Medical simulator

Abstract

Provided is a medical simulator 10 for use in practice of medical activities, said medical simulator comprising a robot body 11 that is formed so as to resemble the entire body of a human which is a patient, wherein when a practicing person performs a simulated medical activity on the robot body 11, the reactions and motions of the patient that are expected to occur before the start of an actual medical activity, during the actual medical activity, and after the end of the actual medical activity are selectively reproduced by the robot body 11.

Description

Technical Field

[0001] The present invention relates to a medical simulator mainly used for practicing (drilling) medical acts such as dental treatment and emergency treatment (primary lifesaving) in pediatric treatment and the like.

Background Art

[0002] Conventionally, medical workers such as medical students, emergency medical technicians (firefighters), and interns have been practicing medical acts including primary lifesaving using various medical simulators. For example, Patent Document 1 discloses a biological simulator provided with a patient robot (biological model) configured to simulate biological reactions or functions such as the heart, circulation, and respiration. Further, Patent Document 2 discloses a medical simulator that operates a robot main body in a manner simulating the movement of a living body during simulated treatment, and Patent Document 3 discloses a medical training device provided with a drive control unit that drives a patient model drive unit so that the patient model performs an operation indicating an emergency state.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the biological simulator described in Patent Document 1 is intended for training in emergency resuscitation and is limited to simulating biological responses or functions such as the heart, circulation, and respiration. Therefore, it is not intended to reproduce the whole-body responses and movements of a patient to various medical procedures, and has the problem of having limited applications and lacking versatility. The medical simulator in Patent Document 2 is limited to robots in which the robot body has a treatment part formed to mimic a predetermined part of the living body, and it is not intended to reproduce responses and movements in parts other than the treatment part. Furthermore, as a specific treatment part, only the oral cavity with artificial teeth is described, and it is unclear whether it can be used for purposes other than dental treatment practice or examination, or for movements in medical procedures other than dental treatment, and it has the problem of having limited applications and lacking versatility. The medical training device in Patent Document 3 is described in which a patient model is made to perform actions that indicate an emergency state, but this emergency state is premised on the presence of abnormalities in biological information. Therefore, it is not intended to reproduce emotional (instinctive) reactions or actions that patients may have, such as disliking or refusing treatment. As a result, the range of actions that can be reproduced is limited, and it suffers from a lack of versatility and practicality. Furthermore, while Patent Documents 2 and 3 describe moving the eyeballs of the robot body (patient model), this is done mechanically using drive units such as motors and air cylinders. This results in a complex mechanism, making it time-consuming to manufacture and also presents challenges in terms of durability and maintainability.

[0005] This invention has been made in view of the above circumstances, and aims to provide a versatile and practical medical simulator that allows trainees (users) to improve their treatment techniques and acquire the ability to quickly respond to unforeseen circumstances and sudden events, by selectively reproducing not only the pain during treatment and the patient's reaction to inappropriate treatment, but also various reactions and actions that are expected to occur when performing actual medical procedures, such as the patient's refusal or sudden change in condition. [Means for solving the problem]

[0006] A medical simulator according to the present invention, which is in line with the aforementioned purpose, is a medical simulator used for practicing medical procedures, The robot has a body formed to resemble the entire body of a human patient, and when a trainee performs a simulated medical procedure on the robot body, the robot body selectively reproduces the reactions and movements of a patient that are expected to occur before, during, and after the actual medical procedure.

[0007] In the medical simulator according to the present invention, it is preferable that the reactions and movements reproduced by the robot body include rejection movements such as flailing the limbs of the robot body, abnormal reactions such as convulsions of the robot body, and abnormal eye movements and pupils of the left and right eyes of the robot body.

[0008] In the medical simulator according to the present invention, liquid crystal display elements are attached to the left and right eyes to display images of the eyeballs of each eye, and it is preferable that each liquid crystal display element is curved in an arc shape such that the central part in the width direction of the eye is convex toward the front.

[0009] In the medical simulator according to the present invention, the robot body is provided with drive means for driving at least the head, hands, and feet of the robot body, and it is preferable that an air cylinder is used for the drive means.

[0010] In the medical simulator according to the present invention, the simulator may be equipped with an instruction means for instructing the reactions and movements reproduced by the robot body from outside the robot body.

[0011] In the medical simulator according to the present invention, the robot body can be modeled after the body shape of a child aged 5 to 6 years. [Effects of the Invention]

[0012] According to the medical simulator of the present invention, when trainees (users) such as medical students, paramedics (firefighters), and medical interns perform simulated medical procedures on a robot body formed to resemble the entire body of a human patient, the robot body can selectively reproduce the patient's reactions and movements that are expected to occur before, during, and after the actual medical procedure. As a result, trainees can not only improve their treatment techniques but also acquire the ability to quickly respond to unforeseen circumstances and sudden events, including sudden changes in the patient's condition.

[0013] In the medical simulator according to the present invention, if the reactions and movements reproduced by the robot body include rejection movements such as the robot body flailing its limbs, abnormal reactions such as the robot body convulsing, and abnormal eye movements and pupils of the robot body's left and right eyes, it can accurately reproduce various reactions and movements of a patient that occur before, during, and after actual medical procedures, and is highly functional.

[0014] In the medical simulator according to the present invention, liquid crystal display elements are attached to the left and right eyes to display images of the eyeballs of each eye, and each liquid crystal display element is curved in an arc shape such that the central part in the width direction of the eye is convex toward the front. In this case, eye movements and pupil abnormalities can be faithfully reproduced without using mechanical mechanisms, and the simulator has few moving parts, as well as excellent operational stability and durability.

[0015] In the medical simulator according to the present invention, if the robot body is equipped with drive means for driving at least the head, hands, and feet of the robot body, and air cylinders are used for the drive means, the entire body of the robot body can be made to move like a real patient (human), improving the reproducibility of various movements. Furthermore, even if a trainee presses down on the head, hands, and feet, no load is placed on the drive means and there is no risk of damage, so the trainee does not need to adjust the amount of force they apply and can learn real-world treatment methods without feeling any discomfort.

[0016] In the medical simulator according to the present invention, when there is an instruction means for instructing, from outside the robot main body, the reactions and operations reproduced by the robot main body, regardless of the content (accuracy, validity, etc.) of the simulated medical act performed by the trainee, by an instructor or the like operating the instruction means, various reactions and operations are reproduced by the robot main body. Therefore, the trainee can also experience accidents such as sudden movements of the patient or sudden changes in the patient's condition, and it is excellent in practicality.

[0017] In the medical simulator according to the present invention, when the robot main body mimics the body shape of a 5- to 6-year-old child, the trainee can experience rejection actions peculiar to children, such as moving the head up, down, left, and right or moving the hands, feet, and the whole body without following the instructions of a doctor or the like, and can acquire coping abilities.

Brief Description of the Drawings

[0018] [Figure 1] It is a block diagram showing the configuration of a medical simulator according to an embodiment of the present invention. [Figure 2] It is a block diagram showing the configuration of the robot main body of the medical simulator. [Figure 3] It is a front view showing the robot main body of the medical simulator. [Figure 4] It is a side view showing the robot main body of the medical simulator. [Figure 5] (A) is a plan view showing the head of the robot main body of the medical simulator, (B) is a sectional view taken along line A-A of (A), and (C) is a sectional view taken along line B-B of (A).

Modes for Carrying Out the Invention

[0019] Subsequently, while referring to the attached drawings, embodiments embodying the present invention will be described to facilitate understanding of the present invention. The medical simulator 10 according to an embodiment of the present invention shown in FIGS. 1 to 5 is mainly used for practicing medical acts such as dental treatment and emergency treatment (primary life-saving), including pediatric treatment. As shown in FIGS. 3 and 4, this medical simulator 10 has a robot body 11 formed by simulating the whole body of a human being as a patient (for example, the body shape of a 5- to 6-year-old child). Then, for the robot body 11, when interns (users) such as medical students, emergency medical technicians (firefighters), and residents perform simulated medical acts, the robot body 11 selectively reproduces the reactions and movements of the patient that are predicted to occur before, during, and after the start of real medical acts.

[0020] As shown in FIG. 1, the medical simulator 10 includes a control unit 12 installed outside the robot body 11 to control the entire robot body 11 (the operations of each part), and an instruction means 13 for instructing the reactions and movements reproduced by the robot body 11 from outside the robot body 11 via the control unit 12. Therefore, when practicing, various reactions and movements are reproduced by the robot body 11 by an instructor or the like instructing from the instruction means 13. The reactions and movements reproduced by the robot body 11 include a rejection action of flapping the left and right hands 16, 17 and the left and right feet 18, 19 of the robot body 11, an abnormal reaction of convulsing the whole body of the robot body 11, and the eyeball movement and pupil abnormality of the left and right eyes 20, 21 of the robot body 11. Further, the rejection action includes actions such as shaking the head 23 of the robot body 11 left and right, making a crying sound, and closing the mouth 24, and the abnormal reaction includes actions such as stiffening (arching the body) the whole body of the robot body 11 and twisting the body.

[0021] In the medical simulator 10, instructors can observe the trainee's simulated medical actions and, if they determine that the trainee's actions are inappropriate, they can instruct the robot body 11 (control unit 12) to perform actions via the instruction means 13. Instructors can also instruct the robot body 11 to perform actions randomly, regardless of the trainee's actions. This allows trainees to not only improve their treatment techniques but also develop the ability to handle unexpected situations and sudden events (actions), including sudden changes in the patient's condition. In particular, pediatric patients may not follow the doctor's instructions or may act impulsively (unpredictably), making this a practical exercise for trainees. Furthermore, various detection means, such as pressure sensors, contact sensors, and temperature sensors, can be attached to various parts of the robot body. When an abnormality is detected by these detection means, the control unit can, at its discretion, instruct the robot body to perform the above-mentioned reactions and actions, regardless of (or without receiving) instructions from the instruction means.

[0022] The instruction means 13 is a conventionally known arithmetic unit (i.e., a computer) equipped with RAM, CPU, ROM, etc. Furthermore, the control unit 12 is wirelessly connected to the instruction means 13, enabling remote operation and offering excellent practicality, although the control unit and the instruction means may also be connected by a wire. Furthermore, by including a display unit 25 that displays changes in simulated biological information (numerical values) such as blood pressure, pulse, body temperature, and oxygen saturation, the medical simulator 10 can simulate changes in the physical condition of a real patient. By correlating the reactions and movements reproduced by the robot body 11 with the changes in the simulated biological information displayed on the display unit 25 (changing the simulated biological information in conjunction with the reactions and movements reproduced by the robot body 11), the reproducibility can be enhanced. In this embodiment, the display unit 25 is connected to the instruction means 13, but it is not limited to this. The display unit may also be integrated with the instruction means; for example, if a notebook computer or the like is used as the instruction means, it is not necessary to connect the display unit to the instruction means separately.

[0023] Next, we will describe the details of the robot body 11. As shown in Figures 5(A) to (C), liquid crystal display elements 29 are attached to the left and right eyes 20 and 21 of the robot body 11 to display images of the eyeballs 27 and 28 of each eye 20 and 21. Here, as shown in Figures 5(B) and (C), each liquid crystal display element 29 is curved in an arc shape so that the central part in the width direction of the left and right eyes 20 and 21 is convex toward the front. By appropriately switching the images of the eyeballs 27 and 28 displayed on each liquid crystal display element 29, it is possible to move the eyeballs 27 and 28 up, down, left, and right to reproduce eye movements, and to change the size and / or position of the pupils 30 and 31 of the eyeballs 27 and 28 to reproduce pupillary abnormalities. Pupillary abnormalities include miosis, mydriasis, unequal pupil size, and positional abnormalities (conjugate deviation). By checking the eye movements and pupillary abnormalities of the left and right eyes 20 and 21, trainees can grasp simulated changes in physical condition and health status and decide on the next course of action. Unlike conventional methods that require mechanically moving the eyeball itself up, down, left, and right, eye movements can be reproduced simply by switching the images displayed on the liquid crystal display element 29, thus simplifying the structure of the left and right eyes 20 and 21. Furthermore, pupil abnormalities, which were difficult to reproduce with conventional mechanical movements, can be easily reproduced, making it highly practical. The images of the eyeballs 27 and 28 displayed on the liquid crystal display element 29 are stored in a storage means (not shown) such as a hard disk or SD card built into or connected to the control unit 12, and are selected and used as appropriate.

[0024] Next, as shown in Figure 2, the robot body 11 is equipped with drive means 33 for driving the head 23, left and right arms 16 and 17, and legs 18 and 19. This drive means 33 includes a head drive unit 34, a left hand drive unit 35, a right hand drive unit 36, a left leg drive unit 37, and a right leg drive unit 38, and each drive unit 34 to 38 can independently drive the head 23, left and right arms 16 and 17, and legs 18 and 19, respectively. The head drive unit 34 can perform actions such as tilting the head 23 forward and backward, left and right, and swinging it from side to side (rotating the head 23 in the left and right directions around the neck). Furthermore, the left hand drive unit 35, the right hand drive unit 36, the left foot drive unit 37, and the right foot drive unit 38 can each perform bending and straightening movements of the left and right hands 16, 17 and feet 18, 19, respectively. By combining the timing of the movements of each part, it is possible to express rejection movements such as the left and right hands 16, 17 and left and right feet 18, 19 flapping around, or abnormal reactions such as the robot body 11 (whole body) convulsing.

[0025] Air cylinders are preferably used for the drive means 33 (head drive unit 34, left hand drive unit 35, right hand drive unit 36, left leg drive unit 37, and right leg drive unit 38), and the number and arrangement of air cylinders used in each drive unit 34 to 38 can be selected as appropriate. When air cylinders are used for the drive means, air is supplied to each air cylinder from an air compressor (not shown) installed outside the robot body. The entire body of the robot 11 is covered with a covering material 40 made of a flexible and stretchable soft rubber material such as silicone. This protects the drive mechanism 33 with the covering material 40 and allows the head 23, left and right arms 16, 17, and legs 18, 19, which are driven by the drive mechanism 33, to move smoothly. Furthermore, when the robot exhibits a rejection action such as the left and right arms 16, 17 and left and right legs 18, 19 flapping, or an abnormal reaction such as the robot body 11 (entire body) convulsing, even if the trainee holds down the left and right arms 16, 17 and left and right legs 18, 19 as in a real-world situation, the use of air cylinders in the drive mechanism 33 only changes the compression state of the air inside the air cylinders, so no load is placed on the drive mechanism 33, and no damage or malfunction of the drive mechanism 33 occurs. Therefore, the trainee does not need to adjust the amount of force applied and can learn real-world response methods without feeling any discomfort. The driving mechanism includes a mouth drive unit (not shown) which can perform the opening and closing of the mouth. In this case, a mechanism is preferably used in which the head is provided with an upper jaw skeleton and a lower jaw skeleton, which are covered with a covering material, and the mouth drive unit is connected to the lower jaw skeleton, causing the lower jaw skeleton to rotate relative to the upper jaw skeleton to open and close the mouth. The mouth drive unit may use an air cylinder, a motor, or other actuator, as with other drive units.

[0026] Figures 3 and 4 show only the robot body 11, but it can be used with a wig attached to the head 23 or with clothing if necessary. The robot body 11 can also reproduce a heartbeat or breathing state by vibrating the chest 41 (in the front-to-back direction of the robot body 11, and in the up-and-down direction in Figure 4) using a chest drive mechanism (not shown) built into the chest 41. At this time, heart sounds and breathing sounds can also be emitted from a speaker (not shown) built into the chest 41. Furthermore, by illuminating a light-emitting part (not shown) using an LED or the like built into the head 23 (inside the face), it is possible to change the skin tone and reproduce paleness, redness, cyanosis, etc. The operation of each part of the robot body 11 described above can simulate a state of cardiac arrest, and trainees can use this medical simulator 10 to practice basic life support. When the instructor determines that appropriate measures have been taken, the instructor will issue a command to the robot body 11 (control unit 12) from the instruction means 13 to restart the heartbeat and breathing, and heart sounds and respiratory sounds will be emitted accordingly. Alternatively, instead of the instructor determining that appropriate measures have been taken, the robot body's pressure sensor may be used to detect that cardiac massage has been performed correctly.

[0027] Although embodiments of the present invention have been described above, the present invention is not limited in any way to the configurations described in the embodiments, and includes other embodiments and modifications that can be considered within the scope of the claims. For example, a dental model for practicing dental treatment can be attached to the mouth of the robot body. In this case, by making the upper and lower dental models detachable (exchangeable) from the upper and lower jaw skeletons, worn-out dental models during practice can be replaced with new ones as needed. Furthermore, a speaker can be attached to the robot body (for example, inside its mouth) so that it can speak in response to questions from the trainee. In this case, it is preferable that the response words are stored in advance as audio data in the control unit's memory and are selected and played back as appropriate based on instructions from the instruction means. In addition, when detection means such as pressure sensors or temperature sensors attached to the robot body detect abnormalities such as abnormal pressure or temperature, the control unit may decide to speak words such as "painful," "hot," or "cold." The patient's reactions and behaviors that can be expected before, during, and after actual medical procedures vary, and these can be added and updated as needed by the instruction means and / or control unit. The robot itself can change its posture (position), and can be used in various positions depending on the content of the training (type of medical procedure), such as sitting in a chair or lying on an examination table or bed. The above embodiment describes a case where the robot body mimics the body shape (whole body) of a 5-6 year old child, but it is not limited to this. Also, in the above embodiment, the control unit is installed outside the robot body, but it is also possible to configure the robot body to have the control unit built in. Furthermore, the reactions and actions to be reproduced by the robot body can be stored in the control unit in advance, and one or more reactions and actions selected from these can be automatically reproduced by the robot body during the practical session. In this case, the number (types), combinations, occurrence order, and occurrence interval of the reactions and actions to be reproduced by the robot body can be selected as appropriate, and these may be set (programmed) in advance in the control unit, or they may be selected randomly by the control unit. In that case, it is preferable to be able to switch between reproducing the reactions and actions by the robot body according to the settings or selections of the control unit, or reproducing the reactions and actions by the robot body according to instructions from the instruction means, but the instruction means can also be omitted. [Industrial applicability]

[0028] Medical students, paramedics (firefighters), and medical professionals such as resident physicians can use the medical simulator according to the present invention to practice medical procedures. This will not only improve their treatment techniques but also enable them to quickly respond to unforeseen circumstances and sudden events that occur in actual medical settings, thereby broadly contributing to the advancement of medical technology. [Explanation of symbols]

[0029] 10: Medical simulator, 11: Robot body, 12: Control unit, 13: Instruction means, 16, 17: Hands, 18, 19: Feet, 20, 21: Eyes, 23: Head, 24: Mouth, 25: Display unit, 27, 28: Eyeballs, 29: Liquid crystal display elements, 30, 31: Pupils, 33: Driving means, 34: Head drive unit, 35: Left hand drive unit, 36: Right hand drive unit, 37: Left foot drive unit, 38: Right foot drive unit, 40: Covering material, 41: Chest

Claims

1. A medical simulator used for training in medical procedures, having a robot body formed to resemble the entire body of a human patient, and selectively reproducing the reactions and movements of a patient that are expected to occur before, during, and after a real medical procedure when a trainee performs a simulated medical procedure on the robot body, A medical simulator comprising a control unit that stores the patient's reactions and movements reproduced by the robot body and controls the entire robot body, wherein the patient's reactions and movements reproduced by the robot body include sudden movements and sudden changes in condition that occur independently of the content of the simulated medical procedure performed by the trainee, and the order and interval of their occurrence are randomly selected.

2. A medical simulator according to claim 1, characterized in that the patient's reactions and movements reproduced by the robot body include rejection movements such as the robot body flailing its limbs, abnormal reactions such as the robot body convulsing, and abnormal eye movements and pupils of the robot body's left and right eyes.

3. A medical simulator according to claim 2, wherein liquid crystal display elements for displaying images of the eyeballs of each eye are attached to the left and right eyes, and each liquid crystal display element is curved in an arc shape such that the central part in the width direction of the eye is convex toward the front.

4. A medical simulator according to any one of claims 1 to 3, wherein the robot body is equipped with drive means for driving at least the head, hands and feet of the robot body, and an air cylinder is used for the drive means.

5. A medical simulator according to any one of claims 1 to 4, characterized in that a light-emitting unit is built into the head of the robot body, and the color of the robot body's face is changed by the emission of light from the light-emitting unit.

6. A medical simulator according to any one of claims 1 to 5, characterized in that the robot body is modeled after the body shape of a child aged 5 to 6 years.

Images