ROBOT SYSTEM AND METHOD FOR CONTROLLING ROBOT SYSTEM

Abstract

To provide a robot system capable of reducing sufficiently infection of health care workers or the like in a hospital.SOLUTION: A robot system (100) includes a robot (101) having an arm(13) arranged in a first space (201), a handling device (102) for receiving an operation to an examination instrument (50) in a second space (202), and a control device (110) for operating the examination instrument (50) by controlling the robot (101) according to the received operation.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a robot system and a control method for a robot system. [Background technology]

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

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

[0004] When a patient is not present, the self-propelled tray transport robot receives the tray automatically prepared by the blood collection tube preparation device and stores it in a designated stock unit. When a patient is present in the blood collection room, the self-propelled tray transport robot drives itself to supply the tray to the requested blood collection stand, thereby assisting the medical procedure. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-130282 Summary of the Invention

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

[0007] For patients suspected of having these infectious diseases, medical professionals collect mucosal samples and perform PCR tests or other tests to determine whether or not they are infected. However, there is a risk that the medical professionals who collect the samples themselves may become infected with the virus.

[0008] Furthermore, if a medical worker who has come into contact with a patient infected with a virus or other disease moves around the hospital between the time the test is carried out and the time the infection is confirmed, there is a risk that other sick patients in the hospital may become infected with the virus or other disease.

[0009] Therefore, the inventors of the present application discovered that by remotely controlling a robot to perform tests and examinations on patients suspected of being infected with a virus or the like, it is possible to sufficiently reduce infection among medical staff and others in the hospital.

[0010] The present disclosure has been made to solve the above-mentioned problems, and one objective of the present disclosure is to provide a robot system and a control method for a robot system that can sufficiently reduce infection among medical workers and others in a hospital.

[0011] A robot system according to a first aspect of the present disclosure includes: a robot disposed in a first space and having an arm with a hand that holds a medical examination instrument; an operation device that receives an operation for the examination instrument in a second space that is different from and isolated from the first space; and a control device that controls the robot in accordance with the received operation to operate the examination instrument. The device further includes a force sensor provided on the hand for detecting a force from the examination instrument in contact with the patient, and a second space display device arranged in the second space, and the control device simultaneously displays the degree of force detected by the force sensor and the insertion depth of the examination instrument into the patient on the second space display device. The term "examination equipment" is a concept that includes not only equipment for examining patients, but also equipment for examining patients.

[0012] This allows medical staff and others to operate the robot using the operating device in the second space isolated from patients, thereby preventing medical staff and others from coming into contact with patients suspected of being infected with a virus, etc. This makes it possible to adequately prevent infection among medical staff and others in the hospital.

[0013] Furthermore, by using robots separately for patients suspected of having an infectious disease and for patients with other diseases, it is possible to sufficiently prevent infection in patients with other diseases.

[0014] A control method for a robot system according to a second aspect of the present disclosure is a control method for a robot system that is disposed in a first space and has an arm equipped with a hand that holds a medical examination instrument, the control method comprising: receiving an operation for the examination instrument in a second space that is different from and isolated from the first space; and operating the examination instrument by controlling a robot in accordance with the received operation; a force sensor provided on the hand for detecting a force from the examination instrument in contact with the patient, and a second space display device disposed in the second space simultaneously displaying the degree of force detected by the force sensor and the insertion depth of the examination instrument into the patient; Equipped with.

[0015] This allows medical staff and others to operate the robot using the operating device in the second space isolated from patients, thereby preventing medical staff and others from coming into contact with patients suspected of being infected with a virus, etc. Therefore, it is possible to provide a control method for a robot system that can sufficiently prevent infection among medical staff and others in a hospital.

[0016] Furthermore, by distinguishing between robots for patients suspected of having an infectious disease and robots for patients with other diseases, it is possible to provide a control method for a robot system that can sufficiently suppress infection in patients with other diseases.

[0017] A robot system according to a third aspect of the present disclosure includes a robot arranged in a first space and having an arm with a hand that holds a medical examination instrument, a first-space photography device provided on the hand or the arm and that photographs at least one of a nasal cavity and an oral cavity, an operation device that receives an operation on the examination instrument in a second space that is different from the first space and isolated from the first space, and a control device that controls the robot in accordance with the received operation to operate the examination instrument, and the control device displays an image photographed by the first-space photography device on a second-space display device. The hand further includes a force sensor that detects a force from the examination instrument that is in contact with the patient, and the control device simultaneously displays the degree of force detected by the force sensor and the insertion depth of the examination instrument into the patient on the second space display device. .

[0018] This allows medical staff and others to operate the robot using the operating device in the second space isolated from patients, thereby preventing medical staff and others from coming into contact with patients suspected of being infected with a virus, etc. Therefore, it is possible to provide a robot system that can sufficiently prevent infection among medical staff and others in the hospital.

[0019] Furthermore, by using robots separately for patients suspected of having an infectious disease and for patients with other diseases, it is possible to provide a robot system that can sufficiently prevent infection in patients with other diseases. A robot system according to a fourth aspect of the present disclosure includes a robot arranged in a first space and having an arm with a hand that holds a medical examination instrument; an operation device that accepts operations on the examination instrument in a second space different from the first space; a control device that operates the examination instrument by controlling the robot in accordance with the accepted operations; and an irradiation unit that is provided on the hand and irradiates light onto a position on a patient where the examination instrument is to be inserted, wherein the irradiation unit includes a pair of laser light indicators, and the light beams irradiated from the pair of laser light indicators intersect with each other. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to a first embodiment of the present disclosure. [Figure 2] FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment of the present disclosure. [Figure 3] FIG. 3 is a schematic diagram showing a schematic configuration of a robot in the robot system shown in FIGS. [Figure 4] FIG. 4 is a schematic diagram showing a schematic configuration of a hand of a robot in a robot system according to a first embodiment of the present disclosure. [Figure 5] FIG. 5 is a flowchart showing an example of the operation of the robot system according to the first embodiment of the present disclosure. [Figure 6]FIG. 6 is a schematic diagram showing an example of the operation of the robot of the robot system according to the first embodiment of the present disclosure. [Figure 7] FIG. 7 is a schematic diagram showing an example of image information and / or video information displayed on the first display device shown in FIG. [Figure 8] FIG. 8 is a schematic diagram showing another example of image information and / or video information displayed on the first display device shown in FIG. [Figure 9] FIG. 9 is a schematic diagram showing another example of image information and / or video information displayed on the first display device shown in FIG. [Figure 10] FIG. 10 is a schematic diagram showing another example of image information and / or video information displayed on the first display device shown in FIG. [Figure 11] FIG. 11 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the first embodiment of the present disclosure. [Figure 12] FIG. 12 is a schematic diagram showing a schematic configuration of a robot system according to a second embodiment of the present disclosure. [Figure 13] FIG. 13 is a schematic diagram showing a schematic configuration of a robot system according to a third embodiment of the present disclosure. [Figure 14] FIG. 14 is a schematic diagram showing a schematic configuration of a robot system according to a fourth embodiment of the present disclosure. [Figure 15] FIG. 15 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment of the present disclosure. [Figure 16] FIG. 16 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the fourth embodiment of the present disclosure. [Figure 17] FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to a fifth embodiment of the present disclosure. [Figure 18] FIG. 18 is a flowchart showing an example of the operation of the robot system according to the fifth embodiment of the present disclosure. [Figure 19] FIG. 19 is a schematic diagram showing a schematic configuration of a robot system according to the sixth embodiment of the present disclosure. [Figure 20] FIG. 20 is a schematic diagram showing a schematic configuration of a robot system according to the sixth embodiment of the present disclosure. [Figure 21] FIG. 21 is a schematic diagram showing a general configuration of the hand of the robot shown in FIG. [Figure 22] FIG. 22 is a flowchart showing an example of the operation of the robot system according to the sixth embodiment of the present disclosure. [Figure 23] FIG. 23 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the sixth embodiment of the present disclosure. [Figure 24] FIG. 24 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment of the present disclosure. [Figure 25] FIG. 25 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment of the present disclosure. [Figure 26] FIG. 26 is a flowchart showing an example of the operation of the robot system according to the eighth embodiment of the present disclosure. [Figure 27] FIG. 27 is a block diagram of a robot system according to the ninth embodiment of the present disclosure. [Figure 28] FIG. 28 is a diagram illustrating a robot of a robot system according to a ninth embodiment of the present disclosure. [Figure 29] FIG. 29 is a diagram illustrating an operation device of a robot system according to a ninth embodiment of the present disclosure. [Figure 30] FIG. 30 is a diagram illustrating a robot and a patient according to a ninth embodiment of the present disclosure. [Figure 31] FIG. 31 is a diagram illustrating a cross section of a hand and a patient according to a ninth embodiment of the present disclosure. [Figure 32] FIG. 32 is a diagram showing an image displaying force and insertion depth according to the ninth embodiment of the present disclosure. [Figure 33] FIG. 33 is a diagram showing a profile of a patient according to the ninth embodiment of the present disclosure. [Figure 34] FIG. 34 is a diagram showing a side view of a patient and a model image according to the ninth embodiment of the present disclosure. [Figure 35]FIG. 35 is a flow diagram of a control method for a robot system according to the ninth embodiment of the present disclosure. [Figure 36] FIG. 36 is a diagram (1) showing an image displaying force and insertion depth according to a modified example. [Figure 37] FIG. 37 is a diagram (2) showing an image displaying force and insertion depth according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0021] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In all drawings, the same or equivalent parts are denoted by the same reference numerals, and duplicate explanations will be omitted. In addition, in all drawings, only components for explaining the present disclosure are illustrated, and other components may be omitted. Furthermore, the present disclosure is not limited to the following embodiments.

[0022] (First embodiment) The robot system according to the first embodiment includes a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, an operating device that operates the robot, and a control device. A first space in which the robot is located is separated from a second space in which the operating device is located, and the control device performs the following operations: (A) causing the robot to move independently so as to approach a patient; and (B) after performing (A), operating the arm based on operation command information for the arm and / or hand input from the operating device.

[0023] In addition, in the robot system according to the first embodiment, the robot system may further include a first photographing device and a first display device that displays image information and / or video information photographed by the first photographing device, and the control device may be configured to execute (B) while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0024] In the robot system according to the first embodiment, the robot and the operating device may be configured in a master-slave manner.

[0025] Furthermore, in the robot system according to the first embodiment, a pair of laser beam pointing devices may be arranged on the hand so that the beams of light emitted from the laser beam pointing devices intersect.

[0026] In the robot system according to the first embodiment, the first image capturing device may be disposed on the robot (on a part other than the hand, such as an arm) or on the hand of the robot.

[0027] In the robot system according to the first embodiment, the first display device may be configured to display a virtual model indicating position information of a medical testing tool and / or a medical examination tool.

[0028] Furthermore, in the robot system according to the first embodiment, the operating device may be provided with an operating switch that instructs the release of the medical testing instrument and / or the medical examination instrument (release of the holding). Note that the "operating device" is an example of the "operating device" in the claims.

[0029] The control method for the robot system according to the first embodiment comprises a robot system including a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, and an operating device that operates the robot, wherein a first space in which the robot is located and a second space in which the operating device is located are isolated from each other, and the method comprises (A) automatically moving the robot to a position close to a patient based on position information of the patient input from the operating device, and (B) after (A) is executed, operating the arm and / or hand based on operation command information of the arm and / or hand input from the operating device.

[0030] Furthermore, in the control method for the robot system according to the first embodiment, the robot system may further include a first photographing device and a first display device that displays image information and / or video information photographed by the first photographing device, and (B) may be performed while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0031] In the control method for the robot system according to the first embodiment, the robot and the operating device may be configured in a master-slave system.

[0032] In the control method for the robot system according to the first embodiment, a pair of laser beam indicators may be arranged on the hand so that the beams of light emitted from the laser beam indicators intersect.

[0033] Furthermore, in the control method for the robot system according to the first embodiment, the first image capturing device may be disposed on the robot (on a part other than the hand, such as an arm) or on the hand of the robot.

[0034] In the control method for the robot system according to the first embodiment, the first display device may be configured to display a virtual model indicating position information of the medical testing tool and / or the medical examination tool.

[0035] In the control method for the robot system according to the first embodiment, the first display device may be configured to display a virtual model of a part of the patient that is to be treated by medical procedures.

[0036] Furthermore, in the control method for the robot system according to the first embodiment, the operating device may be provided with an operating switch that instructs the release of the holding of the medical testing instrument and / or the medical examination instrument (release of holding).

[0037] An example of a robot system according to the first embodiment will be described below with reference to FIGS.

[0038] [Robot system configuration] 1 and 2 are schematic diagrams showing a schematic configuration of a robot system according to a first embodiment.

[0039] 1, a robot system 100 according to the first embodiment includes a robot 101, an operating device 102, a first display device 103, and a control device 110. The robot 101 is disposed in a first space 201. The operating device 102, the first display device 103, and the control device 110 are disposed in a second space 202.

[0040] The first space 201 and the second space 202 are separate spaces. The first space 201 and the second space 202 are separated from each other by a partition member 210.

[0041] An imaging device (first imaging device) for capturing an image of the patient's profile may be placed in the first space 201. The imaging device may be installed in a partition member 210 that forms the first space 201, or may be held by a robot different from the robot 101.

[0042] Furthermore, the room (examination room / examination room) constituting the first space 201 may be equipped with instruments, experimental equipment, various test reagents, etc. for the robot 101 to perform medical tests. The instruments include, for example, an autopipette, tips used in the autopipette, microtubes, centrifuge tubes, and centrifuge tubes. The experimental equipment includes, for example, a centrifuge, a PCR device, etc.

[0043] A front chamber may be provided in the room (operation room) constituting the second space 202. A fan filter unit may be installed in the front chamber to create a negative pressure in the front chamber and a positive pressure in the second space 202 (internal space of the operation room). A known fan filter unit may be used as the fan filter unit.

[0044] Furthermore, the partition member 210 may be provided with a shutter (door) 204 that allows / prohibits movement to the first space 201, and may be provided with a shutter (door) 205 that allows / prohibits movement to the second space 202.

[0045] Furthermore, the partition member 210 may be configured so that an operator (medical worker) or the like can see inside the first space 201 from the outside by constructing a portion of the partition member 210 from a transparent material such as a glass plate.

[0046] The controller 102 controls the robot 101. As the controller 102, for example, a known controller such as a joystick, a keyboard, a numeric keypad, or a teach pendant can be used.

[0047] Furthermore, the controller 102 may be provided with a device that transmits force information or audio information detected by a force sensor provided in the hand 18 of the robot 101 (described later) to the operator. Such a device may be, for example, a vibration motor, a speaker, or a mechanism for expanding and contracting the housing that constitutes the gripping portion.

[0048] The controller 102 may be configured to be portable so that it can be carried by an operator (medical worker). The robot 101 and the controller 102 may be configured in a master-slave system.

[0049] The controller 102 may also be provided with a release button 102A for releasing (releasing the hold of) the medical testing or medical examination instrument held by the hand 18 in an emergency (for example, when the robot 101 operates abnormally). When the operator presses the release button 102A, the control device 110 may operate the robot 101 so that the hand 18 moves away from the patient.

[0050] The first display device 103 displays image information and / or video information captured by the first image capturing device 20 (described later). The first display device 103 may be configured as a stationary display that is placed on a desk, floor, or the like. Alternatively, the first display device 103 may be configured as a head-mounted display or glasses that are worn by the operator.

[0051] The robot 101 can move by itself to the vicinity of the patient based on the patient's position information input from the controller 102 and / or position information within the hospital (for example, position information of a hospital room or examination room).

[0052] Furthermore, the robot 101 operates the arm and / or hand based on operation information for the arm and / or hand input from the operating device 102. At this time, the robot 101 may be configured to automatically move under the control of the control device 110 so that a predetermined first distance is maintained between the robot 101 and the patient in accordance with the work content of the medical procedure (e.g., examination and / or testing) to be performed on the patient.

[0053] For example, when an operation (examination) of auscultating the front of a patient with a stethoscope is performed, and then an operation (examination) of auscultating the back of the patient with a stethoscope is performed, when the patient turns their back to robot 101, robot 101 may automatically move backward, and then automatically move to shorten the distance to the patient (to maintain a first distance).

[0054] This allows medical personnel to remotely operate the robot 101 and perform medical procedures on the patient.

[0055] Here, the configuration of the robot 101 will be described in detail with reference to Fig. 3. Note that, although a horizontally articulated double-arm robot will be described as the robot 101 below, other robots such as a horizontally articulated or vertically articulated robot may also be used as the robot 101.

[0056] Fig. 3 is a schematic diagram showing a schematic configuration of a robot in the robot system shown in Fig. 1 and Fig. 2. In Fig. 3, the up and down directions of the robot are shown as the up and down directions in the drawing.

[0057] 3, the robot 101 includes a carriage 12, a first arm 13A, a second arm 13B, a first hand 18A, a second hand 18B, and a controller 14 disposed within the carriage 12. The carriage 12 carries the first arm 13A and the second arm 13B.

[0058] When there is no need to distinguish between the first arm 13A and the second arm 13B, they will simply be referred to as arm 13. Similarly, when there is no need to distinguish between the first hand 18A and the second hand 18B, they will simply be referred to as hand 18.

[0059] Furthermore, in the first embodiment, a configuration is adopted in which the controller 14 is disposed inside the carriage 12, but this is not limiting, and the controller 14 may be disposed outside the carriage 12. The controller 14 will be described later.

[0060] Wheels 19 are arranged on the underside of the carriage 12. Appropriate gears and drive motors are connected to the wheels 19. This allows the robot 101 to move on its own.

[0061] Additionally, a base shaft 16 and a first imaging device 20 are fixed to the upper surface of the dolly 12. The first imaging device 20 captures images and / or videos and outputs the captured image information and / or video information to the control device 110. The first imaging device 20 may be, for example, a video camera or an X-ray imaging device.

[0062] Note that first image capturing device 20 may be configured to output captured image information and / or video information to first display device 103 without going through control device 110. Also, first image capturing device 20 may be held by an arm other than first arm 13A and second arm 13B.

[0063] A first arm 13A and a second arm 13B are provided on the base shaft 16 so as to be rotatable about a rotation axis L1 that passes through the axis of the base shaft 16. Specifically, the first arm 13A and the second arm 13B are provided so as to have a difference in height between the top and bottom. The first arm 13A and the second arm 13B can operate independently or in conjunction with each other.

[0064] First arm 13A has first arm portion 15A, first wrist portion 17A, first hand 18A, and first attachment portion 2A. Similarly, second arm 13B has second arm portion 15B, second wrist portion 17B, second hand 18B, and second attachment portion 2B. Note that second arm 13B is configured similarly to first arm 13A, and therefore a detailed description thereof will be omitted.

[0065] In the first embodiment, the first arm portion 15A is composed of a first link 5a and a second link 5b each having a substantially rectangular parallelepiped shape. The first link 5a is provided with a rotary joint J1 at its base end and a rotary joint J2 at its tip. The second link 5b is provided with a translatory joint J3 at its tip.

[0066] The base end of the first link 5a is connected to the base shaft 16 via a rotary joint J1, which allows the first link 5a to rotate around the rotation axis L1. The base end of the second link 5b is connected to the tip end of the first link 5a via a rotary joint J2, which allows the second link 5b to rotate around the rotation axis L2.

[0067] A first wrist 17A is connected to the tip of the second link 5b via a prismatic joint J3 so as to be movable up and down relative to the second link 5b. A rotary joint J4 is provided at the lower end of the first wrist 17A, and a first mounting part 2A is provided at the lower end of the rotary joint J4.

[0068] The first attachment unit 2A is configured to allow the first hand 18A to be attached and detached. Specifically, for example, the first attachment unit 2A has a pair of rod members configured so that the distance between them is adjustable, and the first hand 18A can be attached to the first wrist unit 17A by sandwiching it between the pair of rod members. This allows the first hand 18A to rotate around the rotation axis L3 by the rotation joint J4. Note that the tip of the rod member may be bent.

[0069] The first hand 18A may have any shape as long as it is configured to hold a medical test instrument or medical examination instrument. For example, as shown in FIGS. 1 and 3, the first hand 18A may be configured to hold a medical test instrument or medical examination instrument using two claws. The medical test instrument may be, for example, a sterile cotton swab, various types of tubes such as tubes with screw caps, a syringe, a catheter, or an endoscopic examination instrument. The medical examination instrument may also be, for example, a stethoscope or a tongue depressor.

[0070] The first hand 18A can hold various works such as medicine, food, and test reagents, and can release the works (cancel the holding).

[0071] Here, another example of the first hand 18A (hand 18) will be described with reference to FIG.

[0072] Fig. 4 is a schematic diagram showing the general configuration of a hand of a robot in the robot system according to the first embodiment. In Fig. 4, the up-down and front-back directions of the robot are represented as the up-down and front-back directions in the drawing.

[0073] 4, the first hand 18A has a main body 31, an intermediate member 32, and a holding member 33. The main body 31 and the intermediate member 32 are connected via a rotary joint J5. The intermediate member 32 and the holding member 33 are connected via a rotary joint J6. This allows the holding member 33 to rotate relative to the main body 31 around a rotation axis L4 and / or a rotation axis L5.

[0074] The main body 31 is provided with an actuator 34 that rotates the holding member 33. The actuator 34 may be, for example, a servo motor that is servo-controlled by the controller 14. The main body 31 is also provided with a rotation sensor (not shown) that detects the rotation position of the servo motor, and a current sensor (not shown) that detects the current that controls the rotation of the servo motor. The rotation sensor may be, for example, an encoder. Position information detected by the rotation sensor and current information detected by the current sensor may be output to the control device 110 via the controller 14.

[0075] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is attached to the support member 35. The camera 36 captures images and / or videos and outputs the captured image information and / or video information to the control device 110. The camera 36 may be, for example, a video camera or an X-ray imaging device.

[0076] The object photographed by camera 36 may be, for example, the patient's nostrils when a nasopharyngeal swab is collected with a sterile cotton swab, or the patient's oral cavity when saliva or a specimen from the lower respiratory tract (such as sputum) is collected with a suction catheter or the like.

[0077] In the first embodiment, the support member 35 and the camera 36 are disposed at the lower end of the intermediate member 32, but the present invention is not limited to this. The support member 35 and the camera 36 may be disposed at the upper end of the intermediate member 32, or the like. The support member 35 and the camera 36 may also be disposed on the holding member 33.

[0078] A chuck mechanism 37 for holding / releasing (releasing the holding) a medical testing instrument or medical examination instrument is attached to the holding member 33. The chuck mechanism 37 may be configured, for example, as an air chuck. In this example, the chuck mechanism 37 holds a sterile cotton swab 50 for collecting a specimen for PCR testing.

[0079] Furthermore, a pair of laser pointers (laser light indicators) 38A and 38B are arranged on the holding member 33. The laser pointers 38A and 38B are arranged so that laser beams 39A and 39B emitted from the laser pointers 38A and 38B intersect in front of the first hand 18A. Note that three or more laser light indicators may be arranged on the first hand 18A.

[0080] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B that hit the patient decreases. When first hand 18A approaches the patient further, the laser beam that hits the patient becomes a single point. Then, when first hand 18A approaches the patient further, the distance between laser beam 39A and laser beam 39B that hit the patient increases.

[0081] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by the laser light 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0082] Each of the joints J1 to J4 of the first arm 13A and the second arm 13B is provided with a drive motor (not shown) as an example of an actuator that rotates or raises and lowers two members connected by each joint relative to one another. The drive motor may be, for example, a servo motor that is servo-controlled by the controller 14. Each of the joints J1 to J4 is also provided with a rotation sensor (not shown) that detects the rotation position of the drive motor and a current sensor (not shown) that detects the current that controls the rotation of the drive motor. The rotation sensor may be, for example, an encoder. Position information detected by the rotation sensor and current information detected by the current sensor may be output to the control device 110 via the controller 14.

[0083] The controller 14 includes an arithmetic processor and a memory (not shown). The arithmetic processor is configured with a microprocessor, a CPU, etc., and controls various operations of the robot 101 by reading and executing software such as a basic program stored in the memory.

[0084] The storage device stores information such as a basic program, various fixed data, etc. For example, map information of the hospital may be stored in advance in the storage device.

[0085] The storage device does not need to be a single device, and may be configured as multiple storage devices (for example, a random access memory and a hard disk drive). When the arithmetic processor is configured as a microcomputer, at least a part of the storage device may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

[0086] Furthermore, the controller 14 may control various operations of the robot 101 based on various command information input from the control device 110.

[0087] 1 and 2, the control device 110 includes an arithmetic processor 110a, a memory 110b, and an input device (operator) 110c. The arithmetic processor 110a is configured with a microprocessor, a CPU, etc., and controls various operations of the robot system 100 by reading and executing software such as a basic program stored in the memory 110b.

[0088] The memory 110b stores information such as a basic program and various fixed data. The memory 110b does not need to be a single memory, and may be configured as multiple memory devices (for example, a random access memory and a hard disk drive). When the arithmetic processor 110a is configured as a microcomputer, at least a part of the memory 110b may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

[0089] The input unit 110c allows various parameters related to the control of the robot system 100 or other data to be input to the arithmetic processor 110a, and is configured with a known input device such as a keyboard, a touch panel, or a group of button switches. In the first embodiment, for example, the input unit 110c may allow the patient's position information to be input. Alternatively, the patient's position information may be input by the operating unit 102.

[0090] The control device 110 may be configured by a single control device 110 that performs centralized control, or may be configured by multiple control devices 110 that cooperate with each other to perform distributed control. The control device 110 may also be configured by a microcomputer, or may be configured by an MPU, a PLC (Programmable Logic Controller), a logic circuit, etc.

[0091] [Robot system operation and effects] Next, the operation and effects of the robot system 100 according to the first embodiment will be described in detail with reference to Figures 1 to 10. The following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory device 110b.

[0092] Fig. 5 is a flowchart showing an example of the operation of the robot system according to the first embodiment. Fig. 6 is a schematic diagram showing an example of the operation of the robot of the robot system according to the first embodiment.

[0093] As shown in FIG. 5, the control device 110 acquires patient position information from the input device 110c (and / or the operation device 102) when the operator operates the input device 110c (and / or the operation device 102) (step S101).

[0094] Next, based on the patient's position information acquired in step S101, the control device 110 causes the robot 101 to move by itself (automatically move) from a preset waiting location to the vicinity of the patient (step S102).

[0095] Specifically, the control device 110 outputs the patient's position information acquired in step S101 to the controller 14. The controller 14 drives the drive motor based on the input patient's position information and the map information within the hospital stored in the memory, and causes the robot 101 to move by itself to the vicinity of the patient.

[0096] The waiting location may be a location (space) isolated from the first space 201 and the second space 202.

[0097] Next, the control device 110 acquires the image information and / or video information captured by the first image capturing device 20 and displays it on the first display device 103 (step S103). The control device 110 may execute the process of step S103 before the process of step S101 or step S102.

[0098] Here, the image information and / or video information displayed on the first display device 103 will be described with reference to FIGS.

[0099] Fig. 7 is a schematic diagram showing an example of image information and / or video information displayed on the first display device 103 shown in Fig. 1. Figs. 8 to 10 are schematic diagrams showing other examples of image information and / or video information displayed on the first display device 103 shown in Fig. 1. Note that in Figs. 8 to 10, the robot 101 and the first hand 18A are partially omitted.

[0100] 7, the first display device 103 may display image information captured by the first image capturing device 20 (image information capturing the front of the patient) as first image information 103A. The first display device 103 may also display image information captured by an image capturing device (not shown) for capturing a profile image of the patient as second image information 103B.

[0101] 8, the first display device 103 may display video information captured by the first photographing device 20 as first video information 103A. The first display device 103 may display video information captured by the camera 36 provided on the first hand 18A as third video information 103C.

[0102] 9, the first display device 103 may display video information captured by the first photographing device 20 as first video information 103A. The first display device 103 may display video information captured by the camera 36 provided on the first hand 18A as third video information 103C.

[0103] Furthermore, a virtual model showing the position information of a medical testing instrument and / or a medical examination instrument may be displayed as fourth image information 103D on first display device 103. Specifically, as fourth image information 103D, a virtual sterile swab 50A, which is a virtual model of a sterile swab 50, and a virtual patient 60, which is a virtual model of a medical target site on a patient, are displayed.

[0104] At this time, the control device 110 may move the virtual sterile swab 50A in the fourth image information 103D based on the patient's position information, position information detected by a rotation sensor that detects the rotational position of each drive motor, and / or operation information input to the operation device 102. This allows the operator to easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile swab 50).

[0105] 10, the first display device 103 may display video information captured by the first photographing device 20 as first video information 103A. Also, the first display device 103 may display video information captured by the camera 36 provided on the first hand 18A as third video information 103C.

[0106] Furthermore, a virtual model showing the position information of a medical testing instrument and / or a medical examination instrument may be displayed as fourth image information 103D on first display device 103. Specifically, a virtual sterile swab 50A, which is a virtual model of a sterile swab 50, is displayed as fourth image information 103D.

[0107] At this time, the control device 110 may display the area of ​​the sterile swab 50 that has entered the patient's body as a first area 50B in the fourth image information 103D based on the patient's position information, position information detected by a rotation sensor that detects the rotational position of each drive motor, and / or operation information input to the operation device 102. The first area 50B may be indicated by hatching, for example, as shown in Fig. 10, or may be indicated in a color different from that of the virtual sterile swab 50A.

[0108] This allows the operator to easily understand the distance between the patient and the tip of the medical testing and / or medical examination instrument (sterile swab 50).

[0109] 5, the control device 110 acquires operation command information for the arm 13 and / or the hand 18 from the operation device 102 (step S104). Next, the control device 110 operates the arm 13 and / or the hand 18 based on the operation command information acquired in step S104 (step S105).

[0110] This allows the operator to remotely operate the robot 101 to perform medical procedures (e.g., examinations and / or tests) on the patient. For example, the operator may perform a task of collecting a specimen for a PCR test on the patient.

[0111] Here, a medical procedure performed by the robot 101 will be described with reference to Fig. 6. In Fig. 6, the robot 101 employs a configuration including a second display device 24, which will be described later.

[0112] 6, a shielding plate 221 is placed between the robot 101 and the patient. The shielding plate 221 may be installed on a base 220 such as a desk. The shielding plate 221 is made of a transparent member such as a glass plate, and has an opening 222 provided in the approximate center.

[0113] The position and size of opening 222 are set appropriately depending on the type of medical procedure. For example, when performing medical procedures related to internal medicine, otolaryngology, etc., the position and size of opening 222 are set appropriately so that the patient's mouth and nose (areas subject to medical procedure) are positioned at opening 222. When performing medical procedures related to ophthalmology, the position and size of opening 222 are set appropriately so that the patient's eyes (areas subject to medical procedure) are positioned at opening 222.

[0114] This prevents droplets from adhering to the robot 101 when the patient coughs or sneezes.

[0115] Furthermore, a positioning device 230 is installed between the shielding plate 221 and the patient. The positioning device 230 includes a main body 231, an abutment portion 232, and a chin rest 233. The main body 231 may be configured so that it can be held by the patient. Furthermore, the chin rest 233 may be configured so that it can move up and down.

[0116] Positioner 230 positions the patient's area to be treated by medical care within a preset range (opening 222) when the patient places their forehead on contact portion 232 and places their chin on chin rest 233. This makes it easier to position the area to be treated by medical care, and reduces the burden on the operator.

[0117] When executing the processing of step S105, the control device 110 may automatically operate the arm 13 and / or the hand 18, for example, so that the tip of the medical testing instrument or medical examination instrument held by the hand 18 approaches the patient.

[0118] The control device 110 may also store in the memory 110b operation command information for the arm 13 and / or the hand 18 input from the operation device 102. The control device 110 may also operate the arm 13 and / or the hand 18 based on the operation command information stored in the memory 110b to perform a medical procedure (e.g., a medical examination and / or an examination) on a patient.

[0119] The control device 110 may also be configured to learn a medical examination task, etc. Specifically, for example, when the control device 110 is causing the robot 101 to perform a medical examination task, etc., if the operator operates the controller 102 to modify the operation of the arm 13 and / or the hand 18, the control device 110 stores the modified operation command information for the arm 13 and / or the hand 18 in the memory 110b.

[0120] Next, the control device 110 operates the arm 13 and / or the hand 18 based on the corrected operation command information to perform a medical procedure (e.g., a medical examination and / or an examination) on the patient. Then, when the operator corrects the operation of the arm 13 and / or the hand 18 again, the control device 110 stores the corrected operation command information of the arm 13 and / or the hand 18 in the memory 110b, and learns the medical examination and the like.

[0121] Next, when the operator operates the operating device 102 (and / or the input device 110c) and inputs a command to end the medical procedure from the operating device 102 (and / or the input device 110c), the control device 110 causes the robot 101 to move by itself to the waiting location (step S106) and terminates this program.

[0122] The control device 110 may control the robot 101 to move to a waiting area by itself, disinfect the robot 101 by an appropriate means, and then place the robot 101 in a waiting state. The robot 101 may also be disinfected by a worker wearing a protective mask and protective clothing.

[0123] In the robot system 100 according to the first embodiment configured as described above, the operator (medical worker) simply inputs the patient's position information, and the robot 101 moves to the vicinity of the patient by itself. This allows the operator to concentrate on medical treatment, reducing the burden of operation on the operator.

[0124] In addition, in the robot system 100 according to the first embodiment, the operator operates the robot 101 in the second space 202 isolated from the patient.

[0125] This makes it possible to prevent contact between the operator and a patient suspected of being infected with a virus, etc. Therefore, infection of the operator with a virus, etc. can be sufficiently prevented.

[0126] Furthermore, since the robot 101 moves close to the patients in their hospital rooms, the operator does not need to move around the hospital, which makes it possible to sufficiently prevent infection to the operator.

[0127] Furthermore, by moving the robot 101, the number of times and / or distance that a patient infected with a virus or the like must move within the hospital can be reduced, thereby reducing the spread of the virus or the like.

[0128] In the robot system 100 according to the first embodiment, a pair of laser pointers 38A and 38B are arranged on the first hand 18A (hand 18) so that laser beams 39A and 39B emitted from the first hand 18A and the second hand 18B intersect.

[0129] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B that hit the patient decreases. When first hand 18A approaches the patient further, the laser beam that hits the patient becomes a single point. Then, when first hand 18A approaches the patient further, the distance between laser beam 39A and laser beam 39B that hit the patient increases.

[0130] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by the laser light 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0131] Furthermore, in the robot system 100 according to the first embodiment, a virtual model showing the position information of the medical testing instrument and / or medical examination instrument is displayed as fourth image information 103D on the first display device 103. This allows the operator to easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterilized cotton swab 50).

[0132] At this time, the control device 110 displays a virtual patient 60, which is a virtual model of the patient's medical target area, on the first display device 103, making it easier to understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50).

[0133] [First Modification] Next, a first modification of the robot system 100 according to the first embodiment will be described with reference to FIG.

[0134] FIG. 11 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the first embodiment.

[0135] As shown in FIG. 11, the robot system 100 of the first modified example has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 is a vertical articulated robot.

[0136] The robot system 100 of the first modified example configured in this manner also achieves the same effects as the robot system 100 according to the first embodiment.

[0137] (Second embodiment) The robot system according to the second embodiment is the robot system according to the first embodiment (including the first variant), in which the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device outputs audio information input to the first audio input device to the second audio output device and outputs audio information input to the second audio input device to the first audio output device.

[0138] A control method for a robot system according to a second embodiment is the control method for a robot system according to the first embodiment (including the first variant), in which the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device outputs audio information input to the first audio input device to the second audio output device and outputs audio information input to the second audio input device to the first audio output device.

[0139] An example of a robot system according to the second embodiment will be described below with reference to FIG.

[0140] [Robot system configuration] FIG. 12 is a schematic diagram showing a schematic configuration of a robot system according to the second embodiment.

[0141] As shown in FIG. 12, the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 has a first voice input device 21 and a first voice output device 22, and that a second voice input device 104 and a second voice output device 105 are arranged in the second space 202.

[0142] The first audio input device 21 and the second audio input device 104 may be configured by, for example, microphones. The first audio output device 22 and the second audio output device 105 may be configured by speakers.

[0143] The second audio input device 104 and the second audio output device 105 may be configured by headphones with a microphone (headset). Furthermore, if the first display device 103 is configured by a head-mounted display, the second audio input device 104 and the second audio output device 105 may be configured by a microphone and headphones attached to the head-mounted display.

[0144] The robot system 100 according to the second embodiment configured in this manner also achieves the same effects as the robot system 100 according to the first embodiment.

[0145] In addition, in the robot system 100 according to the second embodiment, the robot 101 is provided with a first voice input device 21 and a first voice output device 22, and a second voice input device 104 and a second voice output device 105 are arranged in the second space 202, so that communication can take place between the patient and the operator.

[0146] This allows, for example, if the operator is a medical professional or if a medical professional is present next to the operator, medical procedures such as interviewing the patient, auscultation, communicating test results, and communicating treatment plans can be performed on the patient.

[0147] (Third embodiment) The robot system according to the third embodiment is the robot system according to the first embodiment (including the first variant) or the second embodiment, wherein the robot further includes a storage device for storing at least one of the following items to be transported: medicine, food, test reagents (reagents), specimens, medical testing equipment, and medical examination equipment.

[0148] The control method for a robot system according to the third embodiment is the control method for a robot system according to the first embodiment (including the first variant) or the second embodiment, wherein the robot further includes a storage device for storing at least one transport item among medicine, food, test reagents (reagents), specimens, medical testing equipment, and medical examination equipment.

[0149] An example of a robot system according to the third embodiment will be described below with reference to FIG.

[0150] [Robot system configuration] FIG. 13 is a schematic diagram showing a schematic configuration of a robot system according to the third embodiment.

[0151] As shown in FIG. 13, the robot system 100 according to the third embodiment has the same basic configuration as the robot system 100 according to the second embodiment, but differs in that the robot 101 further includes a storage device 23 for storing at least one of the following items: medicine, food, test reagents, specimens, medical testing equipment (medical testing equipment), and medical examination equipment.

[0152] Various storage items such as a box with a lid, a tray, etc. can be used as the storage device 23. The storage device 23 may be made of metal (e.g., stainless steel) so that it can be used for sterilization processes such as autoclave sterilization and dry heat sterilization. Furthermore, the storage device 23 may be configured so that the internal space can be maintained at a predetermined temperature (e.g., 0°C, -20°C, -80°C) so that the specimen can be transported.

[0153] Furthermore, storage device 23 may store various instruments and / or experimental devices, such as autopipettes, tips used in autopipettes, microtubes, centrifuge tubes, centrifuges, PCR devices, and the like.

[0154] The robot system 100 according to the third embodiment configured in this manner also achieves the same effects as the robot system 100 according to the first embodiment.

[0155] Furthermore, in the robot system 100 according to the third embodiment, the robot 101 further includes a storage device 23 for storing at least one of medicine, food, test reagents, specimens, medical testing equipment, and medical examination equipment. This reduces the workload of medical assistants such as nurses. Furthermore, this reduces the chances of medical assistants coming into contact with patients with infectious diseases such as viruses, thereby adequately preventing the medical assistants from becoming infected with viruses.

[0156] (Fourth embodiment) The robot system according to the fourth embodiment is a robot system according to any one of the first embodiment (including the first variant) to the third embodiment, further comprising a third space isolated from the first space and the second space, in which the robot is disinfected.

[0157] In the robot system according to the fourth embodiment, the robot may be configured to disinfect itself.

[0158] Furthermore, in the robot system according to the fourth embodiment, the control device may be configured to further execute (C) after (B) to cause the robot to self-propel to a third space and disinfect the robot.

[0159] The control method for a robot system according to the fourth embodiment is a control method for a robot system according to any one of the first embodiment (including the first variant) to the third embodiment, further comprising a third space isolated from the first space and the second space, in which the robot is disinfected.

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

[0161] Furthermore, the control method for the robot system according to the fourth embodiment may further include, after (B), (C) causing the robot to travel by itself to the third space and disinfecting the robot.

[0162] An example of a robot system according to the fourth embodiment will be described below with reference to FIGS.

[0163] [Robot system configuration] FIG. 14 is a schematic diagram showing a schematic configuration of a robot system according to the fourth embodiment.

[0164] As shown in FIG. 14, the robot system 100 according to the fourth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that it further includes a third space 203 that is isolated from the first space 201 and the second space 202.

[0165] The first space 201, the second space 202, and the third space 203 are separated from one another by partition members 210.

[0166] An antechamber may be provided in the room (sterilization chamber) that constitutes the third space 203. A fan filter unit may be installed in the antechamber to create a negative pressure in the antechamber and a positive pressure in the second space 202 (the internal space of the sterilization chamber). A known fan filter unit may be used as the fan filter unit.

[0167] The partition member 210 may be provided with a shutter (door) 206 that allows / prohibits movement into the third space 203.

[0168] The robot 101 may be configured to disinfect itself. Specifically, for example, the robot 101 may be disinfected by holding a sprayer that sprays a solution such as an ethanol solution that has bactericidal and antiviral effects in the hand 18 and spraying the solution toward the robot 101.

[0169] Alternatively, an ultraviolet ray irradiator may be held by the hand 18, and ultraviolet rays may be directed toward the robot 101, thereby disinfecting the robot 101 itself.

[0170] Furthermore, a protective cover 207 (surgical drape) may be placed in the third space 203. The robot 101 may be configured to maintain a sterile and antiviral state by attaching and detaching the protective cover 207 (by covering the robot 101 with the protective cover 207).

[0171] Specifically, the robot 101 puts on the protective cover 207 in the third space 203, then moves to the first space 201 and performs the medical procedure. After the medical procedure is completed, the robot 101 moves to another third space where the protective cover 207 is not placed and removes the protective cover 207. Then, the robot 101 moves to the third space 203 where the protective cover 207 is placed and puts on the protective cover 207.

[0172] [Robot system operation and effects] Next, the operation and effects of the robot system 100 according to the fourth embodiment will be described in detail with reference to Figures 14 and 15. The following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory device 110b.

[0173] FIG. 15 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.

[0174] As shown in FIG. 15, the operation of the robot system 100 according to the fourth embodiment is basically the same as that of the robot system 100 according to the first embodiment, except that the control device 110 executes the processing of step S106A instead of the processing of step S106, and executes the processing of step S107 after the processing of step S106A.

[0175] Specifically, when medical treatment end command information is input from the operating device 102 (and / or the input device 110c), the control device 110 causes the robot 101 to self-propel to the third space 203 (step S106A).

[0176] Next, the control device 110 disinfects the robot 101 in the third space 203 (step S107), and ends this program.

[0177] The robot system 100 according to the fourth embodiment configured in this manner also achieves the same effects as the robot system 100 according to the first embodiment.

[0178] Furthermore, in the robot system 100 according to the fourth embodiment, the robot 101 disinfects itself. This eliminates the need for a worker wearing a protective mask and protective clothing to disinfect the robot 101. This makes it possible to provide a user-friendly robot system 100.

[0179] [First Modification] Next, a first modified example of the robot system 100 according to the fourth embodiment will be described.

[0180] In the robot system of the first modified example of the fourth embodiment, a disinfection device that disinfects the robot is disposed in the third space.

[0181] In the control method for the robot system of the first modified example of the fourth embodiment, a disinfection device for disinfecting the robot is placed in the third space.

[0182] An example of a robot system according to a first modified example of the fourth embodiment will be described below with reference to FIG.

[0183] [Robot system configuration] FIG. 16 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the fourth embodiment.

[0184] As shown in FIG. 16, the robot system 100 of the first modified example has the same basic configuration as the robot system 100 of the fourth embodiment, but differs in that a sterilization device 300 is placed in the sterilization chamber that constitutes the third space 203.

[0185] The disinfection device 300 may be a sprayer that sprays a solution such as an ethanol solution that has bactericidal and antiviral properties. Alternatively, the disinfection device 300 may be an irradiator that irradiates ultraviolet rays. Furthermore, a robot different from the robot 101 may be placed in the sterilization room, and the robot may hold the sprayer or irradiator to disinfect the robot 101.

[0186] The robot system 100 of the first modified example configured in this manner also achieves the same effects as the robot system 100 according to the fourth embodiment.

[0187] (Fifth embodiment) The robot system according to the fifth embodiment is a robot system according to any one of the first to fourth embodiments (including variations), in which the robot further includes a second display device, a second photographing device is further disposed in the second space, and the control device, at (B), causes the second display device to display image information and / or video information photographed by the second photographing device.

[0188] A control method for a robot system according to a fifth embodiment is a control method for a robot system according to any one of the first to fourth embodiments (including the first variant), in which the robot further includes a second display device, a second image capturing device is further disposed in the second space, and in (B), the second display device displays image information and / or video information captured by the second image capturing device.

[0189] An example of a robot system according to the fifth embodiment will be described below with reference to FIGS.

[0190] [Robot system configuration] FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to the fifth embodiment.

[0191] As shown in FIG. 17, the robot system 100 according to the fifth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 further includes a second display device 24 and that a second imaging device 106 is further arranged in the second space 202.

[0192] The second display device 24 displays image information and / or video information captured by the second image capturing device 106. The second display device 24 may be configured as, for example, a stationary display.

[0193] The second image capturing device 106 captures images and / or videos and outputs the captured image information and / or video information to the second display device 24 via the control device 110 and the controller 14. The second image capturing device 106 may be, for example, a video camera.

[0194] [Robot system operation and effects] Next, the operation and effects of the robot system 100 according to the fifth embodiment will be described in detail with reference to Figures 17 and 18. The following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory device 110b.

[0195] FIG. 18 is a flowchart showing an example of the operation of the robot system according to the fifth embodiment.

[0196] As shown in FIG. 18, the operation of the robot system 100 according to the fifth embodiment is basically the same as that of the robot system 100 according to the first embodiment, except that the control device 110 executes the processing of step S103A instead of the processing of step S103.

[0197] Specifically, the control device 110 performs the following process after causing the robot to move autonomously from the waiting location to the vicinity of the patient (step S102).

[0198] The control device 110 acquires image information and / or video information captured by the first image capturing device 20 and displays it on the first display device 103, and acquires image information and / or video information captured by the second image capturing device 106 and displays it on the second display device 24 (step S103A). Note that the control device 110 may execute the process of step S103A before the process of step S101 or step S102.

[0199] The robot system 100 according to the fifth embodiment configured in this manner also achieves the same effects as the robot system 100 according to the first embodiment.

[0200] In the robot system 100 according to the fifth embodiment, the robot 101 further includes a second display device 24, and a second image capturing device 106 is further disposed in the second space 202.

[0201] This allows communication between the patient and the operator (medical worker).

[0202] (Sixth embodiment) The robot system according to the sixth embodiment comprises a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, an operating device that operates the robot, and a control device, wherein a first space in which the robot is located and a second space in which the operating device is located are separated, a first imaging device is located on the hand, and the control device executes (α) to operate the arm and / or hand based on operation command information for the arm and / or hand input from the operating device.

[0203] In addition, in the robot system according to the sixth embodiment, the robot system may further include a first photographing device and a first display device that displays image information and / or video information photographed by the first photographing device, and the control device may be configured to execute (α) while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0204] In the robot system according to the sixth embodiment, the robot and the operating device may be configured in a master-slave system.

[0205] In the robot system according to the sixth embodiment, the first image capturing device may be disposed on the robot (a part other than the hand) or on the hand of the robot.

[0206] Furthermore, in the robot system according to the sixth embodiment, a pair of laser beam pointing devices may be arranged on the hand so that the beams of light emitted from the laser beam pointing devices intersect.

[0207] In the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model showing position information of a medical testing tool and / or a medical examination tool.

[0208] In the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model of a part of a patient that is to undergo medical treatment.

[0209] Furthermore, in the robot system according to the sixth embodiment, the operating device may be provided with an operating switch that instructs the release of the holding of the medical testing instrument and / or the medical examination instrument (release of holding).

[0210] Furthermore, a control method for a robot system according to the sixth embodiment includes a robot system including a robot having an arm with a hand that holds a medical testing instrument and / or a medical examination instrument, and an operating device that operates the robot, wherein a first space in which the robot is located and a second space in which the operating device is located are separated, a first imaging device is located on the hand, and the arm and / or hand operate based on operation command information for the arm and / or hand input from the operating device (α).

[0211] In addition, in the control method for the robot system according to the sixth embodiment, the robot system may further include a first photographing device and a first display device that displays image information and / or video information photographed by the first photographing device, and (α) may be executed while the image information and / or video information photographed by the first photographing device is displayed on the first display device.

[0212] In the control method for the robot system according to the sixth embodiment, the robot and the operating device may be configured in a master-slave system.

[0213] In the control method for the robot system according to the sixth embodiment, the first image capturing device may be disposed on the robot or on the hand.

[0214] In the control method for the robot system according to the sixth embodiment, a pair of laser beam indicators may be arranged on the hand so that the beams of light emitted from the laser beam indicators intersect.

[0215] In the control method for a robot system according to the sixth embodiment, the first display device may be configured to display a virtual model indicating position information of a medical testing tool and / or a medical examination tool.

[0216] In the control method for the robot system according to the sixth embodiment, the first display device may be configured to display a virtual model of a part of the patient that is to be treated by medical procedures.

[0217] Furthermore, in the control method for the robot system according to the sixth embodiment, the operating device may be provided with an operating switch that instructs the release of the holding of the medical testing instrument and / or the medical examination instrument (release of holding).

[0218] An example of a robot system according to the sixth embodiment will be described below with reference to FIGS.

[0219] [Robot system configuration] 19 and 20 are schematic diagrams showing a schematic configuration of a robot system according to the sixth embodiment.

[0220] 19 and 20, the robot system 100 according to the sixth embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but differs in that the robot 101 is installed in a first space 201 (the robot 101 is a stationary type). Also, the configuration of the first hand 18A of the robot 101 is different.

[0221] Here, the configuration of the first hand 18A of the robot 101 will be described with reference to FIG.

[0222] Fig. 21 is a schematic diagram showing the general configuration of the hand of the robot shown in Fig. 19. In Fig. 21, the up-down and front-back directions of the robot are shown as the up-down and front-back directions in the drawing.

[0223] 21, the first hand 18A has a main body 31, an intermediate member 32, and a holding member 33. The main body 31 and the intermediate member 32 are connected via a rotary joint J5. The intermediate member 32 and the holding member 33 are connected via a rotary joint J6. This allows the holding member 33 to rotate relative to the main body 31 around the rotation axis L4 and / or the rotation axis L5.

[0224] The main body 31 is provided with an actuator 34 that rotates the holding member 33. The actuator 34 may be, for example, a servo motor that is servo-controlled by the controller 14. The main body 31 is also provided with a rotation sensor (not shown) that detects the rotation position of the servo motor, and a current sensor (not shown) that detects the current that controls the rotation of the servo motor. The rotation sensor may be, for example, an encoder. Position information detected by the rotation sensor and current information detected by the current sensor may be output to the control device 110 via the controller 14.

[0225] A support member 35 is provided at the lower end of the intermediate member 32. A camera (first imaging device) 36 is attached to the support member 35. The camera 36 captures images and / or videos and outputs the captured image information and / or video information to the control device 110. The camera 36 may be, for example, a video camera or an X-ray imaging device.

[0226] The object photographed by camera 36 may be, for example, the patient's nostrils when a nasopharyngeal swab is collected with a sterile cotton swab, or the patient's oral cavity when saliva or a specimen from the lower respiratory tract (such as sputum) is collected with a suction catheter or the like.

[0227] In the sixth embodiment, the support member 35 and the camera 36 are disposed at the lower end of the intermediate member 32, but the present invention is not limited to this. The support member 35 and the camera 36 may be disposed at the upper end of the intermediate member 32, or the like. The support member 35 and the camera 36 may also be disposed on the holding member 33.

[0228] A chuck mechanism 37 for holding / releasing (releasing the holding) a medical testing instrument or medical examination instrument is attached to the holding member 33. The chuck mechanism 37 may be configured as, for example, an air chuck. In this example, the chuck mechanism 37 holds a sterile cotton swab 50 for collecting a specimen for PCR testing.

[0229] Furthermore, a pair of laser pointers (laser light indicators) 38A and 38B are disposed on the holding member 33. The laser pointers 38A and 38B are disposed so that laser beams 39A and 39B emitted from the laser pointers 38A and 38B intersect in front of the first hand 18A. Note that three or more laser light indicators may be disposed on the first hand 18A.

[0230] As a result, when first hand 18A approaches the patient, the distance between laser beam 39A and laser beam 39B that hit the patient decreases. When first hand 18A approaches the patient further, the laser beam that hits the patient becomes a single point. Then, when first hand 18A approaches the patient further, the distance between laser beam 39A and laser beam 39B that hit the patient increases.

[0231] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by the laser light 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0232] [Robot system operation and effects] Next, the operation and effects of the robot system 100 according to the sixth embodiment will be described in detail with reference to Figures 19 to 22. The following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory device 110b.

[0233] FIG. 22 is a flowchart showing an example of the operation of the robot system according to the sixth embodiment.

[0234] 22, the control device 110 acquires image information and / or video information captured by the first imaging device 20 and displays it on the first display device 103 (step S201). Note that the image information and / or video information displayed on the first display device 103 may be the examples shown in FIGS. 6 to 10.

[0235] Next, the control device 110 acquires operation command information for the arm 13 and / or the hand 18 from the operating device 102 (step S202). Next, the control device 110 operates the arm 13 and / or the hand 18 based on the operation command information acquired in step S202 (step S203).

[0236] This allows the operator to remotely operate the robot 101 to perform medical procedures (e.g., examinations and / or tests) on the patient (see FIG. 6). For example, the operator may perform the task of collecting a specimen for PCR testing.

[0237] The control device 110 may store in the memory 110b operation command information for the arm 13 and / or the hand 18 input from the operation device 102. The control device 110 may also operate the arm 13 and / or the hand 18 based on the operation command information stored in the memory 110b to perform a medical procedure (e.g., a medical examination and / or an examination) on a patient.

[0238] The control device 110 may also be configured to learn a medical examination task, etc. Specifically, for example, when the control device 110 is causing the robot 101 to perform a medical examination task, etc., if the operator operates the controller 102 to modify the operation of the arm 13 and / or the hand 18, the control device 110 stores the modified operation command information for the arm 13 and / or the hand 18 in the memory 110b.

[0239] Next, the control device 110 operates the arm 13 and / or the hand 18 based on the corrected operation command information to perform a medical procedure (e.g., a medical examination and / or an examination) on the patient. Then, when the operator corrects the operation of the arm 13 and / or the hand 18 again, the corrected operation command information of the arm 13 and / or the hand 18 is stored in the memory 110b, and the medical examination and the like are learned.

[0240] Next, when the operator operates the operating device 102 (and / or the input device 110c) and medical treatment termination command information is input from the operating device 102 (and / or the input device 110c) (Yes in step S204), the control device 110 terminates this program.

[0241] After the program is finished, the control device 110 may disinfect the robot 101 by an appropriate means and then control the robot 101 to enter a standby state. Alternatively, the robot 101 may be disinfected by an operator wearing a protective mask and protective clothing.

[0242] In the robot system 100 according to the sixth embodiment configured as described above, the operator operates the robot 101 in the second space 202 isolated from the patient.

[0243] This makes it possible to prevent contact between the operator (medical worker, etc.) and a patient suspected of being infected with a virus, etc. Therefore, infection of the operator with a virus, etc. can be sufficiently prevented.

[0244] In the robot system 100 according to the sixth embodiment, a pair of laser pointers 38A and 38B are arranged on the first hand 18A (hand 18) so that laser beams 39A and 39B emitted from the first hand 18A and the second hand 18B intersect with each other.

[0245] As a result, when first hand 18A approaches the patient, the distance between laser light 39A and laser light 39B that hit the patient decreases. As first hand 18A approaches the patient further, the laser light that hits the patient becomes a single point. Then, as first hand 18A approaches the patient even closer, the distance between laser light 39A and laser light 39B that hit the patient increases.

[0246] Therefore, the operator (medical worker) can easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50) by the laser light 39A and 39B emitted from the pair of laser pointers 38A and 38B.

[0247] Furthermore, in the robot system 100 according to the sixth embodiment, a virtual model showing the position information of the medical testing instrument and / or medical examination instrument is displayed as fourth image information 103D on the first display device 103. This allows the operator to easily understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50).

[0248] At this time, the control device 110 displays a virtual patient 60, which is a virtual model of the patient's medical target area, on the first display device 103, making it easier to understand the distance between the patient and the tip of the medical testing instrument and / or medical examination instrument (sterile cotton swab 50).

[0249] [First Modification] Next, a first modified example of the robot system according to the sixth embodiment will be described with reference to FIG.

[0250] FIG. 23 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the sixth embodiment.

[0251] As shown in FIG. 23, the robot system 100 of the first modified example has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 is a vertical articulated robot.

[0252] The robot system 100 of the first modified example configured in this manner also achieves the same effects as the robot system 100 according to the sixth embodiment.

[0253] (Seventh embodiment) The robot system according to the seventh embodiment is the robot system according to the sixth embodiment (including the first variant), in which the robot further includes a first audio input device and a first audio output device, and a second audio input device and a second audio output device are further arranged in the second space, and the control device outputs audio information input to the first audio input device to the second audio output device and outputs audio information input to the second audio input device to the first audio output device.

[0254] An example of a robot system according to the seventh embodiment will be described below with reference to FIG.

[0255] [Robot system configuration] FIG. 24 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment.

[0256] As shown in FIG. 24, the robot system 100 according to the seventh embodiment has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 has a first voice input device 21 and a first voice output device 22, and that a second voice input device 104 and a second voice output device 105 are arranged in the second space 202.

[0257] The first audio input device 21 and the second audio input device 104 may be configured by, for example, a microphone. The first audio output device 22 and the second audio output device 105 may be configured by a speaker.

[0258] The second audio input device 104 and the second audio output device 105 may be configured as headphones with a microphone (headset). In addition, if the first display device 103 is configured as a head-mounted display, the second audio input device 104 and the second audio output device 105 may be configured as a microphone and headphones attached to the head-mounted display.

[0259] The robot system 100 according to the seventh embodiment configured in this manner also achieves the same effects as the robot system 100 according to the sixth embodiment.

[0260] In addition, in the robot system 100 according to the seventh embodiment, the robot 101 is provided with a first voice input device 21 and a first voice output device 22, and a second voice input device 104 and a second voice output device 105 are arranged in the second space 202, so that communication can take place between the patient and the operator.

[0261] This allows, for example, if the operator is a medical professional or if a medical professional is present next to the operator, medical procedures such as interviewing the patient, auscultation, communicating test results, and communicating treatment plans can be performed on the patient.

[0262] (Eighth embodiment) The robot system according to the eighth embodiment is a robot system according to either the sixth embodiment (including the first variant) or the seventh embodiment, in which the robot further comprises a second display device, a second photographing device is further disposed in the second space, and the control device, in (α), causes the second display device to display image information and / or video information photographed by the second photographing device.

[0263] The control method for a robot system according to the eighth embodiment is a control method for a robot system according to either the sixth embodiment (including the first variant) or the seventh embodiment, in which the robot further comprises a second display device, a second image capturing device is further disposed in the second space, and in (α), the second display device displays image information and / or video information captured by the second image capturing device.

[0264] An example of a robot system according to the eighth embodiment will be described below with reference to FIGS. 25 and 26. FIG.

[0265] [Robot system configuration] FIG. 25 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment.

[0266] As shown in FIG. 25, the robot system 100 according to the eighth embodiment has the same basic configuration as the robot system 100 according to the sixth embodiment, but differs in that the robot 101 further includes a second display device 24 and that a second imaging device 106 is further arranged in the second space 202.

[0267] The second display device 24 displays image information and / or video information captured by the second image capturing device 106. The second display device 24 may be configured as, for example, a stationary display.

[0268] The second image capturing device 106 captures images and / or videos and outputs the captured image information and / or video information to the second display device 24 via the control device 110 and the controller 14. The second image capturing device 106 may be, for example, a video camera.

[0269] [Robot system operation and effects] Next, the operation and effects of the robot system 100 according to the eighth embodiment will be described in detail with reference to Fig. 25 and Fig. 26. The following operation is executed by the arithmetic processor 110a of the control device 110 reading out a program stored in the memory device 110b.

[0270] FIG. 26 is a flowchart showing an example of the operation of the robot system according to the eighth embodiment.

[0271] As shown in FIG. 26, the operation of the robot system 100 according to the eighth embodiment is basically the same as that of the robot system 100 according to the sixth embodiment, except that the control device 110 executes the processing of step S201A instead of the processing of step S201.

[0272] Specifically, the control device 110 acquires image information and / or video information captured by the first photographing device 20 and displays it on the first display device 103, and acquires image information and / or video information captured by the second photographing device 106 and displays it on the second display device 24 (step S201A).

[0273] The robot system 100 according to the eighth embodiment configured in this manner also achieves the same effects as the robot system 100 according to the sixth embodiment.

[0274] In the robot system 100 according to the eighth embodiment, the robot 101 further includes a second display device 24, and the second space 202 further includes a second image capturing device 106 disposed therein.

[0275] This allows communication between the patient and the operator (medical worker).

[0276] From the above description, many modifications or other embodiments of the present disclosure will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present disclosure. Details of its structure and / or function can be substantially changed without departing from the present disclosure.

[0277] (Ninth embodiment) Next, a robot system 400 according to a ninth embodiment will be described.

[0278] 27 and 28, the robot system 400 includes a robot 500. As shown in Fig. 28, the robot 500 is disposed in a first space 401. The robot 500 also has an arm 520 equipped with a hand 510 that holds the medical inspection instrument 501. A second display device 430 is also disposed in the first space 401.

[0279] The arm 520 includes a plurality of link sections 521. The plurality of link sections 521 are connected to one another by joints 522. A plurality of joints 522 are provided. The robot 500 is a vertical articulated robot. A motor (not shown) is provided in each of the plurality of joints 522. The arm 520 is placed on a base 530. The robot 500 may be a dual-arm robot, a horizontal articulated robot, or the like.

[0280] The hand 510 is configured, for example, from a chuck that holds (grabs) the inspection tool 501.

[0281] The test instrument 501 also includes a test instrument 501 for collecting a sample from at least one of the nasal cavity Pa and the oral cavity Pb ​​of a patient P (see FIG. 31). In the ninth embodiment, the test instrument 501 is a sterile swab for collecting a sample from the nasal cavity Pa of the patient P.

[0282] The robot 500 is disposed in a system housing 540 .

[0283] A shielding plate 541 is disposed between the robot 500 and the patient P. The shielding plate 541 is installed in a system housing 540 that surrounds the robot 500. The shielding plate 541 is made of a transparent member such as a glass plate, and has an opening 541a.

[0284] The position and size of the opening 541a are set so that the opening 541a is positioned in at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (the nasal cavity Pa in the ninth embodiment).

[0285] 28, a positioning device 230 (see FIG. 30) is provided between the shielding plate 541 and the patient P. The positioning device 230 includes a contact portion 232 and a chin rest 233.

[0286] The positioning device 230 positions at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (the nasal cavity Pa in the ninth embodiment) within a preset range (the opening 541a) when the patient P abuts his / her forehead against the abutment portion 232 and places his / her chin on the chin rest 233. This makes it possible to easily position at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (the nasal cavity Pa in the ninth embodiment).

[0287] 27, a robot control unit 550 is provided to control the robot 500. Commands are input to the robot control unit 550 from an operating device 600, which will be described later. The robot 500 operates based on the commands input from the operating device 600.

[0288] 29, the robot system 400 also includes an operating device 600. The operating device 600 receives operations on the examination instrument 501 in a second space 402 different from the first space 401. The operating device 600 includes an operating handle 610 and a clutch pedal 660. The operating handle 610 constitutes an operating handle for an operator (such as a doctor) to input commands.

[0289] The operation handle 610 operates the robot 500. The operation handle 610 also receives an operation amount for the robot 500. For example, one operation handle 610 is provided.

[0290] The operating handle 610 also includes a plurality of link sections 611. When any of the plurality of link sections 611 is operated (rotated), any of the plurality of joints 522 of the arm 520 rotates. That is, the operating device 600 and the robot 500 are configured in a master-slave manner.

[0291] The operating device 600 also includes a base 620. The base 620 includes a support section 621 configured to bend (in a substantially L-shape) upward toward the operator. A substantially L-shaped arm section 622 is provided below the bent section of the support section 621. The operating handle 610 is attached to the arm section 622.

[0292] A control device 630 is provided inside the cradle 620. A power supply unit (not shown) and the like are also provided inside the cradle 620.

[0293] An operation panel 640 is provided on the outer surface of the stand 620. By operating the operation panel 640, basic operation instructions, control switching, settings, etc. of the robot 500 and the operation device 600 are performed.

[0294] In addition, an operation switch box 650 is provided near the operator. By operating the operation switch box 650, operations such as zooming of the first image capturing device 511, which will be described later, are performed.

[0295] In addition, a clutch pedal 660 is provided near the operator. When the operator presses down on the clutch pedal 660 while gripping the operation handle 610 (the link portion 612 of the multiple link portions 611 that is operated by the operator such as a doctor with his / her fingers), a clutch operation is performed in which the robot 500 does not move and only the operation device 600 moves.

[0296] Here, in the ninth embodiment, the robot system 400 includes a control device 630. The control device 630 controls the robot 500 in accordance with an operation received by the operation device 600, thereby operating the testing instrument 501. Specifically, as shown in FIGS. 30 and 31 , the robot 500 is driven in accordance with an operation received when the operator operates the operating handle 610. In more detail, the testing instrument 501 held by the hand 510 is inserted into the nasal cavity Pa of the patient P, and the testing instrument 501 comes into contact with the back side of the nasal cavity Pa (see the testing instrument 501 indicated by the dotted line in FIG. 31 ). Thereafter, the testing instrument 501 is rotated together with the hand 510, thereby collecting a sample. Then, the hand 510 is moved away from the patient P, and the testing instrument 501 is removed from the patient's nasal cavity Pa.

[0297] In the ninth embodiment, as shown in FIG. 31 , a first image capturing device 511 is provided on a hand 510 or an arm 520 (the hand 510 in the ninth embodiment) and captures an image of at least one of the nasal cavity Pa and the oral cavity Pb ​​(the nasal cavity Pa in the ninth embodiment). The first image capturing device 511 is, for example, configured from a camera that captures two-dimensional images. The first image capturing device 511 may also be configured from a camera that captures three-dimensional images. The first image capturing device 511 captures an image of the entire face of the patient P including the nasal cavity Pa. The first image capturing device 511 also captures an image of the examination instrument 501 held by the hand 510. The first image capturing device 511 is disposed below the hand 510.

[0298] 29, a first display device 410 is disposed in the second space 402. The first display device 410 is formed of, for example, a liquid crystal monitor. The first display device 410 is disposed near the operation device 600. This allows an operator such as a doctor to view the first display device 410 while operating the operation device 600.

[0299] 32, in the ninth embodiment, the control device 630 causes the first display device 410 to display the image captured by the first image capturing device 511. That is, the first display device 410 displays the nasal cavity Pa of the patient P captured by the first image capturing device 511 and the examination instrument 501 held by the hand 510.

[0300] 31, the hand 510 is provided with an irradiation unit 512 that irradiates light onto a position where the examination instrument 501 is inserted into the patient P (in the ninth embodiment, the face including the nasal cavity Pa). The irradiation unit 512 is provided, for example, below the first photographing device 511 that is provided on the hand 510. The irradiation unit 512 is made of, for example, an LED. The first photographing device 511 then photographs the face of the patient P in a state where the face is irradiated with light.

[0301] As a result, in the ninth embodiment, the control device 630 causes the first display device 410 to display an image of the patient P irradiated with light and photographed by the first photographing device 511. The irradiating unit 512 irradiates light while the specimen of the patient P is being collected by the testing instrument 501.

[0302] Moreover, in the ninth embodiment, the hand 510 is provided with a force sensor 513 (force sensor) that detects a force from the examination instrument 501 in contact with the patient P. Then, as shown in Fig. 32, the control device 630 causes the first display device 410 to display the detection result of the force sensor 513. Furthermore, the control device 630 causes the first display device 410 to display the insertion depth of the examination instrument 501 into the patient P.

[0303] Specifically, in the ninth embodiment, the control device 630 causes the first display device 410 to display a circle C indicating the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 into the patient P. The control device 630 then changes the color of the circle C according to the magnitude of the force detected by the force sensor 513. The control device 630 also changes the diameter of the circle C according to the insertion depth of the examination instrument 501. Lines C1 pointing toward the center of the circle C are added to the circle C at 90-degree intervals. Furthermore, a marker C2 (four lines) indicating the center is placed in the center of the circle C.

[0304] In detail, the control device 630 changes the color of the circle C from blue to yellow and then red as the force detected by the force sensor 513 increases. The color is changed continuously (gradationally), for example. The control device 630 also gradually reduces the radius of the circle C as the tip of the examination instrument 501 held by the hand 510 approaches the patient P. The control device 630 starts control to gradually reduce the radius of the circle C after the tip of the examination instrument 501 held by the hand 510 reaches the vicinity of the patient P (a predetermined distance). The control device 630 also rotates the circle C in response to the rotation of the hand 510.

[0305] 30, in the ninth embodiment, a profile photographing device 420 for photographing a profile of a patient P is disposed in the first space 401. The profile photographing device 420 is disposed, for example, near the shielding plate 541 and on the patient P side of the shielding plate 541. The profile photographing device 420 is formed, for example, of a 2D camera.

[0306] 34, in the ninth embodiment, the control device 630 causes the first display device 410 to display a model image GR1 virtually representing a cross section of the profile of the patient P and a model image GR2 virtually representing the examination instrument 501 inserted into the patient P, superimposed on an image of the profile of the patient P (see FIG. 33) photographed by the profile photographing device 420. The image of FIG. 34 (model image GR1, model image GR2) and the image of FIG. 32 (circle C) are displayed adjacent to each other on the first display device 410.

[0307] Specifically, the profile image of patient P captured by the profile photographing device 420 is processed to obtain the profile outline. Then, a model image GR1, which virtually represents a cross section of the profile and is stored in advance in a storage unit or the like, is superimposed on the profile image of patient P. Note that the model image GR1 is configured to be semi-transparent, for example, so that the profile of patient P can be viewed through the model image GR1. Also, the model image GR1 shows cross sections of the nasal cavity Pa and oral cavity Pb.

[0308] Furthermore, the position (posture, tip position, etc.) of the examination instrument 501 is acquired from the robot coordinates of the robot 500. Then, based on the acquired position, a model image GR2 virtually representing the examination instrument 501 is superimposed on the image of the patient P's profile. This makes it possible to visually confirm the position of the examination instrument 501 in the nasal cavity Pa in the model image GR1. Furthermore, the model image GR2 is configured to be semi-transparent, for example.

[0309] In addition, the detection result of the force sensor 513, the circle C indicating the insertion depth of the examination instrument 501 into the patient P, and the model images GR1 and GR2 can be set to be displayed or hidden using the operation panel 640, the operation switch box 650, etc.

[0310] Next, a control method for the robot system 400 will be described with reference to Fig. 35. It is assumed that the patient P is positioned in front of the robot 500 (shielding plate 541) in the first space 401 beforehand.

[0311] First, in step S301, at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (the nasal cavity Pa in the ninth embodiment) is photographed by the first photographing device 511 provided on the hand 510 or the arm 520 (the arm 520 in the ninth embodiment). As a result, an image of the nasal cavity Pa of the patient P is displayed on the first display device 410 arranged in the second space 402. At this time, the irradiating unit 512 provided on the hand 510 irradiates light onto the nasal cavity Pa of the patient P.

[0312] Furthermore, a profile image of the patient P is captured by a profile image capturing device 420 disposed in the first space 401. Then, the profile image of the patient P is displayed on the first display device 410.

[0313] Next, in step S302, an operation on the examination instrument 501 is accepted in the second space 402 different from the first space 401. The operator operates the examination instrument 501 while checking the nasal cavity Pa of the patient P displayed on the first display device 410.

[0314] Next, in step S303, a circle C indicating the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 into the patient P is displayed on the first display device 410. In addition, a model image GR1 virtually representing a cross section of the profile of the patient P and a model image GR2 virtually representing the examination instrument 501 inserted into the patient P are superimposed on the image of the profile of the patient P photographed by the profile photographing device 420 and displayed on the first display device 410.

[0315] Then, the robot 500 is controlled in accordance with the received operation to operate the examination instrument 501. Then, a model image GR2 that virtually represents the examination instrument 501 inserted into the patient P is moved on the first display device 410 in accordance with the movement of the examination instrument 501. Furthermore, the color and radius of the circle C are changed in accordance with the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 into the patient P.

[0316] The operations of steps S301 to S303 are repeated until collection of the specimen from the patient P is completed.

[0317] [Effects of the ninth embodiment] In the ninth embodiment, the following effects can be obtained.

[0318] In the ninth embodiment, as described above, the medical staff or the like can operate the robot 500 by the operating device 600 in the second space 402 isolated from the patient P, and therefore it is possible to prevent the medical staff or the like from coming into contact with the patient P suspected of being infected with a virus or the like. This makes it possible to sufficiently prevent infection among the medical staff or the like in the hospital.

[0319] Furthermore, in the ninth embodiment, as described above, the control device 630 causes the first display device 410 to display the image captured by the first imaging device 511. This allows the operator operating the robot 500 to operate the robot 500 while visually checking the image captured by the first imaging device 511. As a result, the operator can operate the robot 500 appropriately.

[0320] Furthermore, in the ninth embodiment, as described above, the control device 630 displays the detection result of the force sensor 513 on the first display device 410. This allows the operator operating the robot 500 to operate the robot 500 while visually checking the detection result of the force sensor 513 displayed on the first display device 410. As a result, the operator can operate the robot 500 so as not to apply excessive force to the patient P.

[0321] Furthermore, in the ninth embodiment, as described above, the control device 630 causes the first display device 410 to display the insertion depth of the examination instrument 501 into the patient P. This allows the operator operating the robot 500 to operate the robot 500 while visually checking the insertion depth of the examination instrument 501 displayed on the first display device 410. As a result, the examination instrument 501 can be moved to an appropriate position in the nasal cavity Pa of the patient P.

[0322] Furthermore, in the ninth embodiment, as described above, the control device 630 causes the first display device 410 to display a circle C indicating the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 into the patient P, changes the color of the circle C according to the magnitude of the force detected by the force sensor 513, and changes the diameter of the circle C according to the insertion depth of the examination instrument 501. As a result, the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 are displayed by a common circle C, which can reduce the movement of the operator's line of sight compared to when the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 are displayed by separate markers. This can improve visibility when visually checking the detection result of the force sensor 513 and the insertion depth of the examination instrument 501.

[0323] Furthermore, in the ninth embodiment, as described above, the control device 630 causes the first display device 410 to display a model image GR1 virtually representing a cross section of the profile of the patient P and a model image GR2 virtually representing the examination instrument 501 inserted into the patient P, superimposed on an image of the profile of the patient P photographed by the profile photographing device. This allows the operator to intuitively understand the insertion depth of the examination instrument 501 by visually checking the model image GR1 and the model image GR2.

[0324] Furthermore, in the ninth embodiment, as described above, the hand 510 is provided with the irradiation unit 512 that irradiates light onto the position where the examination instrument 501 is to be inserted into the patient P. This makes it possible to easily check the state of the position (nasal cavity Pa) of the patient P where the examination instrument 501 is to be inserted before inserting the examination instrument 501 into the patient P.

[0325] Furthermore, in the ninth embodiment, as described above, the control device 630 causes the image of the patient P irradiated with light, which is photographed by the first photographing device 511, to be displayed on the first display device 410. As a result, even if the operator is located in the second space 402 separate from the first space 401 in which the patient P is located, the operator can easily confirm the state of the position (nasal cavity Pa) of the patient P where the examination instrument 501 is to be inserted by visually checking the image of the patient P displayed on the first display device 410.

[0326] [Variations] It should be noted that the embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and further includes all modifications (variations) within the meaning and scope equivalent to the claims.

[0327] For example, in the above ninth embodiment, an example was shown in which the test instrument 501 is a test instrument that collects a sample from at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (nasal cavity Pa in the ninth embodiment), but the present disclosure is not limited to this. The test instrument 501 may be a test instrument other than a test instrument that collects a sample from at least one of the nasal cavity Pa and the oral cavity Pb ​​of the patient P (nasal cavity Pa in the ninth embodiment), or a diagnostic instrument.

[0328] In the ninth embodiment, the first image capturing device 511 is provided on the hand 510, but the present disclosure is not limited to this. For example, the first image capturing device 511 may be provided on the arm 520.

[0329] Furthermore, in the above ninth embodiment, an example has been shown in which the first display device 410 displays both the circle C representing the detection results of the force sensor 513 and the insertion depth of the examination instrument 501, and the model image GR1 of the cross section of the profile of the patient P and the model image GR2 of the examination instrument 501, but the present disclosure is not limited to this. For example, the first display device 410 may display only the circle C representing the detection results of the force sensor 513 and the insertion depth of the examination instrument 501. Furthermore, the first display device 410 may display only the model image GR1 of the cross section of the profile of the patient P and the model image GR2 of the examination instrument 501.

[0330] Furthermore, in the above ninth embodiment, an example was shown in which the circle C displayed on the first display device 410 displays both the detection result of the force sensor 513 and the insertion depth of the inspection tool 501, but the present disclosure is not limited to this. For example, the circle C displayed on the first display device 410 may be configured to display only one of the detection result of the force sensor 513 and the insertion depth of the inspection tool 501.

[0331] Furthermore, in the above-described ninth embodiment, an example was shown in which the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 were displayed by the circle C, but the present disclosure is not limited to this. For example, as shown in a first modified example of the ninth embodiment shown in FIG. 36, the detection result of the force sensor 513 and the insertion depth of the examination instrument 501 may be displayed by a line graph (waveform). In FIG. 36, the horizontal axis represents time, and the vertical axis represents the magnitude of the force detected by the force sensor 513 (the insertion depth of the examination instrument 501, "depth"). In FIG. 36, an image of the patient P is displayed on the first display device 410 together with the line graph (waveform).

[0332] Furthermore, as shown in a second modified example of the ninth embodiment in FIG. 37 , the detection result of the force sensor 513 and the insertion depth of the inspection instrument 501 may be displayed by color-coded gauges G1 and G2, respectively. In the gauge G1 that indicates the detection result of the force sensor 513, a current value bar G1a (square frame) moves in the order of blue, yellow, and red as the magnitude of the force detected by the force sensor 513 increases. In the gauge G2 that indicates the insertion depth of the inspection instrument 501, a current value bar G2a (square frame) moves in the order of blue, yellow, and red as the insertion depth of the inspection instrument 501 increases. Note that in FIG. 37 , the colors blue, yellow, and red are represented by hatching.

[0333] In the ninth embodiment, the irradiation unit 512 is provided below the hand 510, but the present disclosure is not limited to this. For example, the irradiation unit 512 may be provided above or to the side of the hand 510.

[0334] In the above ninth embodiment, an example has been shown in which the control device 630 of the operation device 600 performs control to display the detection result of the force sensor 513, the insertion depth of the inspection tool 501, the model image GR1, and the model image GR2, but the present disclosure is not limited to this. A control device other than the control device 630 of the operation device 600 may perform control to display the detection result of the force sensor 513, the insertion depth of the inspection tool 501, the model image GR1, and the model image GR2. [Industrial Applicability]

[0335] The robot system and the control method for the robot system of the present disclosure can sufficiently reduce infection among medical staff and others in hospitals, and are therefore useful in the field of robotics. [Explanation of symbols]

[0336] 2A 1st attachment part 2B Second mounting part 5a Link 1 5b Second Link 12 carts 13 Arm 13A First Arm 13B Second Arm 14 Controller 15A First arm 15B Second arm 16 Principles 17A First List Section 17B Second List Section 18 hands 18A 1st Hand 18B 2nd hand 19 wheels 20 First Imaging Device 21 First voice input device 22 First audio output device 23 Storage device 24 2nd display device 31 Main Unit 32 Intermediate parts 33 Retaining member 34 Actuator 35 Support member 36 Camera 37 Chuck mechanism 38A Laser Pointer 38B Laser Pointer 39B Laser light 39A Laser light 50 sterile cotton swabs 50A Virtual Sterile Swab 50B 1st area 60 Virtual Patients 100 Robot Systems 101 Robot 102 Controller 102A Release button 103 1st display device 103A First Video Information 103B Second Video Information 103C Third Video Information 103D 4th video information 104 Second voice input device 105 Second audio output device 106 Second Imaging Device 110 Control device 110a Calculation processor 110b Memory device 110c input device 201 1st space 202 2nd space 203 Third space 204 Shutter 205 Shutter 206 Shutter 207 Protective Cover 210 Partition member 220 Foundation 221 Shielding plate 222 Opening 230 Positioning device 231 Main Unit 232 Abutted part 233 Chin rest 300 Disinfection equipment 400 Robot System 401 1st space 402 2nd space 410 1st display device 420 Profile Camera 500 robots 501 Inspection equipment 510 hands 511 First Imaging Device 512 Irradiation unit 513 Force Sensor 520 Arm 600 Operating device 630 Control Device C yen GR1, GR2 model images J1 Rotational Joint J2 rotational joint J3 prismatic joint J4 rotational joint J5 rotational joint J6 Rotational Joint L1 rotation axis L2 rotation axis L3 rotation axis L4 rotation axis L5 rotation axis P patient Pa nasal cavity Pb Oral

Claims

1. a robot disposed in the first space and having an arm with a hand for holding a medical examination instrument; an operating device that receives an operation on the testing instrument in a second space that is different from the first space and isolated from the first space; a control device that controls the robot in accordance with the received operation to operate the inspection instrument, a force sensor provided in the hand for detecting a force from the examination instrument in contact with a patient; A second space display device disposed in the second space, The control device simultaneously displays the degree of force detected by the force sensor and the insertion depth of the examination instrument into the patient on the second space display device.

2. The test device includes a test device that collects a sample from at least one of the patient's nasal cavity and oral cavity, a first space imaging device provided on the hand or the arm and configured to image at least one of the nasal cavity and the oral cavity; The robot system according to claim 1 , wherein the control device causes the second space display device to display the image captured by the first space imaging device.

3. The control device displaying, on the second spatial display device, a circle indicating the detection result of the force sensor and the insertion depth of the examination instrument into the patient; changing the color of the circle in accordance with the magnitude of the force detected by the force sensor; The robot system according to claim 1 , wherein the diameter of the circle is changed depending on the insertion depth.

4. a profile photographing device disposed in the first space for photographing a profile of a patient; The robot system according to any one of claims 1 to 3, wherein the control device displays on the second space display device a model image virtually representing a cross-section of the patient's profile and the examination instrument inserted into the patient, superimposed on an image of the patient's profile photographed by the profile photographing device.

5. 5. The robot system according to claim 1, further comprising an irradiation unit provided in the hand for irradiating light onto a position on a patient where the examination instrument is to be inserted.

6. the irradiation unit includes a pair of laser beam pointing devices, The robot system according to claim 5 , wherein the beams of light emitted from the pair of laser beam pointing devices intersect with each other.

7. a first spatial imaging device provided on the hand or the arm for imaging the patient; The robot system according to claim 5 or 6, wherein the control device causes the second space display device to display an image of the patient illuminated with light, the image being captured by the first space imaging device.

8. The robot system according to any one of claims 1 to 7, wherein the robot is disinfected in a third space different from the first space and the second space.

9. The robot system according to claim 8 , further comprising a disinfection device provided in the third space for disinfecting the robot.

10. The robotic system of claim 8 or 9, wherein the robot is self-sterilizing.

11. The robot system according to any one of claims 1 to 10, wherein the robot is covered with a protective cover.

12. 12. The robot system according to claim 1, wherein the operation device accepts operations for holding and releasing the holding of the inspection instrument by the hand.

13. The robot system according to any one of claims 1 to 12, further comprising a carriage on which the arm is placed.

14. a first voice input device and a first voice output device provided in at least one of the robot and the first space; a second audio input device and a second audio output device provided in the second space, The control device outputting audio information input to the first audio input device from the second audio output device; The robot system according to any one of claims 1 to 13, wherein voice information input to the second voice input device is output from the first voice output device.

15. The robot system according to any one of claims 1 to 14, further comprising a first space display device provided in at least one of the robot and the first space, on which an image captured by a second space camera device arranged in the second space is displayed.

16. The robot system according to any one of claims 1 to 15, further comprising a storage device provided on the robot for storing at least one of medicine, food, reagents, specimens, and the testing equipment.

17. The robot system according to any one of claims 1 to 16, wherein the operation device and the robot are configured in a master-slave manner.

18. A method for controlling a robot system having an arm disposed in a first space and equipped with a hand for holding a medical examination instrument, the method comprising: receiving an operation on the testing instrument in a second space that is different from the first space and isolated from the first space; operating the inspection instrument by controlling a robot in accordance with the received operation; and simultaneously displaying on a second space display device arranged in the second space the degree of force detected by a force sensor provided on the hand that detects the force from the examination instrument in contact with the patient, and the insertion depth of the examination instrument into the patient.

19. a robot disposed in the first space and having an arm with a hand for holding a medical examination instrument; a first space imaging device provided on the hand or the arm and configured to image at least one of a nasal cavity and an oral cavity; an operating device that receives an operation on the testing instrument in a second space that is different from the first space and isolated from the first space; a control device that controls the robot in accordance with the received operation to operate the inspection instrument; a second space display device disposed in the second space, the control device causes the second space display device to display the captured image captured by the first space imaging device, a force sensor provided in the hand for detecting a force from the examination instrument in contact with a patient; The control device simultaneously displays the degree of force detected by the force sensor and the insertion depth of the examination instrument into the patient on the second space display device.

Images