermore, the light detection unit 130 is disposed at a height position corresponding to the opening 103a of the shielding plate 103. In the horizontal direction, the light emission unit 131 is disposed on one side of the opening 103a. In the horizontal direction, the light receiving unit 132 is disposed on the other side of the opening 103a. The light emission unit 131 and the light receiving unit 132 are disposed near the surface of the shielding plate 103.

[0030] In addition, in this embodiment, the light detection unit 130 does not detect an object while the slave robot 10 is collecting a specimen from the subject S, but detects an object during a period other than the period during which the slave robot 10 is collecting a specimen from the subject S. That is, the light detection unit 130 does not detect an object while the slave robot 10 is being remotely operated by the operator O operating the master robot 20. In addition, the light detection unit 130 may automatically switch between detecting an object and not detecting an object by the control device 40 or may be switched by the operation of the operator O. Note that the switch unit 120 is pressed by the subject S while the slave robot 10 is collecting a specimen from the subject S. Therefore, even if the light detection unit 130 does not detect an object while collecting a specimen, when the subject S releases his / her hand from the switch unit 120, the operation of the slave robot 10 is stopped, so that contact between the subject S and the operating slave robot 10 can be suppressed.

[0031] [Effects of this embodiment] In this embodiment, the following effects can be obtained.

[0032] As described above, this embodiment includes a slave robot 10 that collects a specimen from a subject S using a specimen collecting member 101, and a master robot 20 that remotely controls the slave robot 10. This allows a treating person (operator O) to collect a specimen from the subject S by remotely controlling the slave robot 10 using the master robot 20, thereby reducing the risk of infection from the subject S to the treating person. In addition, when collecting a specimen, the subject S may try to touch the operating slave robot 10 with his / her hand (a case where the subject S tries to move his / her hand near the operating slave robot 10). In this case, there is a risk of contact (interference) between the hand of the subject S and the slave robot 10. Therefore, as described above, the operation of the slave robot 10 is stopped based on the detection by the switch unit 120 that the hand of the subject S has moved away from a predetermined position, thereby preventing contact between the hand of the subject S and the operating slave robot 10.

[0033] As described above, in this embodiment, a pair of switch units 120 are provided to correspond to both hands of the subject S, and the operation of the slave robot 10 is stopped based on the detection by either of the pair of switch units 120 that the hands of the subject S have moved away from a predetermined position. This makes it possible to stop the operation of the slave robot 10 more quickly than when the operation of the slave robot 10 is stopped based on the movement of both hands of the subject S away from a predetermined position.

[0034] Furthermore, in this embodiment, as described above, the operation of the slave robot 10 is stopped based on the release of the press by the hand of the subject S on at least one of the pair of switch units 120. This makes it possible to easily detect that the hand of the subject S has moved away from the switch unit 120 when the subject S has moved the hand that has been pressing the switch unit 120 in a direction not pressing the switch unit 120.

[0035] As described above, in this embodiment, the pair of switch units 120 are disposed on the subject S side with respect to the shielding plate 103. This allows the subject S to easily press the pair of switch units 120, unlike the case where the pair of switch units 120 are disposed on the slave robot 10 side with respect to the shielding plate 103.

[0036] As described above, in this embodiment, the shielding plate 103 is provided with the opening 103a into which the specimen collecting member 101 held by the slave robot 10 is inserted, and the pair of switches 120 are disposed at a position lower than the opening 103a. This allows the subject S to easily press the pair of switches 120 with both hands while placing his or her face (nasal cavity Sa, oral cavity, etc.) at the height position of the opening 103a.

[0037] Furthermore, in this embodiment, as described above, the operation of the slave robot 10 is stopped based on the light detection unit 130 detecting an object entering the slave robot 10 side of the shielding plate 103 through the opening 103a. As a result, when the hand or the like of the subject S approaches the slave robot 10 through the opening 103a, the light detection unit 130 detects a part of the body of the subject S and stops the operation of the slave robot 10, so that contact between the subject S and the slave robot 10 can be suppressed.

[0038] As described above, in this embodiment, the light detection unit 130 is disposed on the slave robot 10 side with respect to the shielding plate 103, and has a light emission unit 131 that emits light along the opening 103a of the shielding plate 103, and a light receiving unit 132 that receives the light emitted by the light emission unit 131. As a result, when a hand or the like of the subject S approaches the slave robot 10 through the opening 103a, the light emitted from the light emission unit 131 is blocked by the hand or the like, so that the light detection unit 130 can easily detect that the hand or the like has approached the slave robot 10 through the opening 103a.

[0039] As described above, in this embodiment, light emitting unit 131 emits a plurality of light beams in the horizontal direction from the upper side to the lower side of opening 103a, and light receiving unit 132 receives a plurality of light beams emitted in the horizontal direction from light emitting unit 131. As a result, light is emitted from light emitting unit 131 over a relatively wide range along opening 103a, so that intrusion of an object can be detected over a relatively wide range of opening 103a.

[0040] Furthermore, in this embodiment, as described above, the light detection unit 130 does not detect objects while the slave robot 10 is collecting a specimen from the subject S, but detects objects during periods other than when the slave robot 10 is collecting a specimen from the subject S. This makes it possible to prevent the slave robot 10 from being stopped due to the light detection unit 130 detecting the slave robot 10 while the slave robot 10 is collecting a specimen from the subject S.

[0041] Furthermore, in this embodiment, as described above, the operation of the slave robot 10 for collecting a sample from the nasal cavity Sa of the subject S is stopped based on the detection by the switch unit 120 that the hand of the subject S has moved away from a predetermined position. This makes it possible to prevent contact between the hand of the subject S and the slave robot 10 when collecting a sample from the nasal cavity Sa of the subject S.

[0042] [Variations] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the description of the embodiments above, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0043] For example, in the above embodiment, an example has been described in which the slave robot 10 is a vertical articulated robot, but the present disclosure is not limited to this. For example, the slave robot may be a robot other than a vertical articulated robot, such as a horizontal articulated robot.

[0044] In addition, in the above embodiment, an example in which a pair of switch units 120 are provided has been shown, but the present disclosure is not limited to this. For example, only one switch unit 120 may be provided.

[0045] In the above embodiment, an example has been shown in which the switch unit 120 pressed by the hand of the subject S is applied as the "hand detection unit" of the present disclosure, but the present disclosure is not limited thereto. For example, as shown in FIG. 8, a reflective light detection unit 140 may be applied as the "hand detection unit" of the present disclosure. That is, when the hand of the subject S blocks the light (dotted arrow in FIG. 8) emitted from the light detection unit 140, the operation of the slave robot 10 continues. On the other hand, when the hand of the subject S no longer blocks the light emitted from the light detection unit 140, the operation of the slave robot 10 is stopped. The light detection unit 140 is an example of the "hand detection unit" of the claims.

[0046] The hand of the subject S may also be monitored by an image capture device. In this case, the operation of the slave robot 10 is stopped based on the detection by image analysis of the image captured by the image capture device that the hand of the subject S has moved away from a predetermined position.

[0047] In the above embodiment, the pair of switch units 120 are disposed on the subject S side with respect to the shielding plate 103, but the present disclosure is not limited to this. For example, an image capturing device that captures an image of the hand of the subject S may be disposed on the slave robot 10 side with respect to the shielding plate 103.

[0048] In the above embodiment, the pair of switch units 120 are disposed at a position lower than the opening 103a of the shielding plate 103, but the present disclosure is not limited to this. For example, the pair of switch units 120 may be disposed at the same height as the opening 103a of the shielding plate 103 or at a position higher than the opening 103a.

[0049] In addition, in the above embodiment, an example has been shown in which the light detection unit 130 is applied as the "intrusion detection unit" of the present disclosure, but the present disclosure is not limited to this. For example, an object intruding into the slave robot 10 side of the shielding plate 103 may be monitored by a photographing device. In this case, the operation of the slave robot 10 is stopped based on the fact that an object has intruded into the slave robot 10 side of the shielding plate 103 through image analysis of an image photographed by the photographing device.

[0050] In the above embodiment, the light emitting unit 131 emits a plurality of light beams in the horizontal direction from the upper side to the lower side of the opening 103a, and the light receiving unit 132 receives a plurality of light beams emitted in the horizontal direction from the light emitting unit 131. However, the present disclosure is not limited to this. For example, the light emitting unit 131 may emit one light beam in the horizontal direction, and the light receiving unit 132 may receive one light beam emitted in the horizontal direction from the light emitting unit 131. Furthermore, the light emitting unit 131 may emit one or more light beams in the vertical direction, and the light receiving unit 132 may receive one or more light beams emitted in the vertical direction from the light emitting unit 131.

[0051] In the above embodiment, the specimen collecting member 101 has a rod shape, but the present disclosure is not limited to this. The specimen collecting member 101 may have a shape other than a rod shape.

[0052] In the above embodiment, the slave robot 10 grips the specimen collecting member 101, but the present disclosure is not limited to this. The slave robot 10 may grip a test tool or a diagnostic tool other than the specimen collecting member 101. [Explanation of symbols]

[0053] 10. Slave Robot 20 Master Robot 100 Sample collection robot system (robot system) 101 Sample collection materials (testing equipment) 103 Shielding plate 103a opening 120 Switch section (hand detection section) 130 Light detection unit (intrusion detection unit) 131 Light emitting part 132 Light receiving part 140 Light detection unit (hand detection unit) S Subject Sa nasal cavity

Claims

1. a slave robot that collects a specimen from a subject using a specimen collecting member; A master robot that remotely controls the slave robot; A hand detection unit is provided in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, the operation of the slave robot is stopped based on the detection by the hand detection unit that the hand of the subject has been moved away from the predetermined position; The hand detection units are provided in pairs to correspond to both hands of the subject, A sample collecting robot system, wherein operation of the slave robot is stopped based on either of the pair of hand detection units detecting that the subject's hand has moved away from the predetermined position.

2. the pair of hand detection units includes a pair of switch units pressed by the subject's hands, The specimen collecting robot system according to claim 1 , wherein the operation of the slave robot is stopped when at least one of the pair of switches is released from being pressed.

3. a shielding plate for shielding the slave robot from the subject, The specimen collecting robot system according to claim 2 , wherein the pair of switches are disposed on the subject side with respect to the shielding plate.

4. the shielding plate is provided with an opening into which the specimen collecting member held by the slave robot is inserted, The specimen collecting robot system according to claim 3 , wherein the pair of switch units are disposed at a position lower than the opening.

5. A slave robot that collects a specimen from a subject using a specimen collection member; A master robot that remotely controls the slave robot; A hand detection unit is provided in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, the operation of the slave robot is stopped based on the detection by the hand detection unit that the hand of the subject has been moved away from the predetermined position; a shielding plate that is provided with an opening into which the specimen collecting member held by the slave robot is inserted and that shields the slave robot from the subject; an intrusion detection unit that detects an object intruding into the slave robot side of the shielding plate through the opening, a specimen collecting robot system, wherein operation of the slave robot is stopped based on the intrusion detection unit detecting the object intruding into the slave robot side of the shielding plate through the opening.

6. 6. The specimen collecting robot system according to claim 5, wherein the intrusion detection unit includes a light detection unit arranged on the slave robot side with respect to the shielding plate and having a light emitting unit that emits light along the opening of the shielding plate and a light receiving unit that receives the light emitted by the light emitting unit.

7. the light emitting portion emits a plurality of light beams in a horizontal direction from an upper side to a lower side of the opening, The specimen collecting robot system according to claim 6 , wherein the light receiving section receives a plurality of light beams emitted from the light emitting section in a horizontal direction.

8. 8. The specimen collecting robot system according to claim 5, wherein the intrusion detection unit does not detect the object while the slave robot is collecting the specimen from the subject, but detects the object during a period other than when the slave robot is collecting the specimen from the subject.

9. A slave robot that collects a specimen from a subject using a specimen collection member; A master robot that remotely controls the slave robot; A hand detection unit is provided in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, the operation of the slave robot is stopped based on the detection by the hand detection unit that the hand of the subject has been moved away from the predetermined position; The specimen collection member includes a specimen collection member for collecting a specimen from the nasal cavity of the subject, A sample collecting robot system, wherein operation of the slave robot for collecting a sample from the nasal cavity of the subject is stopped based on the hand detection unit detecting that the subject's hand has moved away from the predetermined position.

10. A slave robot that holds a medical examination instrument and performs treatment on a subject; A master robot that remotely controls the slave robot; A hand detection unit is provided in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, the operation of the slave robot is stopped based on the detection by the hand detection unit that the hand of the subject has been moved away from the predetermined position; The hand detection units are provided in pairs to correspond to both hands of the subject, A robot system, wherein the operation of the slave robot is stopped based on detection by at least one of the pair of hand detection units that the subject's hand has moved away from the predetermined position.

11. A control method for a specimen collection robot system comprising: a slave robot that collects a specimen from a subject using a specimen collection member that collects a specimen from the subject's nasal cavity; a master robot that remotely controls the slave robot; and a hand detection unit that is disposed in the vicinity of the subject and detects whether the subject's hand has moved away from a predetermined position, detecting that the subject's hand has been moved away from the predetermined position by the hand detection unit; and stopping operation of the slave robot that collects a sample from the nasal cavity of the subject based on detection by the hand detection unit that the subject's hand has moved away from the predetermined position.

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