Ophthalmology System

Abstract

This ophthalmologic system for inspecting a target eye comprises a robot mechanism that includes a plurality of inspection units having at least a first inspection unit and a second inspection unit, each having a different casing and performing different inspection, a holding unit that holds and releases either of the first inspection unit or the second inspection unit, and a moving unit that is linked to the holding unit and that three-dimensionally moves, and a controlling means that controls the drive of the robot mechanism and that adjusts a relative position relationship between the target eye and the first inspection unit or the second inspection unit held by the holding unit. Replacement between the first inspection unit and the second inspection unit held by the holding unit enables the target eye to be subjected to different inspections.

Description

[Technical Field]

[0001] The present disclosure relates to an ophthalmic system for examining an eye to be examined. [Background technology]

[0002] Various devices are used for examining the subject's eye depending on the purpose, such as an optical coherence tomography (Patent Document 1) that captures tomographic images of the anterior segment and fundus of the subject's eye, a scanning laser ophthalmoscope (Patent Document 2) that two-dimensionally scans the fundus of the subject's eye with a laser beam, and an ophthalmoscope that objectively or subjectively measures the optical characteristics of the subject's eye (Patent Document 3). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-110392 [Patent Document 2] Japanese Patent Application Laid-Open No. 2017-46939 [Patent Document 3] Japanese Patent Publication No. 2020-137915 Summary of the Invention

[0004] In order to accommodate various tests on the examinee's eyes, multiple devices like those mentioned above are often installed in the examination room, requiring a larger space. Also, examinees must move around multiple devices in order for the test, which is a hassle.

[0005] In view of the above-described conventional techniques, the present disclosure has as its technical object to provide an ophthalmologic system capable of efficiently performing examinations of examinee's eyes.

[0006] An ophthalmologic system according to a first aspect of the present disclosure is an ophthalmologic system for examining a subject's eye, comprising a robot mechanism having a plurality of examination units having at least a first examination unit and a second examination unit, each having a different housing and performing a different examination, a holding unit that holds and releases either the first examination unit or the second examination unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means for controlling the drive of the robot mechanism, which adjusts the relative positional relationship between the subject's eye and the first examination unit or the second examination unit held by the holding unit, and is characterized in that by interchanging the first examination unit and the second examination unit held by the holding unit, different examinations can be performed on the subject's eye.

[0007] An ophthalmologic system according to a second aspect of the present disclosure is an ophthalmologic system for examining or operating on a test eye, comprising: a plurality of units having at least a first unit and a second unit, each having a different housing and performing a different test or operation; a robot mechanism having a holding unit that holds and releases either the first unit or the second unit; and a moving unit that is connected to the holding unit and moves three-dimensionally; and a control means for controlling the drive of the robot mechanism, which adjusts the relative positional relationship between the test eye and the first unit or the second unit held by the holding unit, and is characterized in that by interchanging the first unit and the second unit held by the holding unit, different tests or operations can be performed on the test eye. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an ophthalmologic system. [Figure 2] FIG. 2 is a diagram illustrating a configuration of a robot mechanism. [Figure 3] 10A and 10B are diagrams illustrating the alignment position of the examination unit with respect to the subject's eye. [Figure 4] FIG. 1 is a diagram illustrating an example of use of an ophthalmologic system. [Figure 5]FIG. 1 is a plan view showing the layout of an ophthalmologic system. [Figure 6] 3 is a diagram showing the positional relationship between an eye to be examined, a first examination unit, and a first alignment position. FIG. [Figure 7] FIG. 10 is a diagram illustrating the angle of the first inspection unit. DETAILED DESCRIPTION OF THE INVENTION

[0009] <Summary> The ophthalmologic system according to the first aspect of this embodiment may be an ophthalmologic system for examining an eye to be examined.

[0010] The ophthalmologic system may include a robot mechanism having a plurality of examination units having at least a first examination unit and a second examination unit, each having a different housing and performing a different examination, a holding unit that holds and releases either the first examination unit or the second examination unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the drive of the robot mechanism and adjusts the relative positional relationship between the subject's eye and the first examination unit or the second examination unit held by the holding unit, and by interchanging the first examination unit and the second examination unit held by the holding unit, it may be possible to perform different examinations on the subject's eye.

[0011] The ophthalmologic system may also include a setting means for setting alignment positions of multiple examination units relative to the subject's eye, which alignment positions correspond to the first examination unit and the second examination unit, and the control means may adjust the position of the first examination unit or the second examination unit to the alignment position set by the setting means by moving the moving unit.

[0012] In addition, in the ophthalmologic system, the robot mechanism may have a detection unit that detects the face of the subject, and the control means may adjust the position of the first inspection unit or the second inspection unit by moving the moving unit based on the detection result of the detection unit.

[0013] In addition, in the ophthalmologic system, the robot mechanism may have a detection unit that detects the face of the subject, and the control means may adjust the position of the first inspection unit or the second inspection unit by moving the moving unit based on the detection result of the detection unit.

[0014] In addition, in the ophthalmologic system, the control means may further control the operation of the robot mechanism and cause either the first testing unit or the second testing unit to be held or released by the holding unit, and the control means may be able to replace the first testing unit or the second testing unit held by the holding unit, thereby making it possible to perform different tests on the subject's eye.

[0015] In addition, in the ophthalmologic system, the control means may move the moving unit to bring the holding unit closer to the storage position of the first testing unit or the second testing unit, and selectively cause either the first testing unit or the second testing unit to be held by the holding unit.

[0016] In addition, in the ophthalmologic system, the first testing unit and the second testing unit may have identifiers on the housing for identifying each other, and may be equipped with an identification means for detecting the identifier, and the control means may select and replace the first testing unit or the second testing unit held by the holding unit based on the detection result of the identification means.

[0017] In addition, in the ophthalmologic system, the robot mechanism may have an arm with multiple joints as a moving part, and the control means may adjust the position of the first inspection part or the second inspection part by moving the arm via the multiple joints.

[0018] In addition, in the ophthalmologic system, the robot mechanism may have a rotation axis in at least one of the multiple joints, and the control means may adjust at least one of the roll angle, pitch angle, and yaw angle of the first inspection unit or the second inspection unit by rotating the rotation axis.

[0019] The ophthalmologic system may also include a vehicle that houses a robot mechanism having a plurality of examination units having at least a first examination unit and a second examination unit that have different housings and perform different examinations, a holding unit that holds and releases either the first examination unit or the second examination unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the operation of the robot mechanism and adjusts the relative positional relationship between the eye to be examined and the first examination unit or the second examination unit held by the holding unit.

[0020] The ophthalmologic system according to the second aspect of this embodiment may be an ophthalmologic system for examining or operating on an eye to be examined.

[0021] The ophthalmologic system may include a robot mechanism having a plurality of units having at least a first unit and a second unit, each having a different housing and performing a different examination or surgery, a holding unit that holds and releases either the first unit or the second unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the drive of the robot mechanism and adjusts the relative positional relationship between the subject's eye and the first unit or the second unit held by the holding unit, and by interchanging the first unit and second unit held by the holding unit, it may be possible to perform different examinations or surgeries on the subject's eye.

[0022] The ophthalmologic system may also include a vehicle that houses a robot mechanism having a plurality of units having at least a first unit and a second unit that have different housings and perform different examinations or surgeries, a holding unit that holds and releases either the first unit or the second unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the drive of the robot mechanism and adjusts the relative positional relationship between the eye to be examined and the first unit or the second unit held by the holding unit. <Example> An example of the ophthalmologic system according to this embodiment will be described.

[0023] 1 is a diagram showing the configuration of an ophthalmologic system 100. The ophthalmologic system 100 includes a plurality of examination units 1, a robot mechanism 3, and a control device 5.

[0024] [Inspection Department] The multiple inspection units 1 have different housings. The housings are placed in predetermined storage positions on a predetermined shelf. An identifier 2 for identifying each inspection unit from another is provided on the rear surface of the housing. Also, a connection part 4 for holding each inspection unit in a holding part 37 described below is provided on the rear surface of the housing. In this embodiment, the multiple inspection units 1 include at least a first inspection unit 1A and a second inspection unit 1B. The housing of the first inspection unit 1A is provided with an identifier 2A and a connection part 4A, and the housing of the second inspection unit 1B is provided with an identifier 2B and a connection part 4B.

[0025] The multiple examination units 1 (first examination unit 1A and second examination unit 1B) have different examination optical systems. For example, they have at least one of various examination optical systems such as a fundus imaging optical system, a tomography optical system, an intraocular pressure measurement optical system, an axial length measurement optical system, an eye refractive power measurement optical system, and a corneal curvature measurement optical system. As an example, the first examination unit 1A may be an examination unit having an intraocular pressure measurement optical system, and the second examination unit 1B may be an examination unit having a tomography optical system. By using each examination unit, it is possible to perform different examinations.

[0026] The identifiers 2 (identifiers 2A and 2B) provided in each of the multiple inspection units 1 may be any identifiers that can read information using various machine-readable technologies. For example, the identifiers 2 in this embodiment are two-dimensional codes. Of course, the identifiers 2 are not limited to two-dimensional codes, and may also be character strings, one-dimensional codes, electronic tags, etc.

[0027] Alignment positions are preset for the multiple examination units 1 to appropriately position each examination unit with respect to the eye to be examined. Such alignment positions may be positions according to the examination optical system of each examination unit (details will be described later). Each examination unit includes a control unit (not shown) that controls various functions, and a storage device (not shown). The storage device stores an examination program using the examination optical system, etc.

[0028] [Robot mechanism] 2 is a diagram showing the configuration of the robot mechanism 3. The robot mechanism 3 may have various configurations, such as a serial link mechanism or a parallel link mechanism. The robot mechanism 3 holds one of the multiple inspection units 1 and moves it three-dimensionally. The robot mechanism 3 includes a base 40, a moving unit 30, a holding unit 37, a face detection unit 38, a control unit 39, etc.

[0029] The base 40 is fixed to an installation surface. For example, the installation surface may be a floor surface or ceiling surface extending in a horizontal direction, or a wall surface extending in a vertical direction. The moving unit 30 (more specifically, the base unit 31 of the moving unit 30) is fixed to the base 40. Note that the moving unit 30 may be fixed directly to the installation surface without using the base 40.

[0030] The moving unit 30 may be an arm having a plurality of joints (axes) and changing its posture by rotating each part via the joints. A motor (e.g., a step motor) is built into the moving unit 30 for rotating each part around each of the rotation axes X1 to X6. Note that in Figure 2, each of the rotation axes X1 to X6 is indicated by illustrating the direction around the axis.

[0031] In detail, the moving unit 30 includes a base 31, a shoulder 32, a lower arm 33, a first upper arm 34, a second upper arm 35, a wrist 36, a holding unit 37, etc. The base 31 supports the entire moving unit 30. The shoulder 32 is connected to an upper portion of the base 31 via a first joint J1. The shoulder 32 rotates relative to the base 31 about a rotation axis X1 extending in a direction intersecting the base 40 (in this embodiment, the vertical direction). One end of the lower arm 33 is connected to a portion of the shoulder 32 via a second joint J2. The lower arm 33 rotates relative to the shoulder 32 about a rotation axis X2 extending horizontally. The first upper arm 34 is connected to an end of the lower arm 33 opposite to the end connected to the shoulder 32 via a third joint J3. The first upper arm 34 rotates relative to the lower arm 33 around a rotation axis X3 extending horizontally. The second upper arm 35 is connected to the tip end side of the first upper arm 34 (the side where the holder 37 is provided) via a fourth joint J4. The second upper arm 35 rotates relative to the first upper arm 34 around the rotation axis X4. The wrist 36 is connected to the tip end side of the second upper arm 35 via a fifth joint J5. The wrist 36 rotates relative to the second upper arm 35 around the rotation axis X5. The holder 37 is connected to the tip end side of the wrist 36 of the moving unit 30 via a sixth joint J6. The holder 37 rotates relative to the wrist 36 around the rotation axis X6.

[0032] The holding unit 37 holds and releases one of the multiple inspection units 1. As an example, the holding unit 37 holds and releases the inspection unit by generating a magnetic force on the holding pieces. However, the method for holding and releasing the inspection unit may be changed. For example, the holding unit 37 may switch between holding and releasing the inspection unit by changing the distance between the holding pieces using an actuator. The power source of the actuator may be electricity, hydraulics, air pressure, etc. Also, for example, the holding unit 37 may switch between holding and releasing the inspection unit by switching between adsorption and release of the adsorption of the inspection unit.

[0033] Each part of the moving part 30 is provided with a detection part (for example, an encoder) for detecting the angle of each part (for example, the angle of the shoulder 32 relative to the base 31, the angle of the lower arm 33 relative to the shoulder 32, etc.). By detecting all of the angles of each part by the detection part, the three-dimensional position of the holding part 37 provided at the tip of the moving part 30, etc. can be determined.

[0034] The face detection unit 38 detects the face of the subject. The face detection unit 38 includes an imaging optical system for detecting the face of the subject. For example, the imaging optical system may mainly include an imaging lens and an imaging element.

[0035] It is preferable that the face detection unit 38 is provided in a position where the imaging range is not obstructed by the inspection unit even when each inspection unit is held by the holding unit 37. For example, in this embodiment, the face detection unit 38 is fixed to the moving unit 30 and moves together with the moving unit 30. As an example, the face detection unit 38 is fixed to the first upper arm 34. However, the face detection unit 38 may be fixed to a location different from the first upper arm 34. Note that the face detection unit 38 may not move together with the moving unit 30, in which case the face detection unit 38 may be fixed to the base 40.

[0036] The face detection unit 38 may also have the function of measuring the distance from the face detection unit 38 to a face (or to the inspection unit, in some cases). In other words, the imaging optical system of the face detection unit 38 may be used to measure the distance from the face detection unit 38 (movement unit 30) to an object. In this case, the face detection unit 38 may be configured as a so-called stereo camera that measures distance based on parallax, and multiple face detection units may be provided in the horizontal direction, for example. Of course, a distance sensor using infrared rays or the like may be provided separately from the face detection unit 38.

[0037] The face detection unit 38 may also function as an identifier detection unit that detects the identifiers 2 provided on the housings of the multiple inspection units 1. That is, the identifiers 2 may be photographed using the photographing optical system of the face detection unit 38. Of course, an identifier detection unit may be provided separately from the face detection unit 38. In this case, the identifier detection unit may be fixed to the moving unit 30. Also, in this case, the identifier detection unit may be installed in a location different from the moving unit 30. For example, the identifier detection unit may be installed on the base 40, on a shelf on which the multiple inspection units 1 are lined up, or on the floor, wall, ceiling, etc. of the inspection room. The identifier detection unit may also serve as a surveillance camera or the like installed in the inspection room R2.

[0038] The control unit 39 is responsible for various controls (for example, control of the motors that rotate the various parts, control of the holding unit 37 to generate a magnetic force, etc.).

[0039] [Control device] Returning to the explanation of FIG. 1, the control device 5 controls the entire ophthalmic system 100. As an example, a personal computer is used as the control device 5. However, a device other than a personal computer (for example, at least one of a server, a tablet terminal, a smartphone, etc.) may be used as the control device 5. Furthermore, the control unit of at least one of the multiple examination units 1 and the robot mechanism 3 may function as a control unit that controls the entire ophthalmic system 100. Furthermore, the control units of the multiple devices may cooperate to control the entire ophthalmic system 100.

[0040] The control device 5 includes a CPU 51 that performs various control processes, and a storage device (NVM) 52. The storage device 52 stores information such as the alignment position of each inspection unit. The control device 5 is connected to the multiple inspection units 1 and the robot mechanism 3 via at least one of wired communication, wireless communication, a network, and the like.

[0041] An operation unit 6 and a display unit 7 are connected to the control device 5. The operation unit 6 is operated by the operator to input various instructions to the ophthalmologic system 100. For example, the operation unit 6 can be at least one of a keyboard, a mouse, a touch panel, etc. A microphone or the like for inputting various instructions may be used together with or instead of the operation unit 6. The display unit 7 displays various images. It goes without saying that the operation unit and display unit provided in the control device 5 may be used instead of the operation unit 6 and display unit 7 externally connected to the control device 5.

[0042] A power unit 8 is also connected to the control device 5. The power unit 8 supplies power to the robot mechanism 3 and also supplies power to each inspection unit held in the holding unit 37 of the robot mechanism 3 via the holding unit 37. For example, the power unit 8 may supply power to the inspection unit when a holding detection unit (described later) detects that an inspection unit is held in the holding unit 37. The inspection unit is energized when held in the holding unit 37, receives power from the robot mechanism 3, and becomes usable. In other words, when the inspection unit and the robot mechanism 3 are connected, the inspection unit and the robot mechanism 3 as a whole function as an inspection device. Note that each inspection unit may be charged and capable of storing power in the storage position described above. In this case, the inspection unit may be configured to be energized when held in the holding unit 37, and to draw power from a built-in storage battery to become usable.

[0043] [Inspection unit held by robotic mechanism] Each inspection unit and the holder 37 are held by fitting a connection part 4 provided on the inspection unit with a holding piece of the holder 37. On the rear surface of the housing of the inspection unit, the connection part 4 may be provided at a position where the optical axis of the inspection optical system and the rotation axis X6 of the holder 37 are aligned.

[0044] The connection portion 4 and the holding piece are provided with a holding detection portion that can detect the engagement between the connection portion 4 and the holding piece. For example, the holding detection portion may be configured with an optical sensor such as a photointerrupter, a displacement sensor having a detection body and a contact, or an ultrasonic sensor that emits ultrasonic waves and receives the reflected waves. Of course, it may also be configured with a different sensor.

[0045] In this embodiment, the connection portion 4 may be a recess, with a magnet provided on the bottom surface of the recess. Alternatively, the holding piece of the holding portion 37 may be a protrusion, with an electromagnet provided on the top surface of the protrusion. These magnets and electromagnets are used as a locking mechanism. For example, when the control unit 39 inserts the holding portion 37 into the connection portion 4 and the hold detection unit detects that the holding piece and the connection portion 4 are engaged (in other words, that the holding portion 37 is holding the inspection portion), the control unit 39 electrically controls the electromagnet to generate magnetic force to fix the engagement. For example, when the holding portion 37 (holding piece) is removed from the connection portion 4, the control unit 39 stops generating magnetic force from the electromagnet, releasing the engagement. Note that the locking mechanism is not limited to an electrically controlled configuration, and may also be physically controlled. For example, the locking mechanism may be configured with a cam mechanism or the like.

[0046] [Inspection unit alignment position] Each of the inspection units 1 has an alignment position relative to the subject's eye (in other words, the three-dimensional position of the inspection unit relative to the three-dimensional position of the subject's eye), which is used to appropriately use the inspection optical system in the housing. The alignment position of the inspection unit may have a spatial tolerance range.

[0047] FIG. 3 is a diagram showing the alignment positions of the examination units relative to the subject's eye E. FIG. 3(a) shows the first alignment position WA of the first examination unit 1A. FIG. 3(b) shows the second alignment position WB of the second examination unit 1B. For convenience, FIG. 3 only shows the alignment positions in the front-to-back direction relative to the subject's eye E.

[0048] For example, the first alignment position WA of the first examination unit 1A is a position where a predetermined pressure can be applied to the cornea by applying air or ultrasound to the subject's eye E. Also, for example, the second alignment position WB of the second examination unit 1B is a position where the focus can be adjusted on the fundus of the subject's eye E and a tomographic image can be captured. For example, the first alignment position WA is located close to the subject's eye E, and the second alignment position WB is located farther away.

[0049] Such alignment positions for each inspection unit may be stored in the storage device 52. As an example, they may be stored in the storage device 52 in association with the identifier 2 provided on the housing.

[0050] <Control action> The operation of an examination using the ophthalmologic system 100 will be described.

[0051] Fig. 4 is a diagram showing an example of use of the ophthalmologic system 100. Fig. 5 is a plan view showing the arrangement of the ophthalmologic system 100. In this embodiment, multiple examination units 1, a robot mechanism 3, and a waiting position S for a subject P are arranged in an L-shape around a rotation axis X1 of the robot mechanism 3. Of course, these may be arranged in a different manner, such as an I-shape.

[0052] In the examination room R1, the examiner D interviews the subject P and determines the types and order of examinations to be performed on the subject's eye. For example, the examiner operates the operation unit 6 to sequentially select the appropriate examinations from a list of examination types displayed on the display unit 7. In response to a selection signal from the operation unit 6, the control device 5 sets the target examination units based on the type of examination and the order in which the target examination units will be held in the holding unit 37. For example, if it is selected that the intraocular pressure of the subject's eye is to be measured first and then a tomographic image of the fundus is to be taken, the first examination unit 1A and the second examination unit 1B are set in that order.

[0053] The subject P is guided to the examination room R2 where the examination of the subject's eye is carried out. The examination room R2 is equipped with a plurality of examination units 1 and a robot mechanism 3. The subject P waits for the examination to begin at a standby position S within a predetermined range (for example, within the range of motion of the moving unit 30) centered on the robot mechanism 3.

[0054] [Identity verification] In this embodiment, the identity of the subject P may be verified. The control device 5 transmits (outputs) a movement signal to the control unit 39 included in the robot mechanism 3 to move the moving unit 30. The control unit 39 rotates each part of the moving unit 30 based on the received (input) movement signal. This causes the holding unit 37 to be directed toward the subject P, and the face of the subject P is captured by the face detection unit 38. The control unit 39 also transmits a captured image (live image) including at least a part of the face captured by the face detection unit 38 to the control device 5. The control device 5 receives the captured image and analyzes it. For example, biometric information of the subject P (for example, face, iris, etc.) may be detected. This authenticates the subject P.

[0055] It should be noted that the identification of the subject P is not limited to photographing the face of the subject P, but may be performed by photographing the fingerprint of the subject P, identification information given to the subject P (for example, a character string, a one-dimensional code, a two-dimensional code, etc.), etc. Of course, authentication may also be performed using the voice of the subject P, an electronic tag, etc.

[0056] [Holding the first inspection section] When the identity verification of the subject P is completed, the control device 5 transmits the order in which the testing units are to be held to the control unit 39. The control unit 39 causes the holding unit 37 to hold the first testing unit 1A based on the order in which the testing units are to be held.

[0057] For example, the control unit 39 rotates each part of the moving unit 30 to point the holding unit 37 away from the subject P toward the shelf. As a result, the captured image captured by the face detection unit 38 will include multiple inspection units 1.

[0058] The control device 5 acquires and analyzes the captured image, reads the identifier 2 provided on each inspection unit, and searches for the first inspection unit 1A. The control device 5 also analyzes the captured image and acquires the distance from the face detection unit 38 (holding unit 37) to the first inspection unit 1A. For example, the position of the holding unit 37 relative to the face detection unit 38 is known from the lengths of the first upper arm 34, the second upper arm 35, and the wrist 36. Therefore, the distances in the left-right, up-down, and front-back directions at which the first inspection unit A is located relative to the holding unit 37 are each known (i.e., the three-dimensional position of the first inspection unit A relative to the holding unit 37 is known).

[0059] The control device 5 transmits a movement signal to the control unit 39 based on the three-dimensional position of the first inspection unit 1A. The control unit 39 moves the holding unit 37 closer to the first inspection unit 1A based on the movement signal, and causes the holding unit 37 to selectively hold the first inspection unit 1A. By connecting the holding unit 37 and the first inspection unit 1A, the first inspection unit 1A becomes available for use, and the inspection results and the like obtained by the first inspection unit 1A become available for transmission to the control device 5.

[0060] [Understanding the subject's 3D position] 6 is a diagram showing the positional relationship between the subject's eye E, the first testing unit 1A, and the first alignment position WA. For convenience, Fig. 6 shows only the three-dimensional positions of the subject's eye E in the front-to-back direction.

[0061] The control unit 39 rotates each part of the moving unit 30 and points the holding unit 37 (first examination unit 1A) from the shelf toward the subject P. The face detection unit 38 again begins to photograph the face of the subject P. The control device 5 acquires and analyzes the image photographed by the face detection unit 38 and determines the distance F from the face detection unit 38 (first examination unit 1A) to the subject's eye E. Note that the position K1 of the first examination unit 1A relative to the face detection unit 38 (more specifically, the position K1 of the front surface of the housing of the first examination unit 1A) is known from the lengths of each part of the moving unit 30 and the length of the housing of the first examination unit 1A. Therefore, the distances in the left-right, up-down, and front-back directions at which the subject's eye E is positioned relative to the first examination unit 1A are determined (i.e., the three-dimensional position K2 of the subject's eye E relative to the first examination unit 1A is determined).

[0062] [Aligning the subject's eye and the first examination unit] The control device 5 sets a first alignment position WA corresponding to the first examination unit 1A based on the three-dimensional position K1 of the subject's eye E. The control device 5 also sends a movement signal to the control unit 39 so as to align the position K1 of the first examination unit 1A with the first alignment position WA. Based on the movement signal, the control unit 39 rotates each part of the movement unit 30 to move the first examination unit 1A to the first alignment position WA. This allows, for example, the first examination unit 1A to be roughly aligned with the subject's eye E.

[0063] When aligning the subject's eye E with the first examination unit 1A, the subject P's face is not necessarily facing forward. For example, the subject P may tilt his / her head and tilt his / her face left or right. Furthermore, the subject P may be looking down or up, and tilting his / her face up or down. Furthermore, the subject P may be tilting his / her body at an angle and tilting his / her face forward or backward. Of course, the subject P's face may be tilted due to a combination of these conditions. For this reason, the control device 5 may analyze the image captured by the face detection unit 38 and detect the tilt of the subject P's face.

[0064] FIG. 7 is a diagram illustrating the angle of the first inspection unit 1A. FIG. 7(a) shows the roll angle α, pitch angle β, and yaw angle γ of the first inspection unit 1A. FIGS. 7(b) to 7(d) show changes in the angle of the first inspection unit 1A in response to a displacement of the face of the subject P. For example, the control device 5 analyzes the captured image of the face detection unit 38, and if a left-right tilt θ1 of the face is detected, it transmits a movement signal to the control unit 39 that takes the tilt θ1 into account. Also, for example, the control device 5 analyzes the captured image, and if a vertical tilt θ2 of the face is detected, it transmits a movement signal to the control unit 39 that takes the tilt θ2 into account. Also, for example, the control device 5 analyzes the captured image, and if a front-to-back tilt θ3 of the face is detected, it transmits a movement signal to the control unit 39 that takes the tilt θ3 into account.

[0065] The control unit 39 adjusts at least one of the roll angle α, pitch angle β, and yaw angle γ of the first examination unit 1A by rotating each part of the moving unit 30 based on the movement signal. For example, the control unit 39 adjusts the roll angle α (in other words, the rotation angle based on the x-axis) of the first examination unit 1A to match the tilt θ1. Also, for example, the control unit 39 adjusts the pitch angle β (in other words, the rotation angle based on the y-axis) of the first examination unit 1A to match the tilt θ2. Also, for example, the control unit 39 adjusts the yaw angle γ (in other words, the rotation angle based on the z-axis) of the first examination unit 1A to match the tilt θ3. This allows the first examination unit 1A to be positioned regardless of the posture of the subject P.

[0066] After the rough alignment of the subject's eye E and the first examination unit 1A is completed, fine alignment is then performed. For example, the intraocular pressure measurement optical system provided in the first examination unit 1A has a fixation target projection system, an alignment target projection system, an anterior eye observation system, an ultrasound irradiation unit, etc. The control unit provided in the first examination unit 1A turns on a fixation light to fixate the gaze of the subject's eye E and projects an alignment target onto the cornea of ​​the subject's eye E. The control unit also acquires an anterior eye observation image of the subject's eye E including an alignment target image, and detects the amount of deviation between the corneal apex of the subject's eye E and the optical axis of the ultrasound irradiation unit using the alignment target image.

[0067] The control unit of the first examination unit 1A transmits a movement signal based on the amount of deviation to the control unit 39 of the robot mechanism 3. The control unit 39 adjusts the three-dimensional position of the first examination unit 1A based on the received movement signal. This allows, for example, fine alignment of the first examination unit 1A with respect to the subject's eye E. In other words, the first examination unit 1A can be appropriately positioned with respect to the subject's eye E.

[0068] [Inspection using the inspection department] Once the fine alignment of the subject's eye E with the first examination unit 1A is completed, intraocular pressure measurement using the first examination unit 1A begins. For example, ultrasound is irradiated from the ultrasound irradiation unit toward the subject's eye E, and the intraocular pressure of the subject's eye E is measured based on the magnitude of the acoustic radiation pressure generated by the ultrasound. Details of the configuration of the intraocular pressure measurement optical system and intraocular pressure measurement using the intraocular pressure measurement optical system are described in, for example, JP 2020-5679 A. The obtained measurement data, etc. may be displayed on the display unit 7 via the control device 5.

[0069] After the test using the first test unit 1A is completed, the test using the second test unit 1B is performed. The control device 5 sends a movement signal to the control unit 39 to point the first test unit 1A away from the subject P toward the shelf and place the first test unit 1A back in its original storage position. The control device 5 also sends a movement signal to the control unit 39 to release the first test unit 1A from the holder 37 and to have the holder 37 hold the second test unit 1B.

[0070] The control unit 39 rotates each part of the moving unit 30 based on the movement signal, and changes the examination unit held by the holding unit 37 from the first examination unit 1A to the second examination unit 1B. The control unit 39 also aligns the second examination unit 1B with respect to the subject's eye E, in the same way as the first examination unit 1A. This makes it possible to capture a tomographic image of the subject's eye E using the tomographic imaging optical system provided in the second examination unit 1B.

[0071] As described above, for example, the ophthalmologic system in this embodiment can perform different examinations on the subject's eye by changing the examination unit held by the holder of the robot mechanism, and adjusts the relative positional relationship between the subject's eye and the examination unit by controlling the drive of the robot mechanism. Since a single robot mechanism can be shared and various examinations can be performed using a common alignment mechanism, space can be saved and examinations can be performed efficiently.

[0072] Furthermore, for example, the ophthalmologic system in this embodiment sets an alignment position according to the examination unit held by the holder of the robot mechanism, and adjusts the position of the examination unit to the alignment position in order to adjust the relative positional relationship between the subject's eye and the examination unit. For example, since the appropriate distance from the subject's eye to the examination unit differs for each examination unit, adjusting the alignment position allows the examination to be performed with high accuracy.

[0073] Furthermore, for example, the ophthalmologic system in this embodiment has a detection unit that detects the face of the subject, and adjusts the relative positional relationship between the subject's eye and the examination unit by moving the movement unit based on the detection result of the face detection unit. By estimating the position of the subject's face from the detection result of the detection unit, it is possible to position the examination unit in the correct position relative to the subject's eye.

[0074] Furthermore, for example, in the ophthalmologic system of this embodiment, the control device can hold or release the examination unit in the holding unit, and by changing the examination unit held in the holding unit by the control device, different examinations can be performed on the subject's eye. Therefore, the examiner (or assistant) does not necessarily need to be near the subject, and the examination can be performed efficiently. Furthermore, remote examinations, etc. can also be supported.

[0075] Furthermore, for example, the ophthalmologic system in this embodiment has an identifier on the housing of the examination unit, and detects the identifier, which allows the control device to select the examination unit using the identifier and easily hold the corresponding examination unit in the holder.

[0076] Furthermore, for example, the ophthalmologic system in this embodiment includes a robotic mechanism having an arm with multiple joints, and at least one of the multiple joints has a rotation axis, and by rotating the rotation axis, the angle of the examination unit held by the holder is adjusted. For example, at least one of the roll angle, pitch angle, and yaw angle of the examination unit is adjusted to match the posture of the subject. By providing a rotation axis in the robotic mechanism, appropriate positioning can be performed taking into account the misalignment of the subject's face.

[0077] <Example of transformation> Although the ophthalmologic system 100 of this embodiment has been described with reference to an example in which the robot mechanism 3 is fixed, the present invention is not limited to this. The ophthalmologic system 100 may also be configured with a mobile robot mechanism 3. For example, in this case, the base 40 of the robot mechanism 3 may be provided with a parallel moving part that moves the moving part 30 in a direction parallel to the installation surface. The entire moving part 30 moves parallel on the installation surface by driving the parallel moving part.

[0078] The parallel movement using the parallel moving part of the moving unit 30 may be performed manually by an operator. In this case, for example, the parallel moving part may be configured with wheels. Furthermore, the parallel movement using the parallel moving part of the moving unit 30 may be performed automatically by the control unit 39. In this case, for example, the parallel moving part may be configured with wheels and a motor for rotating the wheels. Furthermore, for example, a belt conveyor or the like may be configured to function as the parallel moving part.

[0079] Although the ophthalmologic system 100 of this embodiment has been described with reference to an example in which the face detection unit 38 is provided in the robot mechanism 3, the present invention is not limited to this. The ophthalmologic system 100 may also be configured to provide the face detection unit 38 separately from the robot mechanism 3. In this case, for example, the ophthalmologic system 100 may include a face detection mechanism including a face detection unit, along with multiple examination units 1, the robot mechanism 3, and the control device 5. For example, the face detection mechanism may be disposed to the side of or above the robot mechanism 3.

[0080] The ophthalmologic system 100 of this embodiment has been described with reference to an example in which the control device 5 and the control unit 39 automatically switch between the first testing unit 1A and the second testing unit 1B, but the present invention is not limited to this. The ophthalmologic system 100 may also be configured in such a way that the examiner D (or an assistant assisting the examiner D) manually switches between the first testing unit 1A and the second testing unit 1B. In other words, the ophthalmologic system 100 may be configured so that each testing unit can be manually held or released. In this case, for example, each testing unit may be provided with a hole or handle that can be used as a handle to easily carry the testing unit from its storage position on the shelf to the holding unit 37.

[0081] Although the ophthalmologic system 100 of this embodiment has been described as being configured to align the subject's eye E with the examination unit in two stages, i.e., rough alignment and fine alignment, the present invention is not limited to this. The ophthalmologic system 100 may be configured to detect the amount of misalignment between the corneal apex of the subject's eye E and the optical axis of the ultrasound irradiation unit from the beginning and perform alignment in one stage.

[0082] Although the ophthalmologic system 100 of this embodiment has been described with reference to an example configuration including one robot mechanism 3, the present invention is not limited to this. The ophthalmologic system 100 may include multiple robot mechanisms 3. Each of the multiple robot mechanisms 3 can be driven independently to perform tests on multiple subjects P in parallel (simultaneously). For example, in this case, the control device 5 may acquire the types of tests to be performed on the multiple subjects P, and when it is necessary to use the same test unit, control the timing at which the test units are held by the respective holders 37 so as not to overlap.

[0083] As an example, a case will be illustrated in which intraocular pressure measurement (first examination unit 1A), fundus tomographic image capture (second examination unit 1B), and eye refractive power measurement (here, third examination unit) are all performed on two subjects. In this case, the control device 5 may control one robot mechanism to hold the examination units in the order of first examination unit 1A, second examination unit 1B, and third examination unit for one subject. Furthermore, the control device 5 may control another robot mechanism to hold the examination units in the order of third examination unit, first examination unit 1A, and second examination unit 1B for the other subject. In this way, each of the multiple examination units 1 can be shared by two robot mechanisms, thereby shortening the examination time and improving efficiency.

[0084] In the ophthalmologic system 100 of this embodiment, when the holder 37 of the robot mechanism 3 holds the examination unit, each part of the moving unit 30 may tilt in the rotation direction of the rotation axis due to the weight of the examination unit, etc. In more detail, for example, the wrist 36 may tilt in the rotation direction of the rotation axis X5, or the first upper arm 34 may tilt in the rotation direction of the rotation axis X3. For this reason, the control device 5 may detect the tilt of each part caused by holding the examination unit and correct the three-dimensional position of the examination unit (holding unit 37). Alternatively, calibration based on the tilt of each part may be performed while holding the examination unit.

[0085] The ophthalmologic system 100 of this embodiment may store information related to the posture of the subject P in a storage device. For example, such information may be angles representing the inclination of the subject P's face (i.e., inclination θ1, inclination θ2, and inclination θ3), or may be angles of the examination unit when the examination unit is aligned with the subject's eye E (i.e., roll angle α, pitch angle β, and yaw angle γ). For example, the posture of the subject P may affect the test results of the subject's eye E. As an example, the intraocular pressure value may change depending on the posture of the subject P. Therefore, each examination unit may correct the obtained test results based on the information related to the posture.

[0086] Although the ophthalmologic system 100 of this embodiment has been described with reference to an example configuration in which different examinations (i.e., a first examination and a second examination) are performed on the subject's eye, the present invention is not limited to this. In this embodiment, the ophthalmologic system 100 may be configured to perform different examinations and surgeries on the subject's eye. In this case, the ophthalmologic system 100 may include multiple units having different housings and capable of performing different examinations or surgeries. For example, each unit may have either an examination optical system or a surgical optical system (e.g., a treatment laser optical system). This allows various combinations of examinations and surgeries to be performed on the subject's eye. In particular, a first surgery and a second surgery different from the first surgery can be performed on the subject's eye. Furthermore, a first surgery and a first examination can be performed on the subject's eye.

[0087] The ophthalmic system 100 of this embodiment may be configured so that an examiner can use it for mobile examinations, etc. For example, the ophthalmic system 100 may be equipped with a vehicle and be transportable by loading multiple examination units 1, robot mechanisms 3, and control devices 5 onto the vehicle. In this case, the ophthalmic system 100 may include an adjustment process for adjusting the relative positional relationship between the subject's eye and the examination unit held by the holder, and a replacement process for replacing the examination unit to enable different examinations to be performed on the subject's eye. This allows the examiner to visit the subject and perform various examinations even if it is difficult for the subject to visit a medical institution. Furthermore, although vehicles are limited in size and cannot accommodate many stationary devices, this ophthalmic system allows multiple examination units to be loaded within a small space within the vehicle. Of course, it is possible to perform not only examinations but also surgeries.

[0088] That is, this embodiment discloses an ophthalmic system for examining a subject's eye, which includes a vehicle that houses a robot mechanism having a plurality of examination units having at least a first examination unit and a second examination unit that have different housings and perform different examinations, a holding unit that holds and releases either the first examination unit or the second examination unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the drive of the robot mechanism and adjusts the relative positional relationship between the subject's eye and the first examination unit or the second examination unit held by the holding unit.

[0089] Furthermore, this embodiment discloses an ophthalmic system for examining or operating on a subject's eye, the ophthalmic system comprising a vehicle that houses a robot mechanism having a plurality of units having at least a first unit and a second unit that have different housings and perform different examinations or surgeries, a holding unit that holds and releases either the first unit or the second unit, and a moving unit that is connected to the holding unit and moves three-dimensionally, and a control means that controls the drive of the robot mechanism and adjusts the relative positional relationship between the subject's eye and the first unit or the second unit held by the holding unit.

[0090] In addition, this embodiment discloses a method of using an ophthalmic system for examining a subject's eye, the ophthalmic system being transportable by being mounted on a vehicle and comprising: a robot mechanism having a plurality of examination units having at least a first examination unit and a second examination unit, each having a different housing and performing a different examination; a holding unit that holds and releases either the first examination unit or the second examination unit; and a moving unit that is connected to the holding unit and moves three-dimensionally; and a control means for controlling the drive of the robot mechanism, and the method of using the ophthalmic system includes an adjustment process for adjusting the relative positional relationship between the subject's eye and the first examination unit or the second examination unit held by the holding unit; and a replacement process for replacing the first examination unit and the second examination unit held by the holding unit to enable different examinations to be performed on the subject's eye. [Explanation of symbols]

[0091] 1. Inspection Department 3 Robot Mechanism 5. Control device 30 Moving Part 37 Holding part 38 Face detection unit 39 Control Unit 51 CPU 52 Storage device 100 Ophthalmology Systems J1~J6 joints X1~X6 rotation axis

Claims

1. An ophthalmic system for examining an eye to be examined, comprising: a plurality of inspection units having at least a first inspection unit and a second inspection unit, each having a different housing and performing a different inspection from the other; a robot mechanism including a holding unit that holds and releases either the first inspection unit or the second inspection unit, and a moving unit that is connected to the holding unit and moves three-dimensionally; a control means for controlling the driving of the robot mechanism, the control means adjusting the relative positional relationship between the eye to be examined and the first examination unit or the second examination unit held by the holding unit; Equipped with An ophthalmologic system that enables different tests to be performed on the subject's eye by interchanging the first test unit and the second test unit held by the holding unit.

2. The ophthalmic system of claim 1, a setting unit that sets alignment positions of the plurality of examination units with respect to the subject's eye, the alignment positions corresponding to the first examination unit and the second examination unit; An ophthalmologic system characterized in that the control means adjusts the position of the first examination unit or the second examination unit to the alignment position set by the setting means by moving the moving unit.

3. The ophthalmologic system according to claim 1 or 2, the robot mechanism has a detection unit that detects a face of the subject; An ophthalmologic system, characterized in that the control means adjusts the position of the first examination unit or the second examination unit by moving the moving unit based on the detection result of the detection unit.

4. In the ophthalmic system according to any one of claims 1 to 3, the control means is further capable of controlling the driving of the robot mechanism to cause the holding unit to hold or release either the first inspection unit or the second inspection unit, An ophthalmologic system in which the control means switches the first examination unit or the second examination unit held by the holding unit, thereby enabling the different examination to be performed on the subject's eye.

5. In the ophthalmic system of any one of claims 1 to 4, the robot mechanism has an arm with a plurality of joints as the moving unit, An ophthalmologic system, characterized in that the control means adjusts the position of the first examination unit or the second examination unit by moving the arm via the plurality of joints.

6. An ophthalmic system for examining or operating on a subject's eye, comprising: a plurality of units including at least a first unit and a second unit having different housings and performing different examinations or surgeries; a robot mechanism including a holding unit that holds and releases either the first unit or the second unit, and a moving unit that is connected to the holding unit and moves three-dimensionally; a control means for controlling the driving of the robot mechanism, the control means adjusting a relative positional relationship between the eye to be examined and the first unit or the second unit held by the holding portion; Equipped with An ophthalmologic system that enables different examinations or surgeries to be performed on the subject's eye by interchanging the first unit and the second unit held by the holding section.

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