Hardness calculation device, hardness measurement device, and method of operating the hardness calculation device

Abstract

This hardness calculation device comprises: a ranging information acquisition unit for acquiring ranging information indicating the distance to a reference position, which is a part of the body of an animal; a pressure information acquisition unit for acquiring pressure information indicating the pressure when a contact part is pressed against a target position, which is a position different from the reference position and is a part of the body of the animal; a calculation unit for calculating the hardness information, which is information on the hardness of tissues found inside the body of the animal at the target position, on the basis of the ranging information acquired by the ranging information acquisition unit and the pressure information acquired by the pressure information acquisition unit; and an output unit for outputting the hardness information that was calculated by the calculation unit.

Description

[Technical field]

[0001] The present invention relates to a hardness calculation device, a hardness measurement device, and Method of operating the hardness calculation device Regarding. [Background technology]

[0002] Conventionally, when a patient suspected of having a disease is diagnosed by a doctor, the patient visits a hospital and the doctor palpates the affected area of ​​the patient to perform the diagnosis. As an attempt to obtain similar diagnostic results without relying on an experienced doctor, there is a technology related to a palpation device that measures the elastic modulus of the affected area (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-211172 Summary of the Invention [Problem to be solved by the invention]

[0004] With such a palpation device, a doctor may be able to quantitatively measure the elastic modulus by wearing the palpation device. However, depending on the affected area or disease, a quantitative measurement of the elastic modulus alone may not be sufficient, and regular measurement may be required. In such cases, the patient must visit the hospital, and there is a problem that receiving palpation by a doctor is a burden on the patient.

[0005] The present invention has been made in consideration of the above circumstances, and has an object to provide a hardness calculation device, a hardness measurement device, and a hardness calculation method that can easily calculate the hardness of a part of the body. [Means for solving the problem]

[0006] A hardness calculation device according to one embodiment of the present invention includes a distance measurement information acquisition unit that acquires distance information indicating a distance to a reference position that is a part of an animal's body; a pressure information acquisition unit that acquires pressure information indicating a pressure when a contact unit is pressed against a target position that is a part of the animal's body and is a position different from the reference position; a calculation unit that calculates hardness information, which is information regarding the hardness of tissue present inside the animal's body at the target position, based on the distance measurement information acquired by the distance measurement information acquisition unit and the pressure information acquired by the pressure information acquisition unit; and an output unit that outputs the hardness information calculated by the calculation unit.

[0007] In addition, in a hardness calculation device according to one embodiment of the present invention, the distance measurement information acquisition unit acquires a plurality of pieces of distance measurement information acquired at different moments, the pressure information acquisition unit acquires a plurality of pieces of pressure information acquired at moments corresponding to the moments at which the distance measurement information was acquired, and the calculation unit calculates the hardness information based on the acquired plurality of pieces of distance measurement information and the acquired plurality of pieces of pressure information.

[0008] In addition, in a hardness calculation device according to one embodiment of the present invention, the calculation unit calculates a first hardness when the distance to the reference position is a first distance, and a second hardness when the distance to the reference position is a second distance, the second hardness having a hardness different from the first hardness.

[0009] In addition, in a hardness calculation device according to one embodiment of the present invention, the part of the animal's body is a human eyelid, the first hardness is the hardness of the eyelid, and the second hardness is the hardness of the eyeball.

[0010] In addition, a hardness measuring device according to one embodiment of the present invention includes the above-mentioned hardness calculation device, a distance measurement sensor that measures the distance to the reference position and outputs the distance measurement information to the distance measurement information acquisition unit, and a pressure sensor that measures the pressure when the contact portion is pressed against the target position and outputs the pressure information to the pressure information acquisition unit.

[0011] In addition, in a hardness measuring device according to one embodiment of the present invention, the pressure sensor has a contact surface including the contact portion, a deformation portion that deforms in response to the pressure when the contact surface comes into contact with the target position, a marker provided on the back side of the contact surface, and an imaging portion that images the marker from the back side of the contact surface.

[0012] In addition, in a hardness measuring device according to one embodiment of the present invention, the deformation section is made of a transparent material, the imaging section images both the marker and an image of an object present on the contact surface side of the deformation section, and the output section outputs both the hardness information and the captured image.

[0013] In addition, in the hardness measuring device according to one aspect of the present invention, the distance measuring sensor measures the distance to the reference position in a non-contact manner.

[0014] In addition, the hardness measuring device according to one embodiment of the present invention further includes a posture sensor that detects at least an inclination, and the output unit outputs both the hardness information and information indicating the inclination detected when the hardness information is calculated.

[0015] In addition, in the hardness measuring device according to one aspect of the present invention, the calculation unit further includes a correction unit that corrects the hardness indicated in the calculated hardness information in accordance with the information indicating the slope.

[0016] In addition, the hardness measuring device according to one embodiment of the present invention further includes a diagnostic information acquisition unit that acquires diagnostic information, which is information acquired in response to the hardness information output by the output unit, and a treatment device that performs treatment included in the diagnostic information.

[0017] Moreover, a hardness calculation method according to one embodiment of the present invention is a hardness calculation method including a distance information acquisition step of acquiring distance information indicating a distance to a reference position which is a part of the animal's body, a contact step of contacting a target position which is a part of the animal's body and is a position different from the reference position, a pressure information acquisition step of acquiring pressure information indicating the pressure when pressed against the target position by the contact step, a calculation step of calculating hardness information which is information regarding the hardness of tissue present inside the animal's body at the target position based on the distance information acquired by the distance information acquisition step and the pressure information acquired by the pressure information acquisition step, and an output step of outputting the hardness information calculated by the calculation step.

[0018] In addition, a hardness calculation device according to one embodiment of the present invention includes a distance measurement information acquisition unit that acquires distance measurement information indicating a distance to a reference position of an object to be tested, a pressure information acquisition unit that acquires pressure information indicating a pressure when a contact portion is pressed against a target position that is a part of the object to be tested and is a position different from the reference position, a calculation unit that calculates hardness information, which is information regarding the hardness of tissue present inside the animal's body at the target position, based on the distance measurement information acquired by the distance measurement information acquisition unit and the pressure information acquired by the pressure information acquisition unit, and an output unit that outputs the hardness information calculated by the calculation unit. Effect of the Invention

[0019] According to the present invention, it is possible to provide a hardness calculation device, a hardness measurement device, and a hardness calculation method that can easily calculate the hardness of a part of the body. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing an overview of a hardness measuring device according to a first embodiment. [Diagram 2] FIG. 2 is a diagram showing an example of a functional configuration of the hardness measuring device according to the first embodiment. [Diagram 3] 2 is a diagram illustrating an example of a functional configuration of a hardness calculation device according to the first embodiment. FIG. [Figure 4]FIG. 4 is a diagram for explaining the relationship between the amount of depression and the force in the hardness calculation device according to the first embodiment. [Diagram 5] 4 is a flowchart showing a series of operations of the hardness calculation method according to the first embodiment. [Figure 6] 13 is a diagram illustrating an example of a functional configuration of a tactile sensor according to a second embodiment. FIG. [Figure 7] FIG. 11 is a diagram showing an example of a functional configuration of a hardness measuring device according to a second embodiment. [Figure 8] 13A and 13B are diagrams for explaining markers of a tactile sensor according to a second embodiment. [Figure 9] 13A and 13B are diagrams for explaining deformation of a marker when a contact portion of a tactile sensor according to a second embodiment comes into contact with an eyelid. [Figure 10] FIG. 11 is a diagram for explaining an apparatus for carrying out a proof-of-concept test of a hardness measuring device according to a second embodiment. [Figure 11] FIG. 11 is a diagram for explaining a method for carrying out proof-of-concept of the hardness measuring device according to the second embodiment. [Figure 12] FIG. 11 is a diagram for explaining an example of a measurement result measured by a proof-of-concept of the hardness measuring device according to the second embodiment. [Figure 13] FIG. 13 is a diagram illustrating an example of a functional configuration of a hardness calculation device according to a third embodiment. [Figure 14] FIG. 13 is a diagram illustrating an example of a functional configuration of a hardness calculation device according to a fourth embodiment. [Figure 15] FIG. 13 is a diagram illustrating an example of a functional configuration of a hardness calculation device according to a fifth embodiment. [Figure 16] FIG. 13 is a diagram illustrating an example of a diagnostic system according to a sixth embodiment. [Figure 17] FIG. 13 is a diagram illustrating an example of a functional configuration of a hardness calculation device according to a sixth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] [First embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an overview of a hardness measuring device according to a first embodiment. With reference to the figure, an overview of the hardness measuring device 1 according to the first embodiment will be described. The hardness measuring device 1 measures the hardness of a part of an animal's body. In this embodiment, the part of an animal's body broadly includes the hardness of the skin and the internal tissues covered by the skin. In the following description, as an example, a case will be described in which the part of an animal's body is a human eyelid or eyeball. In the following description, the same reference numerals will be used for components having the same functions, and descriptions thereof may be omitted.

[0022] 1 shows an example of a case where a subject S measures his / her intraocular pressure using the hardness measurement device 1. The subject S measures his / her own intraocular pressure by operating the hardness measurement device 1. That is, in this embodiment, the patient measures the affected area by himself / herself, without the intervention of a doctor.

[0023] Specifically, the subject S presses the probe portion of the hardness measuring device 1 against a position (target position) P2 that is to be measured. Here, when the subject S presses the hardness measuring device 1 against the position P2, the subject S may press the hardness measuring device 1 against the position P2 using power generated from a driving source such as a motor or a pump (not shown). Moreover, the amount by which the subject S presses the hardness measuring device 1 against the position P2 may be an amount sufficient for measuring the intraocular pressure.

[0024] The hardness measuring device 1 measures the pressure when the probe is pressed against the position P2. The hardness measuring device 1 also measures the distance L1 between the position P2 and a position P1 different from the position P2. The hardness measuring device 1 calculates the hardness at the position P2 from the relationship between the measured pressure and the distance L1.

[0025] Here, the hardness at position P2 may be the hardness of the skin surface (for example, eyelid) at position P2, or the hardness of tissue (for example, eyeball) present inside the skin at position P2.

[0026] 2 is a diagram showing an example of the functional configuration of the hardness measuring device according to the first embodiment. An example of the functional configuration of the hardness measuring device 1 will be described with reference to the diagram. The hardness measuring device 1 includes a housing portion 11, a pressure sensor 12, a distance measuring sensor 13, and a holding portion .

[0027] The pressure sensor 12 has a contact surface (contact portion) 121, and measures the pressure (pressure) when the contact surface 121 is pressed against a target position to be measured. The pressure sensor 12 may be, for example, a film-type pressure sensor that measures pressure from the contact area of ​​an electrode, or a gauge sensor that measures pressure from changes in gauge resistance on a diaphragm surface.

[0028] The distance measuring sensor 13 measures the distance to the reference position. The distance measuring sensor 13 is, for example, a non-contact type sensor, and measures the distance to the reference position by detecting a light ray L2, which is a reflected light after a light ray L1 irradiated from a light emitting unit (not shown) is reflected by an object. When the distance measuring sensor 13 is a non-contact type sensor, it may be, for example, an ultrasonic sensor or an infrared sensor. The distance measuring sensor 13 is not limited to the example of a non-contact sensor, and may be a contact sensor equipped with a linear encoder, etc. By using a contact sensor, it may be possible to measure the distance with high accuracy.

[0029] The distance measuring sensor 13 may measure the distance at a plurality of points. For example, the distance measuring sensor 13 may be able to measure the distance more accurately by averaging distance information of the plurality of measured points.

[0030] The accommodation portion 11 accommodates the hardness calculation device 10 therein. The hardness calculation device 10 calculates the hardness based on the pressure measured by the pressure sensor 12 and the distance measured by the distance measurement sensor 13. The holding unit 14 is held by a user who uses the hardness calculation device 10. The user may be a person whose body part has hardness measured by the hardness calculation device 10, or may be a caregiver or assistant when the user is a person requiring care and does not have the ability to measure, or may be an assistant who assists in the measurement.

[0031] 3 is a diagram illustrating an example of a functional configuration of the hardness calculation device according to the first embodiment. An example of the functional configuration of the hardness calculation device 10 will be described with reference to the diagram. The hardness calculation device 10 includes a distance information acquisition unit (distance measurement information acquisition unit) 110, a pressure information acquisition unit 120, a calculation unit 130, and an output unit 140.

[0032] The distance information acquisition unit 110 acquires the distance information ID measured by the distance measurement sensor 13. The distance measurement information ID is information indicating the distance to a reference position which is a part of the animal's body. The distance measurement sensor 13 measures the distance to the reference position and outputs it to the distance information acquisition unit 110 as the distance measurement information ID. In other words, the distance information acquisition unit 110 acquires distance measurement information indicating the distance to the reference position which is a part of the animal's body.

[0033] The pressure information acquiring unit 120 acquires pressure information IP from the pressure sensor 12. The pressure information IP is information indicating the pressure measured when the contact surface 121 of the probe is pressed against a target position that is a position different from the reference position. The pressure sensor 12 measures the pressure when the contact portion is pressed against the target position, and outputs it as pressure information IP to the pressure information acquiring unit 120. In other words, the pressure information acquiring unit 120 acquires pressure information IP indicating the pressure when the contact surface 121 is pressed against a target position that is a part of the animal's body and is a position different from the reference position.

[0034] The calculation unit 130 calculates hardness information IR based on the distance measurement information ID acquired by the distance information acquisition unit 110 and the pressure information IP acquired by the pressure information acquisition unit 120. The hardness information IR is information about the hardness of tissue present inside the animal's body at the target position. That is, the calculation unit 130 calculates the hardness information IR, which is information about the hardness of tissue present inside the animal's body at the target position, based on the distance measurement information ID and the pressure information IP.

[0035] FIG. 4 is a diagram for explaining the relationship between the indentation amount and force of the hardness calculation device according to the first embodiment. An example of hardness information IR calculated by the calculation unit 130 will be described with reference to the figure. In the figure, the horizontal axis is "indentation amount" and the vertical axis is "force", showing the correspondence relationship between the indentation amount and force. "Indentation amount" indicates the distance by which the hardness measuring device 1 is pressed into the target position. "Indentation amount" is derived based on distance measurement information ID. "Force" is the pressure at the target position. "Force" is derived based on pressure information IP.

[0036] The calculation unit 130 calculates a graph as shown in Fig. 4 by storing the relationship between the "push amount" and the "force" in association with each other, and calculates the slope of the graph as the hardness information IR. The hardness calculation device 10 continuously acquires the distance measurement information ID and the pressure information IP to acquire the correspondence relationship between the "push amount" and the "force". That is, the distance information acquisition unit 110 acquires a plurality of distance measurement information IDs acquired at different moments, the pressure information acquisition unit 120 acquires a plurality of pressure information IPs acquired at moments corresponding to the moment when the distance measurement information IDs were acquired, and the calculation unit 130 calculates the hardness information IR based on the acquired plurality of distance measurement information IDs and the plurality of pressure information IPs.

[0037] In Fig. 4, three different measurement results are shown by lines g1, g2, and g3. For example, the hardness shown by line g1 has a steeper slope than the hardness shown by line g2. That is, the hardness shown by line g1 is harder than the hardness shown by line g2. Also, the hardness shown by line g3 has a gentler slope than the hardness shown by line g2. That is, the hardness shown by line g3 is softer than the hardness shown by line g2.

[0038] 3, the output unit 140 outputs the hardness information IR calculated by the calculation unit 130. For example, the output unit 140 may include a communication unit (not shown) and output the hardness information IR via a predetermined network such as the Internet or a Wi-Fi network. The hardness measuring device 1 may include a display unit (not shown), and the output unit 140 may output the hardness information IR to the display unit. The display unit may be, for example, a liquid crystal display, an organic EL (Electroluminescence) display, or the like.

[0039] 5 is a flowchart showing a series of operations in the hardness calculation method according to the first embodiment. The series of operations in the hardness measuring device 1 will be described with reference to the drawing. (Step S110) The distance measuring sensor 13 measures the distance from a predetermined position to a reference position in the hardness measuring device 1. The distance measuring sensor 13 outputs the measurement result as a distance measurement information ID to the distance information acquiring unit 110. The distance information acquiring unit 110 acquires the distance measurement information ID from the distance measuring sensor 13. (Step S120) The pressure sensor 12 measures the pressure when the contact surface 121 is pressed against the target position to be measured. The pressure sensor 12 outputs the measurement result as pressure information IP to the pressure information acquisition unit 120. The pressure information acquisition unit 120 acquires the pressure information IP from the pressure sensor 12.

[0040] (Step S130) Calculation unit 130 acquires distance measurement information ID from distance information acquisition unit 110 and pressure information IP from pressure information acquisition unit 120. Calculation unit 130 calculates hardness information IR based on the acquired distance measurement information ID and pressure information IP. (Step S140) The output unit 140 outputs the calculated hardness information IR.

[0041] [Summary of the first embodiment] According to the embodiment described above, the hardness calculation device 10 acquires the distance measurement information ID by including the distance information acquisition unit 110, and acquires the pressure information IP by including the pressure information acquisition unit 120. In addition, the hardness calculation device 10 calculates the hardness information IR based on the distance measurement information ID and the pressure information IP by including the calculation unit 130, and outputs the hardness information IR by including the output unit 140. The distance measurement information ID and the pressure information IP are values ​​obtained by the user pressing the hardness measurement device 1 against the target position. Therefore, according to this embodiment, the hardness calculation device 10 can easily calculate the hardness of a part of the body without the patient being palpated by a doctor. Therefore, the patient can save the trouble of visiting a hospital. In addition, since the patient can calculate the hardness of a part of the body alone at home, it is also easy to perform regular measurements.

[0042] Furthermore, according to the above-described embodiment, the hardness calculation device 10 calculates the hardness information IR based on a plurality of distance measurement information IDs acquired at different moments and a plurality of pressure information IRs acquired at moments corresponding to the moments when the distance measurement information IDs were acquired. That is, the hardness calculation device 10 calculates the hardness information IR based on the correspondence between the "distance" and "pressure" measured at a plurality of timings. Therefore, according to the present embodiment, it is possible to calculate the hardness (gradient) according to the pressing position.

[0043] According to the above-described embodiment, the hardness measuring device 1 is provided with the distance measuring sensor 13 to obtain distance measurement information ID, and the pressure sensor 12 to obtain pressure information IP. Therefore, the hardness measuring device 1 does not require a large configuration, and the device can be made compact. Therefore, the user can obtain the hardness measuring device 1 at low cost, and can perform measurement independently without visiting a hospital.

[0044] [Second embodiment] 6 is a diagram showing an example of the functional configuration of a tactile sensor according to the second embodiment. With reference to the same figure, a tactile sensor 12A according to the second embodiment will be described. The tactile sensor 12A is an example of a pressure sensor 12. In the description of the second embodiment, the configurations already described in the first embodiment may be denoted by the same reference numerals and description thereof may be omitted.

[0045] Tactile sensor 12A includes an imaging section 123, an image information acquisition section 124, an image processing section 125, a tactile information calculation section 126, and a tactile information output section 127. Tactile sensor 12A detects tactile information when contact surface 121 is pressed against a target position to be measured, and outputs the detected information to pressure information acquisition section 120 as pressure information IP.

[0046] The imaging unit 123 captures an image of the degree of deformation of the contact surface 121 when the contact surface 121 is pressed against a target position to be measured. Specifically, the imaging unit 123 captures an image of a marker attached to the non-contact surface 122, which is the back surface of the contact surface 121, thereby capturing an image of the degree of deformation of the contact surface 121. The imaging unit 123 is provided inside the tactile sensor 12A, and may capture an image of the outside of the tactile sensor 12A via the contact surface 121 from the inside of the tactile sensor 12A at the same time as capturing an image of the marker.

[0047] The image information acquisition section 124 acquires information about the image captured by the imaging section 123. Specifically, the image information acquisition section 124 acquires image information captured by the imaging section 123.

[0048] The image processing unit 125 performs image processing on the image information acquired by the image information acquisition unit 124. Specifically, the image processing unit 125 identifies the position of a marker attached to the non-contact surface 122 by image processing, and calculates the amount of displacement of the identified position of the marker.

[0049] The tactile information calculation unit 126 calculates tactile information based on the amount of displacement of the marker position calculated by the image processing unit 125. The tactile information includes information about the pressure when the contact surface 121 is pressed against the target position to be measured, and also includes information about the direction in which the pressure is applied, etc. For example, when the target of measurement is an eyeball, the tactile information may include information about which position on the spherical eyeball is being pressed.

[0050] The tactile information output section 127 outputs the calculated tactile information as pressure information IP. The pressure information IP may include information on an image captured by the imaging section 123, in addition to information on pressure.

[0051] 7 is a diagram showing an example of the functional configuration of a hardness measuring device according to the second embodiment. The functional configuration of a tactile sensor 12A will be described with reference to the diagram. In the description of the diagram, the attitude of the hardness measuring device 1 may be shown by a three-dimensional orthogonal coordinate system of x-axis, y-axis, and z-axis.

[0052] Tactile sensor 12A has contact surface 121 and non-contact surface 122 which is the surface opposite to the contact surface. Tactile sensor 12A also has a deformation section 128 which deforms in response to pressure when contact surface 121 comes into contact with a target position. In other words, the target object side (i.e., the outside) of deformation section 128 is contact surface 121, and the imaging unit side (i.e., the inside) of deformation section 128 is non-contact surface 122.

[0053] The deformable portion 128 is made of a soft and transparent material such as silicone. The shape of the deformable portion 128 may be formed to match the shape of the part to be measured. For example, when the hardness measuring device 1 measures intraocular pressure, the deformable portion 128 may be formed to a shape that fits the shape of the eyelid. In the following description, the deformable portion 128 is also referred to as a probe. The deformable section 128 may be configured to be replaceable. A user may replace the deformable section 128 depending on the object to be measured. A user may replace the deformable section 128 periodically to prevent measurement errors caused by deterioration. The deformation portion 128 has a marker on the non-contact surface 122 , which is the reverse side of the contact surface 121 .

[0054] The tactile sensor 12A includes an imaging section 123. The imaging section 123 captures an image of the marker from the rear side of the contact surface 121. The imaging section 123 also captures an image of the non-contact surface 122, which is the rear side of the contact surface 121.

[0055] Fig. 8 is a diagram for explaining a marker included in the tactile sensor according to the second embodiment. An example of the marker MK will be explained with reference to the drawing. Fig. 8 shows an example of an image of the deformation section 128 captured by the imaging section 123.

[0056] FIG. 8(A) shows an example of the marker MK in which the deformation section 128 is provided with five dot-shaped markers MK1. When the contact surface 121 comes into contact with the target position and the deformation section 128 is deformed, the size of the marker MK1 changes. To explain in detail with reference to FIG. 7, when the contact surface 121 comes into contact with the target position, the deformation section 128 is pushed in the negative direction in the x-axis direction, and the marker MK1 approaches the deformation section 128. Therefore, the size of the marker MK1 increases in the image captured by the imaging section 123. The tactile information calculation section 126 may calculate the pressure based on the average value of the sizes of the five markers MK.

[0057] 8(A), five dot-shaped markers MK1 are provided, and the positional relationship of the markers MK1 may change depending on the shape and hardness of the object with which the contact surface 121 comes into contact. The tactile information calculation unit 126 calculates tactile information based on the changes in size and position of these markers MK1. The tactile information calculation unit 126 may identify the shape of the object in contact, estimate the position where the contact surface 121 is likely to be pressed, and perform correction based on the estimated pressed position.

[0058] Fig. 8(B) shows an example of the marker MK in which a large number of dot-shaped markers MK2 are provided in the deformation section 128. The number and arrangement of the markers MK are not limited to the positions shown in Fig. 8(A), and a large number of markers MK2 may be provided as shown in Fig. 8(B). By providing a large number of markers MK2, the shape of the object in contact can be captured more accurately.

[0059] Fig. 8(C) shows an example of the marker MK in which the deformation section 128 is provided with a lattice-shaped marker MK3. The shape of the marker MK is not limited to the dot shape as shown in Fig. 8(A) or 8(B) and may be, for example, a lattice shape. It is preferable to select a marker MK suitable for the shape and hardness of the object that the contact surface 121 contacts.

[0060] 9 is a diagram for explaining deformation of a marker when a contact portion of a tactile sensor according to the second embodiment comes into contact with an eyelid. Displacement of the marker MK will be explained with reference to the drawing. In the example shown in the figure, position P2 between eyebrows EB and eyelashes EL (i.e., eyelid) is set as the target position, and the displacement of a marker MK provided on the non-contact surface 122 when the contact surface 121 is pressed against the target position will be described. The figure shows an image of the non-contact surface 122 captured by the imaging unit 123. In the example shown in the figure, the deformation unit 128 has five markers, marker MK1, marker MK2, marker MK3, marker MK4, and marker MK5. The position of each marker MK is displaced by the contact surface 121 being pressed against the target position. The tactile sensor 12A calculates tactile information based on this displacement. Since the deformation section 128 is made of a transparent material, the imaging section 123 may capture an image in the vicinity of position P2 (e.g., the opening and closing of the eyelids, the movement of the eyebrows EB or eyelashes EL, etc.) and perform correction based on the captured image.

[0061] [Proof of concept] 10 is a diagram for explaining an apparatus for carrying out a concept verification of the hardness measuring device according to the second embodiment. The concept verification of the hardness measuring device 1 will be explained with reference to the same figure. The concept verification of the hardness measuring device 1 was carried out using a verification system 50. The verification system 50 includes an arm moving device 51 , an arm 52 , a precision electronic balance 53 , a probe 54 , and an information processing device 55 .

[0062] The human head is fixed to arm 52. Arm 52 is supported by arm moving device 51 via arm support part 511. Arm moving device 51 moves arm support part 511 up and down in the direction of arrow 56, thereby moving the human head up and down in the direction of arrow 56. By moving the human head up and down in the direction of arrow 56, the distance between the human head and the top plate (weighing dish) of precision electronic balance 53 is controlled.

[0063] The precision electronic balance 53 has a probe 54 on a top plate (weighing dish). The probe 54 comes into contact with and is pressed against the eyelid of the subject S, which is the target position. The information processing device 55 controls the position of the arm 52 to control the amount by which the probe 54 is pressed against the eyelid of the subject S (pressing amount). The precision electronic balance 53 also measures the force with which the probe 54 is pressed against the eyelid of the subject S, and outputs the force to the information processing device 55. The information processing device 55 stores the correspondence between the pressing amount and the obtained force. The information processing device may be, for example, a personal computer.

[0064] 11 is a diagram for explaining a method for performing concept verification of a hardness measuring device according to the second embodiment. The concept verification method will be explained with reference to the figure. In the figure, a subject S has his head fixed to an arm 52, and presses his right eyelid against a probe 54. The arm 52 moves up and down in the direction of an arrow 56 to change the amount of pressing, and a precision electronic balance 53 measures the force according to the amount of pressing. An information processing device 55 stores the correspondence between the amount of pressing and the obtained force.

[0065] FIG. 12 is a diagram for explaining an example of the measurement results measured by the concept verification of the hardness measuring device according to the second embodiment. With reference to the figure, an example of the measurement results measured by the concept verification will be explained. The figure shows the measurement results of two different subjects S. The figure shows the correspondence relationship between the amount of indentation on the horizontal axis and the force on the vertical axis. FIG. 12(A) shows the measurement results of subject S1, and FIG. 12(B) shows the measurement results of subject S2.

[0066] First, the results of measuring subject S1 will be described with reference to FIG. 12(A). As shown in the figure, it was confirmed that there are two different slopes depending on the amount of depression. Specifically, it was confirmed that when the amount of depression is in the range of 0 mm (millimeters) to 6 mm, there is a slope of mode MD1, and when the amount of depression is in the range of 6 mm to 8 mm, there is a slope of mode MD2. It is presumed that mode MD1 is a result obtained from the elastic coefficient of the eyelid, and mode MD2 is a result obtained from the elastic coefficient of the eyeball.

[0067] That is, in this concept verification, a first elastic coefficient was obtained according to a first pressing amount, and a second elastic coefficient was obtained according to a second pressing amount. The first elastic coefficient is the elastic coefficient of the eyelid, and the second elastic coefficient is the elastic coefficient of the eyeball. That is, the first elastic coefficient is the elastic coefficient of the skin of the animal, and the second elastic coefficient is the elastic coefficient of the tissue present inside the skin of the animal. Since the slope of the mode MD2 is steeper than the slope of the mode MD1, it can be seen that the eyeball is harder than the eyelid.

[0068] Next, the results of measuring subject S2 will be described with reference to Fig. 12(B). It was confirmed that the slope of mode MD1 was present when the amount of depression was in the range of 0 [mm] to 5.5 [mm], and the slope of mode MD2 was present when the amount of depression was in the range of 5.5 [mm] to 8 [mm]. As with subject S1, the results showed that the slope of mode MD2 was steeper in subject S2 than the slope of mode MD1.

[0069] From this concept verification, the hardness measuring device 1 can measure the inclination of mode MD1 by pressing the probe against the target position, and then measure the inclination of mode MD2 by pressing the probe more strongly against the target position. In other words, it was found that the hardness of tissue present inside the skin of an animal can be measured from above the skin of an animal.

[0070] When the result of the proof of concept is applied to this embodiment, the calculation unit 130 included in the hardness calculation device 10 calculates a first hardness when the distance to the reference position is a first distance, and a second hardness when the distance to the reference position is a second distance. The calculation unit 130 calculates the first hardness and the second hardness to calculate the hardness of the tissue inside the skin of the animal.

[0071] In this embodiment, the part of the animal's body is, for example, a human eyelid. When the hardness measuring device 1 measures a human eyelid, the first hardness is the hardness of the eyelid, and the second hardness is the hardness of the eyeball. The first hardness and the second hardness are different from each other.

[0072] [Summary of the second embodiment] According to the embodiment described above, the hardness measuring device 1 measures a first hardness and a second hardness that are different from each other. Therefore, the hardness measuring device 1 can measure a part of the tissue inside the body that is covered by the skin. Furthermore, according to this embodiment, since a part of the tissue inside the body that is covered by the skin can be measured from above the skin, the measurement can be performed in a manner that does not cause discomfort to the patient and does not burden the patient.

[0073] Furthermore, according to the above-described embodiment, the first hardness is the hardness of the eyelid, and the second hardness is the hardness of the eyeball, so that the intraocular pressure can be measured from above the eyelid. Here, as tonometers by conventional methods, pneumatic tonometers and Goldmann direct tonometers are known. Pneumatic tonometers are devices that measure intraocular pressure from the distortion of the eyeball when air is applied to the eyeball, and have problems such as being difficult to move due to their large size and being expensive. Goldmann direct tonometers are devices that inject a small probe into the eyeball after applying eye drops and measure the recoil. There are also portable Goldmann direct tonometers, but in reality, they have problems such as requiring skill in using the device and having to replace the probe each time, which is time-consuming. According to this embodiment, the hardness measuring device 1 measures the intraocular pressure and the hardness of the eyeball itself (dura mater) by gradually applying force to the probe and measuring the change in the recoil force. According to this embodiment, since the tactile sensor 12A is used as the pressure sensor 12, the measurement method is simple, and a small and inexpensive tonometer can be provided.

[0074] Moreover, according to the above-described embodiment, the hardness measuring device 1 includes a tactile sensor 12A as the pressure sensor 12. The tactile sensor 12A includes a deformation section 128 that deforms in response to pressure when the contact surface 121 comes into contact with the target position, a marker MK provided in the deformation section 128, and an imaging section 123 that images the marker MK, thereby detecting the tactile sensation when the target position is contacted. According to this embodiment, the tactile sensor 12A uses a small camera as the imaging section 123, thereby making it possible to further miniaturize the entire device.

[0075] Furthermore, the tactile sensor 12A is provided with a plurality of markers MK, so that it can measure three-axis force information at multiple points (multiple locations).

[0076] Furthermore, by allowing the shape of the deformation portion 128 of the tactile sensor 12A to be any shape, it is possible to easily design the shape of the probe to match the shape of an eyeball, an eyelid, or any other part of the body to be measured. By using a probe that matches the shape of the measurement object, the hardness measuring device 1 can measure the hardness of the measurement object with higher accuracy. Furthermore, since the hardness measuring device 1 can use a probe that matches the shape of the measurement object, it is possible to perform measurements safely without imposing a burden on the patient.

[0077] Moreover, according to the above-described embodiment, since the hardness measuring device 1 includes the tactile sensor 12A as the pressure sensor 12, the hardness measuring device 1 itself can be made inexpensive. Moreover, by making the probe a consumable item, the cost can be further reduced. Furthermore, by making the probe a consumable item, even when a single hardness measuring device 1 is shared by multiple users, it can be used safely without worrying about infection or the like. Furthermore, according to the above-described embodiment, the hardness measuring device 1 includes the tactile sensor 12A as the pressure sensor 12, and therefore the probe can be easily attached and detached. Since the hardness measuring device 1 allows the probe to be easily attached and detached, the user can once remove the probe, wipe it clean with cotton wool or the like to disinfect it, and then attach it to the hardness measuring device 1 again, allowing it to be used repeatedly.

[0078] [Third embodiment]

[0079] 13 is a diagram showing an example of a functional configuration of a hardness calculation device according to a third embodiment. With reference to the same figure, a hardness calculation device 10A according to the third embodiment will be described. In the description of the hardness calculation device 10A, the same components as those in the hardness calculation device 10 may be omitted by assigning the same reference numerals. The hardness calculation device 10A differs from the hardness calculation device 10 in that it includes an image information acquisition unit 150 and a correction unit 151.

[0080] The hardness measuring device 1A according to the third embodiment includes a tactile sensor 12A as a pressure sensor 12. The tactile sensor 12A includes an imaging unit 123. A deformation unit 128 included in the tactile sensor 12A is made of a transparent material, and the imaging unit 123 captures both a marker MK and an image of an object present on the contact surface 121 side of the deformation unit 128. The imaging unit 123 outputs the captured image to the image information acquisition unit 150 as image information II.

[0081] The image information acquisition section 150 acquires image information II from the tactile sensor 12A. The image information acquisition section 150 provides the acquired image information II to the correction section 151. The calculation section 130 corrects the hardness information IR based on the acquired image information II. For example, the image information II includes an image of the state of the eyelids. The correction unit 151 corrects the hardness information IR according to the state of the eyelids identified from the image information II. The state of the eyelids is, for example, information on whether the eyelids are tightly closed or half-closed.

[0082] The output section 140 may output both the hardness information IR calculated by the calculation section 130 and the image information II including information about the captured image.

[0083] [Summary of the third embodiment] As described above, according to this embodiment, the hardness measuring device 1A acquires information on the image captured by the imaging unit 123. That is, according to this embodiment, the tactile sensor 12A acquires image information on the target position in addition to information on the pressure. Therefore, according to this embodiment, more information can be obtained and correction can be made based on the acquired image information.

[0084] [Fourth embodiment] 14 is a diagram showing an example of a functional configuration of a hardness calculation device according to a fourth embodiment. With reference to the same figure, a hardness calculation device 10B according to the fourth embodiment will be described. In the description of the hardness calculation device 10B, the same components as those in the hardness calculation device 10 may be denoted by the same reference numerals and description thereof may be omitted. The hardness calculation device 10B differs from the hardness calculation device 10 in that it includes a detection unit 161 and a notification unit 162.

[0085] The detection unit 161 detects that the measurement by the hardness calculation device 10B has ended. For example, the detection unit 161 distinguishes and identifies the first hardness and the second hardness from the hardness calculated by the calculation unit 130, and notifies the notification unit 162 when the measurement of the second hardness has ended.

[0086] The notification unit 162 notifies the user that the measurement has ended upon receiving a notification from the detection unit 161. The notification unit 162 includes, for example, a buzzer, and notifies the user that the measurement has ended by sounding a buzzer. In addition, 162 may notify the completion of measurement by other means such as vibration.

[0087] [Summary of the fourth embodiment] As described above, according to this embodiment, the hardness calculation device 10B notifies the user that the measurement has been completed. Specifically, the hardness calculation device 10B includes the detection unit 161, and distinguishes between the first hardness and the second hardness, and notifies the notification unit 162 when the measurement of the second hardness is completed. The hardness calculation device 10B includes the notification unit 162, and when the notification unit 162 receives the notification, the notification unit 162 notifies the user by a buzzer sound or the like. Therefore, according to this embodiment, the user who uses the hardness calculation device 10B can recognize that the measurement has been completed, and can recognize how far the probe should be pushed into the target position. Therefore, according to this embodiment, it is possible to prevent the measurement from being completed before the second hardness measurement, and it is possible to prevent the user from pushing the probe too far, which causes damage to the probe or the affected area that is the target position. Furthermore, according to this embodiment, even a general user who is not a skilled doctor can easily and safely perform the measurement using the hardness calculation device 10B.

[0088] [Fifth embodiment] FIG. 15 is a diagram showing an example of a functional configuration of a hardness calculation device according to a fifth embodiment. With reference to the same figure, a hardness calculation device 10C according to the fifth embodiment will be described. In the description of the hardness calculation device 10C, the same components as those of the hardness calculation device 10 may be omitted by assigning the same reference numerals. The hardness calculation device 10C differs from the hardness calculation device 10 in that it includes an acceleration information acquisition unit 170 and a correction unit 171. In addition, the hardness measurement device 1C according to this embodiment differs from the hardness measurement device 1 in that it further includes an acceleration sensor 17.

[0089] The acceleration sensor 17 detects three-axis acceleration. The acceleration sensor 17 detects the inclination of the hardness measuring device 1C by detecting the three-axis acceleration. The acceleration sensor 17 is also described as an attitude sensor. The acceleration sensor 17 outputs the detected inclination to the acceleration information acquisition unit 170 as acceleration information IA.

[0090] The acceleration information acquisition unit 170 acquires the acceleration information IA from the acceleration sensor 17. The acceleration information acquisition unit 170 outputs the acquired acceleration information IA to the calculation unit . The calculation unit 130 includes a correction unit 171. The correction unit 171 corrects the hardness information IR according to the acquired acceleration information IA. That is, the correction unit 171 corrects the hardness indicated in the calculated hardness information IR according to information indicating the inclination.

[0091] The output section 140 outputs both the hardness information IR and information indicating the inclination detected when the hardness information IR is calculated.

[0092] The hardness calculation device 10C may store the hardness information IR in association with the posture when the hardness information IR was measured. The hardness calculation device 10C has the information of the hardness information IR for each posture, and thereby can perform correction according to the posture.

[0093] [Summary of the fifth embodiment] As described above, the hardness measuring device 1C further includes an acceleration sensor 17 and detects the inclination of the hardness measuring device 1C. The hardness measuring device 1C also outputs the hardness information IR in association with information indicating the inclination detected when the hardness information IR is calculated. Therefore, the hardness measuring device 1C can measure the difference in measurement value due to the difference in posture.

[0094] Furthermore, the hardness measuring device 1C includes a correction unit 171, which performs correction according to posture. Therefore, the hardness measuring device 1C can correct the difference in the measured value due to the difference in posture. Note that the difference in posture may be, for example, a difference between a lying down position, a sitting position, etc.

[0095] Furthermore, in the above-described embodiment, if tactile sensor 12A is used as pressure sensor 12, the device itself is not affected by gravitational acceleration, so measurements can be made in any posture.

[0096] [Sixth embodiment] 16 is a diagram showing an example of a diagnostic system according to a sixth embodiment. A diagnostic system 80 will be described with reference to the diagram. The diagnostic system 80 includes a diagnostic device 81 and a plurality of hardness measuring devices 1. In the diagram, hardness measuring devices 1-1, ..., hardness measuring device 1-n (n is a natural number) are shown as an example of the plurality of hardness measuring devices 1.

[0097] Each user carries a hardness measuring device 1. The hardness measuring device 1 measures the intraocular pressure of the user and outputs measurement information IM, which is the measurement result, via a predetermined network NW. For example, the hardness measuring device 1-1 outputs measurement information IM-1, and the hardness measuring device 1-n outputs measurement information IM-n.

[0098] The diagnostic device 81 acquires measurement information IM from each of the multiple hardness measuring devices 1. Based on the acquired measurement information IM, the diagnostic device 81 performs a diagnosis according to the intraocular pressure of the user who owns the hardness measuring device 1. For example, the diagnostic device 81 may perform a diagnosis by a doctor checking the measurement information IM, or may perform a diagnosis based on pre-stored statistical information. The diagnostic device 81 outputs diagnostic information IDD, which is the result of the diagnosis. Note that the diagnostic information IDD may include the name of the disease obtained as a result of the diagnosis, the condition of the disease, information on the medicine required, or information on the treatment required by the user.

[0099] The hardness measuring device 1 acquires diagnostic information IDD from the diagnostic device 81 via a predetermined network NW. For example, the hardness measuring device 1-1 acquires diagnostic information IDD-1, and the hardness measuring device 1-n acquires diagnostic information IDD-n. The hardness measuring device 1 performs an operation according to the acquired diagnostic information IDD. For example, when the diagnostic information IDD includes the name of the disease obtained as a result of the diagnosis, the condition of the disease, and information on the required medicine, the results are output to a display unit (not shown) or the like. When the diagnostic information IDD includes a treatment required by the user, the hardness measuring device 1 performs a treatment according to the information included in the diagnostic information IDD.

[0100] FIG. 17 is a diagram showing an example of a functional configuration of a hardness calculation device according to the sixth embodiment. With reference to the same figure, a hardness calculation device 10D according to the sixth embodiment will be described. In the description of the hardness calculation device 10D, the same components as those in the hardness calculation device 10 may be omitted by assigning the same reference numerals. The hardness calculation device 10D differs from the hardness calculation device 10 in that it includes a diagnosis information acquisition unit 181 and a processing device 182.

[0101] The diagnostic information acquisition unit 181 acquires diagnostic information IDD from the diagnostic device 81 via a predetermined network NW. The diagnostic information IDD is information including a result of diagnosis by the diagnostic device 81 in response to the result of hardness information IR being output by the output unit 140. That is, the diagnostic information acquisition unit 181 acquires diagnostic information IDD, which is information acquired in response to the result of hardness information IR being output by the output unit 140.

[0102] The treatment device 182 performs a predetermined treatment included in the diagnostic information IDD acquired by the diagnostic information acquisition unit 181. Here, the predetermined treatment broadly includes treatments and the like performed by providing a user with a massage, an electric signal, air pressure, or other stimuli. For example, when the treatment device 182 performs a massage, the hardness measuring device 1D includes a drive unit (not shown) and massages the eyelids and the like by driving the drive unit. Information such as the force and time used for the massage and the position where the massage is performed may be included in the diagnostic information IDD. The hardness measuring device 1 may prompt the user by voice to press the treatment device 182 against a predetermined position.

[0103] [Summary of the sixth embodiment] As described above, according to this embodiment, the hardness measuring device 1D acquires the diagnostic information IDD by including the diagnostic information acquiring unit 181, and performs a predetermined treatment indicated in the diagnostic information IDD by including the treatment device 182. Therefore, according to this embodiment, treatment can be performed according to the result of measurement by the hardness measuring device 1. Therefore, the user can be examined without visiting a hospital, and can easily receive appropriate treatment.

[0104] Furthermore, according to this embodiment, the diagnostic device 81 can obtain the hardness information IR, and the hardness measuring device 1D can obtain the diagnostic information IDD, so that the doctor can view the results of measurements by multiple users via the diagnostic device 81 and can give instructions to the multiple users according to the measurement results. Therefore, the doctor can remotely obtain operation information and can give instructions according to the obtained information. That is, according to this embodiment, remote medical care can be easily realized.

[0105] [Other embodiments] In the above-described embodiment, an example of the case where the hardness measuring device 1 is used for medical purposes has been described. However, the hardness measuring device 1 according to this embodiment is not limited to medical use, and may be used for beauty purposes, for example. When the hardness measuring device 1 is used for beauty purposes, the hardness measuring device 1 may measure or estimate the firmness of the skin, the amount of fat, the amount of muscle, and the like. Furthermore, the hardness measuring device 1A according to this embodiment can perform more advanced measurements by imaging the skin condition while measuring the firmness of the skin, the amount of fat, and the like. Furthermore, the hardness measuring device 1D may perform massage, electrical stimulation, and the like according to the measured skin condition, and the like.

[0106] In the above-described embodiment, an example of the case where the hardness measuring device 1 measures the hardness of a part of an animal's body has been described. However, the hardness measuring device 1 may measure the hardness of an object to be inspected, such as food or material. For example, when the hardness measuring device 1 detects the hardness of a steamed bun as an example of food, the hardness measuring device 1 can measure the hardness of the skin as the first hardness and the hardness of the bean paste inside the skin as the second hardness. For example, when the hardness measuring device 1 detects the hardness of an elastic member as an example of material, the hardness of the elastic member can be measured by distinguishing between the hardness of the outside and the hardness of the inside, thereby detecting the degree of deterioration, etc.

[0107] For example, when the test object is a soft object, the hardness of the soft test object can be measured by using a soft substance for the material of the deformable portion 128 according to the hardness of the test object.

[0108] In addition, all or part of the functions of each unit of the hardness measuring device 1 in the above-mentioned embodiment may be realized by recording a program for realizing these functions in a computer-readable recording medium, reading the program recorded in the recording medium into a computer system, and executing it. Note that the "computer system" referred to here includes hardware such as an OS and peripheral devices.

[0109] In addition, "computer-readable recording medium" refers to portable media such as magneto-optical disks, ROMs, and CD-ROMs, and storage units such as hard disks built into computer systems. Furthermore, "computer-readable recording medium" may also include those that dynamically hold a program for a short period of time, such as a communication line when transmitting a program over a network such as the Internet, and those that hold a program for a certain period of time, such as volatile memory inside a computer system that serves as a server or client in such a case. Furthermore, the above program may be one that realizes part of the above-mentioned functions, or may be one that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0110] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the spirit of the present invention. [Explanation of symbols]

[0111] 1...hardness measuring device, 10...hardness calculating device, 11...accommodation section, 12...pressure sensor, 12A...tactile sensor, 13...distance measuring sensor, 14...holding section, 17...acceleration sensor, 110...distance information acquiring section, 120...pressure information acquiring section, 130...calculating section, 140...output section, 150...image information acquiring section, 151...correcting section, 161...detecting section, 162...alarming section, 170...acceleration information acquiring section, 171...correcting section, 181...diagnostic information acquiring section, 182...treatment device, 121...contact surface, 122...non-contact Touch surface, 123...imaging unit, 124...image information acquisition unit, 125...image processing unit, 126...tactile information calculation unit, 127...tactile information output unit, 50...verification system, 51...arm movement device, 511...arm support unit, 52...arm, 53...precision electronic balance, 54...probe, 55...information processing device, 56...arrow, 80...diagnosis system, 81...diagnosis device, S...subject, ID...distance information, IP...pressure information, II...image information, IM...measurement information, IA...acceleration information, IDD...diagnosis information

Claims

1. a distance measurement information acquisition unit that acquires distance measurement information indicating a distance to a reference position that is a part of the animal's body; a pressure information acquiring unit that acquires pressure information indicating a pressure when a contact unit is pressed against a target position that is a part of the animal's body and is different from the reference position; a calculation unit that calculates, during the process of pressing the contact unit, a slope of a straight line based on a correspondence relationship between multiple amounts of pressing of the contact unit derived based on the multiple pieces of distance measurement information acquired by the distance measurement information acquisition unit and multiple pieces of pressure information acquired by the pressure information acquisition unit, as hardness information that is information regarding the hardness of tissue present inside the animal at the target position; and and an output unit that outputs the hardness information calculated by the calculation unit.

2. the distance measurement information acquisition unit acquires a plurality of pieces of distance measurement information acquired at different moments, The hardness calculation device according to claim 1 , wherein the pressure information acquisition unit acquires a plurality of pieces of pressure information acquired at a moment corresponding to a moment at which the distance measurement information is acquired.

3. The calculation unit calculates a first hardness when the distance to the reference position is a first distance and a second hardness when the distance to the reference position is a second distance, the second hardness being different from the first hardness. The hardness calculation device according to claim 2 .

4. 4. The hardness calculation device according to claim 3, wherein the part of the animal's body is a human eyelid, the first hardness is the hardness of the eyelid, and the second hardness is the hardness of an eyeball.

5. The hardness calculation device according to any one of claims 1 to 4, a distance measurement sensor that measures a distance to the reference position and outputs the measured distance to the distance measurement information acquisition unit as the distance measurement information; a pressure sensor that measures the pressure when the contact portion is pressed against the target position and outputs the pressure information to the pressure information acquisition portion.

6. The pressure sensor includes a contact surface including the contact portion, and a deformation portion that deforms in response to a pressure applied when the contact surface contacts the target position; A marker provided on the back side of the contact surface; The hardness measuring device according to claim 5 , further comprising an imaging unit for imaging the marker from the rear side of the contact surface.

7. The deformation portion is made of a transparent material, The imaging unit captures an image of both the marker and an image of an object present on a contact surface side of the deformation unit, The hardness measuring device according to claim 6 , wherein the output unit outputs both the hardness information and the captured image.

8. The hardness measuring device according to claim 5 , wherein the distance measuring sensor measures the distance to the reference position in a non-contact manner.

9. Further comprising an attitude sensor for detecting at least a tilt, The hardness measuring device according to claim 5 , wherein the output unit outputs both the hardness information and information indicating a slope detected when the hardness information is calculated.

10. The hardness measurement device according to claim 9 , wherein the calculation unit further comprises a correction unit that corrects the hardness indicated in the calculated hardness information in accordance with the information indicating the inclination.

11. a diagnostic information acquisition unit that acquires diagnostic information, which is information acquired in response to a result of the hardness information being output by the output unit; The hardness measuring device according to claim 5 , further comprising a treatment device for performing a treatment included in the diagnostic information.

12. a distance measurement information acquiring step of acquiring distance measurement information indicating a distance to a reference position which is a part of the body of the animal; a contact step of contacting a target position, which is a part of the body of the animal and is a position different from the reference position; a pressure information acquiring step of acquiring pressure information indicating a pressure when the contacting step is performed to press the contacting member against the target position; a calculation step of calculating, during the process of pressing the target position, a slope of a straight line based on a correspondence relationship between a plurality of amounts of pressing at the target position derived based on the plurality of pieces of distance measurement information acquired in the distance measurement information acquisition step and a plurality of pieces of pressure information acquired in the pressure information acquisition step, as hardness information that is information regarding the hardness of tissue present inside the animal at the target position; and an output step of outputting the hardness information calculated by the calculation step.

13. a distance measurement information acquisition unit that acquires distance measurement information indicating a distance to a reference position of the inspection object; a pressure information acquiring unit that acquires pressure information indicating a pressure when a contact portion is pressed against a target position that is a part of the inspection object and is a position different from the reference position; a calculation unit that calculates, during the process of pressing the contact unit, a slope of a straight line based on a correspondence relationship between multiple amounts of pressing of the contact unit derived based on the multiple pieces of distance measurement information acquired by the distance measurement information acquisition unit and multiple pieces of pressure information acquired by the pressure information acquisition unit, as hardness information that is information regarding the hardness of tissue present inside the body of the test object at the target position; and and an output unit that outputs the hardness information calculated by the calculation unit.

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