Robot systems and robots

Abstract

To provide a robot system that can improve throughput.SOLUTION: In a robot system 100, a control device 40 performs at least one out of control for moving a robot body part 20 on the basis of the position of a top plate 10 arranged on a moving truck 300, detected by a position detection part 30, and fitting the robot body part 20 to the top plate 10, and control for moving the robot body part 20 on the basis of the position of the moving truck 300 on which the top plate 10 is not arranged, detected by the position detection part 30, arranging the top plate 10 fitted to the robot body part 20 on the moving truck 300, and detaching the top plate 10 from the robot body part 20.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] This disclosure relates to a robot system and a robot.

Background Art

[0002] Conventionally, a robot system including a top plate on which a patient is placed has been disclosed. For example, Patent Document 1 discloses a medical robot system including a surgical robot, a movable bed, and an imaging diagnostic apparatus. In Patent Document 1, the movable bed is detachably fixed to a station that supports the movable bed. The movable bed changes its position, orientation, and posture on the station. The imaging diagnostic apparatus is arranged at a position separated from the surgical robot. When performing a treatment on a patient using the medical robot system, first, the patient is placed on the movable bed. Then, the movable bed moves into the imaging region of the imaging diagnostic apparatus. Then, the imaging diagnostic apparatus images the patient. After that, the movable bed moves near the surgical robot. Then, the surgical robot performs treatment on the patient.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the medical robot system described in Patent Document 1, when imaging a patient with an imaging diagnostic device, it is necessary to position the patient on the tabletop of a movable bed beforehand. In Patent Document 1, since the movable bed is fixed to the station in a way that prevents it from being detached, the next patient to be treated cannot be positioned on the tabletop until the treatment of the currently positioned patient is completed and the patient has been removed from the tabletop. The time required to position a patient on the tabletop is relatively long. As a result, the throughput of the medical robot system is poor. Therefore, there is a need to improve the throughput of the medical robot system. Throughput refers to the amount of processing per unit time.

[0005] This disclosure is made to address the challenges described above, and one of its objectives is to provide robotic systems and robots capable of improving throughput. [Means for solving the problem]

[0006] The robot system according to the first aspect of this disclosure comprises a top plate on which a patient is placed and which is positioned on a mobile trolley; a robot body including a robot arm that is attached to and detached from the top plate; a position detection unit positioned on the robot body that detects at least one of the positions of the top plate positioned on the mobile trolley and the position of the mobile trolley when the top plate is not positioned; and a control device, the control device performs at least one of the following controls: move the robot body based on the position of the top plate positioned on the mobile trolley detected by the position detection unit to attach the robot body to the top plate; and move the robot body based on the position of the mobile trolley when the top plate is not positioned detected by the position detection unit to position the top plate attached to the robot body on the mobile trolley and detach the top plate from the robot body.

[0007] The robot system according to the first aspect of this disclosure, as described above, includes a control device that controls at least one of the following: moving the robot body based on the position of a top plate placed on a mobile cart detected by a position detection unit to attach the robot body to the top plate; and moving the robot body based on the position of the mobile cart without a top plate detected by a position detection unit to place the top plate attached to the robot body onto the mobile cart and detach the top plate from the robot body. As a result, the top plate is attached to and detached from the robot body, so that while a procedure is being performed on a patient placed on a top plate attached to the robot body, the next patient to be treated can be positioned on a top plate placed on another mobile cart. As a result, the throughput of the robot system can be improved. Furthermore, by controlling the movement of the robot body based on the position of a top plate placed on a mobile cart detected by a position detection unit, the control device can correct the amount of movement of the robot body even if the position of the top plate on the mobile cart deviates from a position previously taught to the robot body. As a result, the robot body can be properly attached to the top plate. Furthermore, the control device controls the movement of the robot body based on the position of the mobile cart detected by the position detection unit. This allows the control device to correct the amount of movement of the robot body even if the position of the mobile cart deviates from the position previously taught to the robot body. As a result, the top plate attached to the robot body can be properly positioned on the mobile cart. Also, since the position detection unit is located on the robot body, it moves together with the robot body. Therefore, unlike when the position detection unit is fixed at a position separated from the robot body, it is possible to suppress the inability of the position detection unit to detect objects such as the top plate or mobile cart due to them being hidden behind the robot body. As a result, at least one of the controls for attaching the robot body to the top plate and the controls for detaching the top plate from the robot body can be performed with high accuracy.

[0008] The robot according to the second aspect of this disclosure includes a robot body including a robot arm on which a patient is placed and which is attached to and detached from a top plate placed on a mobile trolley; a position detection unit placed on the robot body for detecting the position of the top plate placed on the mobile trolley, or the position of the mobile trolley when the top plate is not placed thereon; and a control device. The control device performs at least one of the following controls: moving the robot body based on the position of the top plate placed on the mobile trolley detected by the position detection unit to attach the robot body to the top plate placed on the mobile trolley; and moving the robot body based on the position of the mobile trolley when the top plate is not placed thereon, detected by the position detection unit to place the top plate attached to the robot body onto the mobile trolley and detach the top plate from the robot body.

[0009] In the second aspect of this disclosure, the robot, as described above, has a control device that controls at least one of the following: moving the robot body based on the position of a top plate placed on a mobile cart detected by the position detection unit to attach the robot body to the top plate; and moving the robot body based on the position of the mobile cart without a top plate detected by the position detection unit to place the top plate attached to the robot body onto the mobile cart and detach the top plate from the robot body. As a result, the top plate is attached to and detached from the robot body, so that while a procedure is being performed on a patient placed on a top plate attached to the robot body, the next patient to be treated can be positioned on a top plate placed on another mobile cart. As a result, the throughput of the robot system can be improved. Furthermore, by controlling the movement of the robot body based on the position of a top plate placed on a mobile cart detected by the position detection unit, the control device can correct the amount of movement of the robot body even if the position of the top plate on the mobile cart deviates from the position previously taught to the robot body. As a result, the robot body can be properly attached to the top plate. Furthermore, the control device controls the movement of the robot body based on the position of the mobile cart detected by the position detection unit, thereby correcting the amount of movement of the robot body even if the position of the mobile cart deviates from the position previously taught to the robot body. As a result, the top plate attached to the robot body can be appropriately positioned on the mobile cart. Also, since the position detection unit is located on the robot body, the position detection unit moves together with the robot body. Therefore, unlike the case where the position detection unit is fixed at a position separated from the robot body, it is possible to suppress the situation in which the detection target, such as the top plate or mobile cart, is hidden behind the robot body and the position detection unit is unable to detect the target. As a result, it is possible to provide a robot that can accurately perform at least one of the controls for attaching the robot body to the top plate and the controls for detaching the top plate from the robot body. [Effects of the Invention]

[0010] According to this disclosure, it is possible to improve the throughput of a robotic system or robot. [Brief explanation of the drawing]

[0011] [Figure 1] This is a block diagram showing the configuration of a robot system according to one embodiment. [Figure 2] This is a perspective view showing the configuration of a robot system according to one embodiment. [Figure 3] This figure shows the underside of the tabletop according to one embodiment. [Figure 4] This is a side view of the mobile trolley as seen from the Y2 side. [Figure 5] This is a top view of a mobile trolley. [Figure 6] This is a side view of the mobile trolley as seen from the Y1 side. [Figure 7] This is a perspective view showing the configuration of the robot body according to one embodiment. [Figure 8] This is a side view showing the base member, position detection unit, top plate, and automatic tool changer. [Figure 9] This is a top view showing the base member, position detection unit, and automatic tool changer. [Figure 10] This is a flowchart illustrating the operation of a robot system when the top plate is attached, according to one embodiment. [Figure 11] This diagram illustrates the operation of detecting the first object to be detected using a horizontal sensor. [Figure 12] This is a diagram to explain the pitch angle of the tabletop. [Figure 13] This is a top view of a properly positioned mobile trolley. [Figure 14] This is a diagram illustrating the yaw angle of a mobile cart. [Figure 15] This diagram shows the robot's main body, which has been moved below the top panel. [Figure 16] This diagram shows the robot body with the top plate attached. [Figure 17] This diagram shows the robot's main body lifting the top plate. [Figure 18] It is a flowchart of the operation when the top plate of the robot system according to an embodiment is detached. [Figure 19] It is a diagram showing the robot main body part that has moved above the top plate. [Figure 20] It is a diagram showing a state where the top plate is placed on the moving trolley. [Figure 21] It is a diagram showing a state where the top plate is detached from the robot main body part. [Figure 22] It is a block diagram showing the configuration of the robot according to the modification.

Embodiments for Carrying out the Invention

[0012] Hereinafter, embodiments embodying the present disclosure will be described based on the drawings.

[0013] The configuration of the robot system 100 according to this embodiment will be described. In the present specification, the vertical direction is the Z direction. The upper side is the Z1 direction, and the lower side is the Z2 direction. The direction orthogonal to the Z direction is the X direction. One side in the X direction is the X1 side, and the other side is the X2 side. The direction orthogonal to the Z direction and the X direction is the Y direction. One side in the Y direction is the Y1 side, and the other side is the Y2 side.

[0014] (Robot System) As shown in FIG. 1, the robot system 100 includes a top plate 10, a robot main body part 20, a position detection part 30, a control device 40, an automatic tool changer 50, and a torque sensor 60. As shown in FIG. 2, the robot system 100 is arranged in the vicinity of the inspection device 200. The robot system 100 moves the top plate 10 on which the patient P is placed and placed on the moving trolley 300 to the inspection device 200. Further, after the inspection is completed, the robot system 100 moves the top plate 10 with the patient P placed thereon from the inspection device 200 to the moving trolley 300.

[0015] As shown in Figure 2, patient P is positioned on a top plate 10 placed on a platform 301 of the mobile cart 300. With patient P positioned, the operator moves the mobile cart 300 to the vicinity of the robot system 100. Multiple circles C are drawn on the floor surface where the robot system 100 is placed. Multiple chains 309 hang down from the mobile cart 300 to the floor surface. The operator moves the mobile cart 300 so that the chains 309 of the mobile cart 300 are located inside the circles C.

[0016] (Tabletop) The patient P is placed on the tabletop 10. The tabletop 10 is placed on the mobile trolley 300. Specifically, the tabletop 10 has a rectangular shape. In Figure 2, the longitudinal direction of the tabletop 10 is the X direction, and the transverse direction of the tabletop 10 is the Y direction. The tabletop 10 is placed on the mobile trolley 300.

[0017] In this embodiment, as shown in Figure 3, the top plate 10 includes a first marker 11. The first marker 11 is located on the lower surface 10a of the top plate 10. Specifically, multiple first markers 11 are arranged.

[0018] (Mobile cart) As shown in Figure 4, the mobile trolley 300 includes a mounting platform 301, a lifting section 302, a base section 303, and wheels 304. Also, as shown in Figure 5, the mobile trolley 300 includes a notch 305, a second marker 306, and a first detected member 307. Also, as shown in Figure 6, the mobile trolley 300 includes a second detected member 308. The top plate 10 is placed on the mounting platform 301. A pair of lifting sections 302 are arranged. The lifting sections 302 support both ends of the mounting platform 301 in the X direction. The lifting sections 302 raise and lower the mounting platform 301. For example, the lifting section 302 includes a gas cylinder, and the mounting platform 301 is raised and lowered by the gas cylinder. The base section 303 supports the lifting sections 302. Multiple wheels 304 are arranged. For example, there are four wheels 304. The wheels 304 are attached to the base portion 303.

[0019] As shown in Figure 5, the notch 305 is formed in the mounting base 301. Viewed from the Z1 side, the notch 305 has a rectangular shape. The robot arm 21 passes through the notch 305 when moving from the Z2 side to the Z1 side of the mounting base 301.

[0020] In this embodiment, the second marker 306 is positioned on the upper surface 300a of the mobile trolley 300. The second marker 306 is positioned so as to be visible from the Z1 side of the mobile trolley 300. For example, the second marker 306 is positioned on the upper surface 300a of the base portion 303. When viewed from the Z1 side, the second marker 306 is exposed from the notch portion 305.

[0021] As shown in Figure 4, the first detectable members 307 are arranged in pairs. The first detectable members 307 are positioned at both ends of the notch 305. The pair of first detectable members 307 are designated as first detectable member 307a and first detectable member 307b. First detectable member 307a is positioned at the X1 side end of the notch 305, and first detectable member 307b is positioned at the X2 side end of the notch 305. Also, as shown in Figure 5, first detectable members 307a and first detectable members 307b are positioned at the Y2 side end of the mounting base 301. The shape of first detectable members 307a and first detectable members 307b is, for example, rectangular and flat. Furthermore, as shown in Figure 4, when the mounting base 301 is positioned along a horizontal plane, the height h1 of the lower end A1 of the first detected member 307a and the height h2 of the lower end A2 of the first detected member 307b are the same.

[0022] As shown in Figure 6, for example, one second detectable member 308 is provided. The second detectable member 308 is located at the Y2 side end of the mounting base 301. As shown in Figure 5, when viewed from the Y1 side, the second detectable member 308 is located between a pair of first detectable members 307.

[0023] (Robot body) As shown in Figure 7, the robot body 20 includes a robot arm 21 and a base member 22. As shown in Figure 8, the robot body 20 includes a housing 23. The robot arm 21 is detachable from the top plate 10. The robot arm 21 is a multi-joint robot arm. The robot arm 21 has a plurality of arm sections 21a. The robot arm 21 has a plurality of rotational axes JT.

[0024] As shown in Figure 8, the base member 22 is attached to the tip of the robot arm 21. The base member 22 is fixed to the robot arm 21. The base member 22 rotates around the rotation axis JT at the tip of the robot arm 21. The base member 22 is located inside the housing 23. The housing 23 has a hole 23a formed therein for allowing detection light emitted from the horizontal sensor 33 (described later) to pass through.

[0025] (Position detection unit) In this embodiment, the position detection unit 30 detects at least one of the positions of the top plate 10 placed on the mobile trolley 300 and the position of the mobile trolley 300 when the top plate 10 is not placed on it. The position detection unit 30 is located on the robot body 20. The position detection unit 30 includes a first imaging unit 31, a second imaging unit 32, a horizontal sensor 33, and a vertical sensor 34.

[0026] The first imaging unit 31 photographs the first marker 11 on the top plate 10, which is positioned on the mobile trolley 300. The first imaging unit 31 is, for example, a two-dimensional camera. The first imaging unit 31 is positioned on the base member 22. The first imaging unit 31 is positioned on the base member 22 so as to face the Z1 side. The first imaging unit 31 photographs the first marker 11, which is positioned on the lower surface 10a of the top plate 10, from the Z2 side of the top plate 10.

[0027] The second imaging unit 32 photographs the second marker 306 of the mobile trolley 300 when the top plate 10 is not in place. The second imaging unit 32 is, for example, a two-dimensional camera. The second imaging unit 32 is positioned on the base member 22. The second imaging unit 32 is positioned on the base member 22 so as to face the Z2 side. The second imaging unit 32 photographs the second marker 306, which is positioned on the upper surface 300a of the mobile trolley 300, from the Z1 side of the mobile trolley 300.

[0028] As shown in Figure 8, the horizontal sensor 33 detects the position of the object to be measured in the horizontal direction. For example, the horizontal sensor 33 detects the distance along the horizontal direction to the object to be measured. The horizontal sensor 33 detects the position of the first detected member 307 in the horizontal direction. The horizontal sensor 33 detects the position of the second detected member 308 in the horizontal direction. The horizontal sensor 33 is, for example, a displacement sensor. The horizontal sensor 33 emits detection light along the horizontal direction and detects the reflected light reflected from the object to be measured. The horizontal sensor 33 is positioned on the base member 22. The horizontal sensor 33 is positioned on the base member 22 so as to face the horizontal direction. As shown in Figure 9, the horizontal sensor 33 is positioned on the upper surface 22a of the base member 22.

[0029] As shown in Figure 8, the vertical sensor 34 detects the distance along the vertical direction to the object to be measured. The vertical sensor 34 also detects the distance along the vertical direction to the top plate 10. The vertical sensor 34 is, for example, a reflective distance sensor. The vertical sensor 34 is positioned on the base member 22. The horizontal sensor 33 is positioned on the base member 22 so as to face the Z1 side. If the vertical sensor 34 is a reflective distance sensor, detection light is emitted from the vertical sensor 34 along the Z1 side. As shown in Figure 9, the vertical sensor 34 is positioned on the upper surface 22a of the base member 22.

[0030] (Automatic tool changer) As shown in Figure 8, the automatic tool changer 50 attaches and detaches the top plate 10 to the robot body 20. The automatic tool changer 50 includes a master device 51 and a slave device 52. The master device 51 is located on the base member 22. Specifically, the master device 51 is located on the upper surface 22a of the base member 22. The slave device 52 is located on the top plate 10. Specifically, the slave device 52 is located on the lower surface 10a of the top plate 10. Multiple automatic tool changers 50 are arranged. For example, two automatic tool changers 50 are arranged.

[0031] (torque sensor) The torque sensor 60 is located on the robot body 20. The torque sensor 60 detects the force applied to the robot body 20 due to the load when attaching the robot body 20 to the top plate 10. Specifically, the torque sensor 60 is located between the robot arm 21 and the base member 22.

[0032] The control device 40 controls the entire robot system 100. In this embodiment, the control device 40 controls the movement of the robot body 20 based on the position of the top plate 10 located on the mobile trolley 300 detected by the position detection unit 30, and mounts the robot body 20 onto the top plate 10. The control device 40 controls the movement of the robot body 20 based on the position of the mobile trolley 300 when the top plate 10 is not located, as detected by the position detection unit 30, to position the top plate 10 mounted on the robot body 20 onto the mobile trolley 300, and detaches the top plate 10 from the robot body 20. In other words, the control device 40 performs both the control to mount the robot body 20 onto the top plate 10 and the control to detach the top plate 10 from the robot body 20, based on the detection result of the position detection unit 30. The control device 40 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory).

[0033] (Operation of the robot system when the top plate is attached) The operation of the robot system 100 when the top plate is attached will be described. Near the robot system 100, a transport cart 300 with patient P positioned on it has been moved in advance by the operator.

[0034] In this embodiment, as shown in Figure 10, in step S1, the control device 40 controls the horizontal sensor 33 to detect the position of the first detectable member 307a in the horizontal direction. Based on the detection result of the horizontal sensor 33, the control device 40 detects the height h1 of the lower end A1 of the first detectable member 307a. As shown in Figure 11, the control device 40 moves the robot arm 21 from the Z2 side to the Z1 side. Detection light is emitted from the horizontal sensor 33 along the Y1 direction. When the height of the horizontal sensor 33 matches the height h1 of the lower end A1 of the first detectable member 307a, the detection light emitted from the horizontal sensor 33 is reflected by the first detectable member 307a. The horizontal sensor 33 detects the reflected light from the first detectable member 307a. The control device 40 also detects the height h1 of the lower end A1 of the first detectable member 307a based on the detection of the reflected light by the horizontal sensor 33. Based on the detection of reflected light by the horizontal sensor 33, the control device 40 detects the distance to the first detected member 307a along the Y direction.

[0035] In step S2, the control device 40 moves the robot arm 21 horizontally toward the X2 side. Based on the fact that the detection light emitted from the horizontal sensor 33 is no longer reflected by the first detected member 307a, and the reflected light from the first detected member 307a is no longer detected, the control device 40 detects the position of the X2-side side end B1 of the first detected member 307a. The position of the X2-side side end B1 of the first detected member 307a coincides with the position of the X1-side end of the notch 305.

[0036] In step S3, similar to step S1, the control device 40 controls the horizontal sensor 33 to detect the position of the first detected member 307b in the horizontal direction. Based on the detection result of the horizontal sensor 33, the control device 40 detects the height h2 of the lower end A2 of the first detected member 307b. Specifically, the control device 40 moves the robot arm 21 from the Z2 side to the Z1 side. Based on the horizontal sensor 33 detecting reflected light from the lower end A2 of the first detected member 307b, the control device 40 detects the height h2 of the lower end A2 of the first detected member 307b. Based on the horizontal sensor 33 detecting reflected light, the control device 40 detects the distance to the first detected member 307b along the Y direction.

[0037] In step S4, similar to step S2, the control device 40 moves the robot arm 21 horizontally toward the X1 side. Based on the fact that reflected light from the first detected member 307b is no longer detected, the control device 40 detects the position of the X1-side end B2 of the first detected member 307b. The position of the X1-side end B2 of the first detected member 307b coincides with the position of the X2-side end of the notch 305.

[0038] In step S5, in this embodiment, the control device 40 detects the inclination angle θ1 of the top plate 10 placed on the mobile trolley 300 with respect to the horizontal plane, based on the height h1 of the lower end A1 of the detected first detected member 307a and the height h2 of the lower end A2 of the detected first detected member 307b. The inclination angle θ1 with respect to the horizontal plane is called the pitch angle. Specifically, the control device 40 detects the inclination angle θ1 of the mounting base 301 of the mobile trolley 300 based on the difference between the height h1 of the lower end A1 of the detected first detected member 307a and the height h2 of the lower end A2 of the detected first detected member 307b. When the mounting base 301 is aligned with the horizontal plane, the difference between height h1 and height h2 is zero. As shown in Figure 12, when the mounting base 301 is inclined with respect to the horizontal plane, the difference between height h1 and height h2 is no longer zero. The tilt angle θ1 of the mounting base 301 changes according to the magnitude of the difference between height h1 and height h2. The control device 40 detects the tilt angle θ1 of the mounting base 301 based on the difference between height h1 and height h2. Note that the tilt angle θ1 of the mounting base 301 is the same as the tilt angle θ1 of the top plate 10.

[0039] In step S6, in this embodiment, the control device 40 detects the distance L1 between the pair of first detectable members 307a and 307b based on the detection result of the horizontal sensor 33. Then, the control device 40 detects the rotation angle θ2 of the top plate 10 on the horizontal plane based on the detected distance L1. As shown in Figure 13, when the mobile trolley 300 is positioned along the X direction, the distance L1 detected by the control device 40 becomes larger. On the other hand, as shown in Figure 14, when the mobile trolley 300 is rotating around an axis along the Z direction, the distance L1 detected by the control device 40 becomes smaller. The rotation angle θ2 of the mobile trolley 300 around its axis along the Z direction is called the yaw angle. The distance L1 changes according to the magnitude of the yaw angle. Based on the distance L1, the control device 40 detects the rotation angle θ2 of the mounting base 301 of the mobile trolley 300 around its axis along the Z direction. Furthermore, the rotation angle θ2 of the mounting base 301 around its axis in the Z direction is the same as the rotation angle θ2 of the top plate 10 around its axis in the Z direction.

[0040] The control device 40 may also detect the rotation angle θ2 of the top plate 10 placed on the mobile trolley 300 around its axis in the Z direction based on the difference between the distance to the first detectable member 307a in the Y direction, detected in step S1, and the distance to the first detectable member 307b in the Y direction, detected in step S3. Specifically, as shown in Figure 13, when the mobile trolley 300 is positioned along the X direction, the difference between the distance to the first detectable member 307a and the distance to the first detectable member 307b is zero. On the other hand, as shown in Figure 14, when the mobile trolley 300 is rotating around its axis in the Z direction, the difference between the distance to the first detectable member 307a and the distance to the first detectable member 307b is no longer zero. The difference between the distance to the first detectable member 307a and the distance to the first detectable member 307b changes depending on the magnitude of the yaw angle.

[0041] In step S7, as shown in Figure 13, the control device 40 controls the movement of the robot body 20 to the Z2 side of the notch 305 of the mobile trolley 300 on which the top plate 10 is placed. Specifically, as shown in Figure 15, the control device 40 controls the movement of the robot body 20 to the Z2 side of the notch 305 of the mounting base 301 by moving the robot body 20 based on the inclination angle θ1 of the mounting base 301 and the rotation angle θ2 of the mounting base 301 about its axis along the Z direction. The movement path of the robot body 20 to the Z2 side of the notch 305 is stored in advance in the memory unit 41 of the control device 40. The control device 40 corrects the movement path of the robot body 20 based on the inclination angle θ1 of the mounting base 301 and the rotation angle θ2 of the mounting base 301 about its axis along the Z direction so that the robot body 20 does not come into contact with the mobile trolley 300.

[0042] In step S8, the control device 40 controls the first imaging unit 31 to photograph the first marker 11 on the top plate 10 located on the mobile trolley 300. The control device 40 then corrects the position of the robot body 20 relative to the top plate 10 based on the information captured by the first imaging unit 31. Specifically, the position of the robot body 20 relative to the top plate 10 is stored in advance in the storage unit 41 of the control device 40. The control device 40 corrects the position where the robot body 20 actually moves based on the image of the first marker 11 captured by the first imaging unit 31. The control device 40 corrects the position of the robot body 20 in the X and Y directions based on the image of the first marker 11. The control device 40 detects the first marker 11 from the image captured by the first imaging unit 31 by image processing.

[0043] Furthermore, the control device 40 performs control to correct the position of the robot body 20 relative to the top plate 10 based on the image of the first marker 11 captured by the first imaging unit 31 and at least one of the detected tilt angle θ1 of the top plate 10 and the rotation angle θ2 of the top plate 10 around its axis along the Z direction. In this embodiment, the position of the robot body 20 is corrected based on all of the following: the image of the first marker 11, the tilt angle θ1 of the top plate 10, and the rotation angle θ2 of the top plate 10 around its axis along the Z direction. Specifically, the position of the robot body 20 is corrected so that the top plate 10 and the base member 22 are parallel to each other. The position of the robot body 20 is corrected so that the rotation angle θ2 of the top plate 10 around its axis along the Z direction matches the rotation angle θ2 of the base member 22 around its axis along the Z direction.

[0044] In step S9, the control device 40 controls the attachment of the robot body 20 to the top plate 10. Specifically, while detecting the distance along the vertical direction to the top plate 10 using the vertical sensor 34, the control device 40 controls the attachment of the robot body 20 to the top plate 10 which is positioned on the mobile trolley 300. For example, the control device 40 moves the robot body 20 toward Z1 while controlling the movement speed of the robot body 20 according to the distance along the vertical direction to the top plate 10 using the vertical sensor 34.

[0045] Furthermore, the control device 40 determines whether the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is normal based on the detection result of the second detected member 308 by the horizontal sensor 33, and while detecting the distance along the vertical direction to the top plate 10 with the vertical sensor 34, it controls the attachment of the robot body 20 to the top plate 10 located on the mobile trolley 300. Specifically, the control device 40 determines that the tilt angle θ1 of the top plate 10 and the rotation angle θ2 of the top plate 10 around the axis along the Z direction are within the acceptable range based on the detection of reflected light from the second detected member 308 by the horizontal sensor 33. If the tilt angle θ1 and the rotation angle θ2 of the top plate 10 are within the acceptable range, the control device 40 controls the attachment of the robot body 20 to the top plate 10. Furthermore, while the robot body 20 is being moved toward Z1, the control device 40 determines that the height at which the robot body 20 is mounted on the top plate 10 is normal, based on the detection of the lower end A3 of the second detectable member 308 by the horizontal sensor 33. If the height at which the robot body 20 is mounted on the top plate 10 is not normal, the control device 40 stops the control to mount the robot body 20 on the top plate 10.

[0046] As shown in Figure 16, the control device 40 controls the automatic tool changer 50 to mount the robot body 20 onto the top plate 10. The control device 40 also controls the connection of the master-side device 51 located on the base member 22 to the slave-side device 52 located on the top plate 10.

[0047] The control device 40 adjusts the position of the robot body 20 based on the force applied to the robot body 20 detected by the torque sensor 60 while the robot body 20 and the top plate 10 are in contact, and controls the robot body 20 to be mounted on the top plate 10 which is placed on the mobile trolley 300. In other words, the control device 40 fine-tunes the position of the robot body 20 based on the force applied to the robot body 20 detected by the torque sensor 60.

[0048] In step S10, as shown in Figure 17, the control device 40 moves the top plate 10 attached to the robot body 20 toward Z1 and also moves it toward the inspection device 200.

[0049] (Operation of the robot system when the top panel is detached) The operation of the robot system 100 when the top plate is detached will be described. The robot body 20 has the top plate 10 attached to it. A mobile trolley 300 without the top plate 10 is pre-positioned near the robot system 100.

[0050] In step S11 shown in Figure 18, as shown in Figure 19, the control device 40 controls the movement of the robot body 20, to which the top plate 10 is attached, toward the Z1 side of the notch 305 of the mobile trolley 300.

[0051] In step S12, the control device 40 controls the second imaging unit 32 to photograph the second marker 306 of the mobile trolley 300.

[0052] In step S13, the control device 40 performs control to correct the position of the robot body 20 relative to the mobile cart 300 based on the image of the second marker 306 captured by the second imaging unit 32. Specifically, the control device 40 corrects the position of the robot body 20 in the X and Y directions relative to the mobile cart 300 based on the image of the second marker 306 captured by the second imaging unit 32. The control device 40 detects the second marker 306 from the image captured by the second imaging unit 32 by image processing.

[0053] In step S14, as shown in Figure 20, the control device 40 places the top plate 10 attached to the robot body 20 onto the mobile trolley 300 and controls the detachment of the top plate 10 from the robot body 20, as shown in Figure 21. Specifically, the control device 40 controls the detachment of the robot body 20 from the Z1 side to the Z2 side of the notch 305 of the mobile trolley 300. The control device 40 also controls the detachment of the robot body 20 while determining whether the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is normal, based on the detection result of the second detected member 308 by the horizontal sensor 33. With the top plate 10 placed on the mounting base 301 of the mobile trolley 300, the control device 40 controls the automatic tool changer 50 to detach the master-side device 51 located on the base member 22 from the slave-side device 52 located on the top plate 10. The control device 40 moves the robot body 20 to a position away from the mobile cart 300. The operator then moves the mobile cart 300 to a predetermined location. Furthermore, the operator moves another mobile cart 300, on which the patient P to be examined next is placed, to the vicinity of the robot system 100. The control device 40 then controls the attachment of the top plate 10 to the robot body 20.

[0054] [Effects of this embodiment] The control device 40 performs at least one of the following controls: move the robot body 20 based on the position of the top plate 10 located on the mobile trolley 300 detected by the position detection unit 30, and attach the robot body 20 to the top plate 10; or move the robot body 20 based on the position of the mobile trolley 300 when the top plate 10 is not located, as detected by the position detection unit 30, to position the top plate 10 attached to the robot body 20 on the mobile trolley 300, and detach the top plate 10 from the robot body 20. As a result, the top plate 10 is attached to and detached from the robot body 20, so that while a procedure is being performed on a patient P placed on the top plate 10 attached to the robot body 20, the next patient P to be treated can be positioned on a top plate 10 located on another mobile trolley 300. As a result, the throughput of the robot system 100 can be improved. Furthermore, the control device 40 controls the movement of the robot body 20 based on the position of the top plate 10 located on the mobile trolley 300 detected by the position detection unit 30. This allows the control device 40 to correct the amount of movement of the robot body 20 even if the position of the top plate 10 on the mobile trolley 300 deviates from a position previously taught to the robot body 20. As a result, the robot body 20 can be properly mounted on the top plate 10. Additionally, the control device 40 controls the movement of the robot body 20 based on the position of the mobile trolley 300 detected by the position detection unit 30. This allows the control device 40 to correct the amount of movement of the robot body 20 even if the position of the mobile trolley 300 deviates from a position previously taught to the robot body 20. As a result, the top plate 10 mounted on the robot body 20 can be properly positioned on the mobile trolley 300. Furthermore, since the position detection unit 30 is located on the robot body 20, the position detection unit 30 moves together with the robot body 20. Therefore, unlike the case where the position detection unit 30 is fixed at a position separated from the robot body 20, it is possible to suppress the situation in which the position detection unit 30 is unable to detect the detection target, such as the top plate 10 or the mobile trolley 300, due to the target being hidden in the shadow of the robot body 20.As a result, at least one of the following can be performed with high precision: the control to attach the robot body 20 to the top plate 10, and the control to detach the top plate 10 from the robot body 20.

[0055] The control device 40 performs both the control to attach the robot body 20 to the top plate 10 based on the position of the top plate 10 detected by the position detection unit 30, and the control to detach the top plate 10 from the robot body 20 based on the position of the mobile trolley 300 detected by the position detection unit 30. This allows the robot body 20 to be properly attached to the top plate 10, and the top plate 10 attached to the robot body 20 to be properly positioned on the mobile trolley 300.

[0056] The position detection unit 30 includes a first imaging unit 31 that photographs the top plate 10 placed on the mobile trolley 300, and the control device 40 corrects the position of the robot body 20 relative to the top plate 10 and controls the attachment of the robot body 20 based on the information captured by the first imaging unit 31. As a result, the positional displacement of the top plate 10 can be detected based on the information captured by the first imaging unit 31. Consequently, the robot body 20 can be properly attached by correcting the amount of movement of the robot body 20 based on the detected positional displacement of the top plate 10.

[0057] The top plate 10 includes a first marker 11, and the mobile trolley 300 includes a notch 305. The top plate 10 is placed on the Z1 side of the notch 305 of the mobile trolley 300. The first marker 11 is located on the lower surface 10a of the top plate 10. The control device 40 moves the robot body 20 to the Z2 side of the notch 305 of the mobile trolley 300 on which the top plate 10 is placed, has the first imaging unit 31 photograph the first marker 11 located on the lower surface 10a of the top plate 10, corrects the position of the robot body 20 relative to the top plate 10 based on the image of the first marker 11 taken by the first imaging unit 31, and controls the attachment of the robot body 20 to the top plate 10 located on the mobile trolley 300. As a result, when the robot body 20 is attached to the top plate 10 from the Z2 side of the top plate 10, the first marker 11 located on the lower surface 10a of the top plate 10 can be easily photographed by the first imaging unit 31 located on the robot body 20.

[0058] The position detection unit 30 includes a horizontal sensor 33 that detects the position of the object to be measured in the horizontal direction. Based on the detection result of the horizontal sensor 33, the control device 40 detects at least one of the tilt angle θ1 of the top plate 10 with respect to the horizontal plane and the rotation angle θ2 of the top plate 10 on the horizontal plane. Based on the image of the first marker 11 captured by the first imaging unit 31 and at least one of the tilt angle θ1 and rotation angle θ2 of the top plate 10, the control device 40 corrects the position of the robot body 20 with respect to the top plate 10 and controls the attachment of the robot body 20 to the top plate 10 which is placed on the mobile trolley 300. Here, the robot body 20 moves toward the mobile trolley 300 along a pre-programmed path in order to attach the top plate 10. On the other hand, the mobile trolley 300 may be positioned off-center from its predetermined position. Also, the part of the mobile trolley 300 on which the top plate 10 is placed may be tilted. In this case, the robot body 20, which moves to attach the top plate 10, may interfere with the mobile trolley 300 or the top plate 10. Therefore, by correcting the position of the robot body 20 relative to the top plate 10 based on the inclination angle θ1 of the top plate 10 with respect to the horizontal plane and the rotation angle θ2 of the top plate 10 on the horizontal plane, interference between the mobile trolley 300 or the top plate 10 and the robot body 20 can be suppressed.

[0059] The mobile trolley 300 includes a notch 305 and a pair of first detectable members 307a and 307b, which are positioned at both ends of the notch 305. The horizontal sensor 33 detects the positions of the first detectable members 307a and 307b in the horizontal direction. Based on the detection result of the horizontal sensor 33, the control device 40 detects the height h1 of the lower end A1 and the height h2 of the lower end A2 of the pair of first detectable members 307a and 307b, and based on the detected heights h1 and h2, detects the inclination angle θ1 of the top plate 10 placed on the mobile trolley 300 with respect to the horizontal plane. Here, because the part of the mobile trolley 300 on which the top plate 10 is placed is inclined, a difference occurs between the height h1 of the lower end A1 and the height h2 of the lower end A2. Therefore, by detecting the height h1 of the lower end A1 and the height h2 of the lower end A2 based on the detection result of the horizontal sensor 33, the inclination angle θ1 of the top plate 10 placed on the mobile trolley 300 with respect to the horizontal plane can be easily detected.

[0060] The mobile trolley 300 includes a pair of first detectable members 307a and 307b, each positioned at both ends of the notch 305. The horizontal sensor 33 detects the positions of the first detectable members 307a and 307b in the horizontal direction. Based on the detection result of the horizontal sensor 33, the control device 40 detects the distance L1 between the pair of first detectable members 307a and 307b, and based on the detected distance L1, detects the rotation angle θ2 of the top plate 10 on the horizontal plane. Here, the distance L1 between the pair of first detectable members 307a and 307b as seen from the horizontal sensor 33 changes according to the rotation angle θ2 of the mobile trolley 300 on the horizontal plane. Therefore, by detecting the distance L1 between the pair of first detectable members 307a and 307b based on the detection result of the horizontal sensor 33, the rotation angle θ2 of the top plate 10 on the horizontal plane can be easily detected.

[0061] The position detection unit 30 includes a vertical sensor 34 that detects the distance along the vertical direction to the top plate 10. The control device 40 controls the attachment of the robot body 20 to the top plate 10, which is positioned on the mobile trolley 300, while detecting the distance along the vertical direction to the top plate 10 using the vertical sensor 34. By moving the robot body 20 while detecting the distance along the vertical direction to the top plate 10 using the vertical sensor 34, interference between the robot body 20 and the top plate 10 can be easily suppressed.

[0062] The mobile trolley 300 includes a second detectable member 308. The position detection unit 30 further includes a horizontal sensor 33 that detects the position of the second detectable member 308 in the horizontal direction. Based on the detection result of the second detectable member 308 by the horizontal sensor 33, the control device 40 determines whether the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is normal, and while detecting the distance along the vertical direction to the top plate 10 with the vertical sensor 34, it controls the attachment of the robot body 20 to the top plate 10 located on the mobile trolley 300. This prevents the operation of attaching the robot body 20 to the top plate 10 located on the mobile trolley 300 from occurring when the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is not normal.

[0063] The mobile trolley 300 includes a second marker 306. The position detection unit 30 includes a second imaging unit 32 that photographs the second marker 306 of the mobile trolley 300 when the top plate 10 is not in place. The control device 40 corrects the position of the robot body 20 relative to the top plate 10 based on the image of the second marker 306 taken by the second imaging unit 32, and controls the robot to place the top plate 10, which is attached to the robot body 20, onto the mobile trolley 300 and detach the top plate 10 from the robot body 20. As a result, the positional displacement of the mobile trolley 300 can be detected based on the positional displacement in the image of the second marker 306 taken by the second imaging unit 32. As a result, the amount of movement of the robot body 20 can be corrected based on the detected positional displacement of the mobile trolley 300, thereby appropriately positioning the top plate 10, which is attached to the robot body 20, onto the mobile trolley 300.

[0064] The mobile trolley 300 includes a notch 305. The second marker 306 is positioned on the upper surface 300a of the mobile trolley 300. The control device 40 moves the robot body 20, to which the top plate 10 is attached, toward the Z1 side of the notch 305 of the mobile trolley 300, and has the second imaging unit 32 photograph the second marker 306 of the mobile trolley 300. Based on the image of the second marker 306 taken by the second imaging unit 32, the control device 40 corrects the position of the robot body 20 relative to the mobile trolley 300, and controls the robot to position the top plate 10 attached to the robot body 20 on the mobile trolley 300 and detach the top plate 10 from the robot body 20. As a result, when the top plate 10 is placed on the mobile trolley 300 from the Z1 side of the mobile trolley 300, the second marker 306 positioned on the upper surface 300a of the mobile trolley 300 can be easily photographed by the second imaging unit 32 positioned on the robot body 20.

[0065] The robot system 100 further includes an automatic tool changer 50 for attaching and detaching the top plate 10 to the robot body 20. The control device 40 controls the automatic tool changer 50 to perform at least one of the following actions: attaching the robot body 20 to the top plate 10, and detaching the top plate 10 from the robot body 20. This allows the automatic tool changer 50 to easily attach and detach the top plate 10 to the robot body 20.

[0066] The robot body 20 further includes a base member 22 that is attached to the tip of the robot arm 21. The automatic tool changer 50 and the position detection unit 30 are arranged on the base member 22. This increases the degree of freedom in the placement of the position detection unit 30 compared to when the position detection unit 30 is directly attached to the robot arm 21. Furthermore, when the position detection unit 30 is directly attached to the robot arm 21, the robot arm 21 itself may enter the detection range of the position detection unit 30, creating a blind spot in the detection range of the position detection unit 30. By arranging the position detection unit 30 on the base member 22 that is attached to the tip of the robot arm 21, the occurrence of a blind spot in the detection range of the position detection unit 30 can be suppressed.

[0067] The robot system 100 is further equipped with a torque sensor 60 positioned on the robot body 20, which detects the force applied to the robot body 20 due to the load when attaching the robot body 20 to the top plate 10. The control device 40 moves the robot body 20 based on the position of the top plate 10 positioned on the mobile trolley 300 detected by the position detection unit 30, and adjusts the position of the robot body 20 based on the force applied to the robot body 20 detected by the torque sensor 60 while the robot body 20 and the top plate 10 are in contact, and controls the attachment of the robot body 20 to the top plate 10 positioned on the mobile trolley 300. As a result, even if the correction of the amount of movement of the robot body 20 based on the detection result of the position detection unit 30 is insufficient to properly attach and detach the top plate 10 to the robot body 20, the position of the robot body 20 can be adjusted based on the force applied to the robot body 20 detected by the torque sensor 60, thereby enabling proper attachment and detachment of the top plate 10 to the robot body 20.

[0068] [Differentiation] It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0069] In the above embodiment, the control device 40 is shown to correct the position of the robot body 20 based on the detection result of the position detection unit 30 in both the control for attaching the robot body 20 to the top plate 10 and the control for detaching the top plate 10 from the robot body 20. However, the disclosure is not limited to this. For example, the control device 40 may correct the position of the robot body 20 based on the detection result of the position detection unit 30 in only one of the two controls: the control for attaching the robot body 20 to the top plate 10 and the control for detaching the top plate 10 from the robot body 20.

[0070] In the above embodiment, an example was shown in which the first imaging unit 31 and the second imaging unit 32 are two-dimensional cameras, but the disclosure is not limited thereto. For example, the first imaging unit 31 and the second imaging unit 32 may be three-dimensional cameras.

[0071] In the above embodiment, the control device 40 was shown to detect the tilt angle θ1 of the mounting platform 301 of the mobile trolley 300 and the rotation angle θ2 of the mounting platform 301 about its axis along the Z direction based on the detection result of the horizontal sensor 33, but the disclosure is not limited thereto. For example, the control device 40 may perform control to correct the position of the robot body 20 relative to the top plate 10 based only on the image of the first marker 11 captured by the first imaging unit 31, without using the detection result of the horizontal sensor 33.

[0072] In the above embodiment, the control device 40 was shown to control the attachment of the robot body 20 to the top plate 10, which is located on the mobile trolley 300, while detecting the distance along the vertical direction to the top plate 10 using the vertical sensor 34. However, the disclosure is not limited to this. For example, the control device 40 may control the attachment of the robot body 20 to the top plate 10 based only on the image of the first marker 11 captured by the first imaging unit 31, without using the detection result of the vertical sensor 34.

[0073] In the above embodiment, the control device 40 is shown to determine whether the relative position of the robot body 20 and the mobile trolley 300 on the horizontal plane is normal based on the detection result of the second detected member 308 by the horizontal sensor 33, but the disclosure is not limited thereto. For example, the control device 40 may perform control to attach the robot body 20 to the top plate 10 based only on the image of the first marker 11 captured by the first imaging unit 31, without using the detection result of the second detected member 308 by the horizontal sensor 33.

[0074] In the above embodiment, an example was shown in which the automatic tool changer 50 and the position detection unit 30 are arranged on the base member 22, but the disclosure is not limited thereto. For example, the automatic tool changer 50 and the position detection unit 30 may be arranged directly on the robot arm 21.

[0075] In the above embodiment, an example of applying the present disclosure to a robot system 100 comprising a top plate 10, a robot body 20, a control device 40, and a position detection unit 30 was shown, but the present disclosure is not limited thereto. For example, as shown in the modified example in Figure 22, the present disclosure may be applied to a robot 400 comprising a robot body 20, a control device 40, and a position detection unit 30.

[0076] In the above embodiment, an example was shown in which multiple first markers 11 are arranged, but the disclosure is not limited thereto. For example, three first markers 11 are arranged. The first markers 11 have, for example, a circular shape. The shapes of the multiple first markers 11 may be the same or different from each other. The colors of the multiple first markers 11 may be the same or different from each other. In addition, letters or the like may be written on each of the multiple first markers 11. The arrangement position of the first markers 11 on the top plate 10 is, for example, the portion of the lower surface 10a of the top plate 10 that can be seen from the notch 305 of the mobile trolley 300, which will be described later, when the top plate 10 is placed on the mobile trolley 300.

[0077] In the above embodiment, the control device 40 was shown to detect the inclination angle θ1 of the mounting base 301 based on the difference between height h1 and height h2, but the disclosure is not limited thereto. For example, the height h1 of the lower end A1 of the first detected member 307a and the height h2 of the lower end A2 of the first detected member 307b may be offset in advance, and the control device 40 may detect the inclination angle θ1 of the mounting base 301 based on the change in the amount of offset.

[0078] In the above embodiment, the position detection unit 30 was shown to include a vertical sensor 34 that detects the distance along the vertical direction to the top plate 10, but the disclosure is not limited thereto. For example, the position detection unit 30 may include a sensor that detects the distance along a direction intersecting the vertical direction. The control device 40 then detects the distance to the top plate 10 using the sensor that detects the distance along a direction intersecting the vertical direction, and controls the attachment of the robot body 20 to the top plate 10 which is located on the mobile trolley 300.

[0079] In the above embodiment, the control device 40 is shown to correct the position of the robot body 20 relative to the top plate 10 based on an image of the first marker 11 captured by the first imaging unit 31, but the disclosure is not limited thereto. For example, the control device 40 may correct the position of the robot body 20 relative to the top plate 10 based on information other than the image of the first marker 11 captured by the first imaging unit 31.

[0080] In the above embodiment, the inspection device 200 was shown as an X-ray inspection device, but the disclosure is not limited thereto. For example, instead of the inspection device 200, a robotic system 100 may be placed near the treatment device.

[0081] In the above embodiment, an example was shown in which the mounting base 301 is supported by the lifting unit 302, but the disclosure is not limited thereto. For example, the mounting base 301 may be supported by a support unit that does not have a lifting function instead of the lifting unit 302.

[0082] In the above embodiment, an example was shown in which the notch 305 of the mounting base 301 has a rectangular shape, but the disclosure is not limited thereto. For example, the shape of the notch 305 may be other than rectangular.

[0083] In the above embodiment, an example was shown in which one second detectable member 308 is provided, but the disclosure is not limited thereto. For example, multiple second detectable members 308 may be provided.

[0084] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0085] [Pattern] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0086] (Item 1) The patient is placed on the top plate which is positioned on the transport trolley, The robot body includes a robot arm that can be attached to and detached from the aforementioned top plate, The robot body includes a position detection unit that detects at least one of the positions of the top plate placed on the mobile trolley and the position of the mobile trolley when the top plate is not placed on it, and A control device is provided, The control device is Based on the position of the top plate on the mobile trolley detected by the position detection unit, the robot body is moved to mount the robot body onto the top plate. A robot system that controls at least one of the following: moving the robot body based on the position of the mobile trolley in which the top plate is not placed, as detected by the position detection unit, to place the top plate attached to the robot body onto the mobile trolley, and to detach the top plate from the robot body.

[0087] (Item 2) The robot system according to item 1, wherein the control device performs both the control of mounting the robot body to the top plate based on the position of the top plate detected by the position detection unit, and the control of detaching the top plate from the robot body based on the position of the mobile trolley detected by the position detection unit.

[0088] (Item 3) The position detection unit includes a first imaging unit that photographs the top plate placed on the mobile trolley, The robot system according to item 1 or item 2, wherein the control device corrects the position of the robot body relative to the top plate and controls the attachment of the robot body based on the information captured by the first imaging unit.

[0089] (Item 4) The aforementioned top plate includes a first marker, The aforementioned mobile trolley includes a notched portion, The top plate is placed on top of the notched portion of the mobile trolley. The first marker is located on the underside of the top plate, The control device is The robot body is moved below the notch on the mobile trolley on which the top plate is placed. The first imaging unit is used to photograph the first marker located on the underside of the top plate. The robot system according to item 3, which corrects the position of the robot body relative to the top plate based on the image of the first marker captured by the first imaging unit, and controls the attachment of the robot body to the top plate located on the mobile trolley.

[0090] (Item 5) The position detection unit includes a horizontal sensor that detects the position of the object to be measured in the horizontal direction. The control device is Based on the detection result of the horizontal sensor, at least one of the inclination angle of the top plate with respect to the horizontal plane and the rotation angle of the top plate on the horizontal plane is detected. The robot system according to item 3 or 4, which corrects the position of the robot body relative to the top plate and controls the attachment of the robot body to the top plate located on the mobile trolley, based on the image of the first marker captured by the first imaging unit and at least one of the tilt angle and rotation angle of the top plate.

[0091] (Item 6) The aforementioned mobile trolley is, The notched part, The device includes a pair of first detection members, each positioned at both ends of the notch, The horizontal sensor detects the position of the first member to be detected in the horizontal direction. The control device is The robot system according to item 5, wherein, based on the detection result of the horizontal sensor, the height of the lower end of each of the pair of first detected members is detected, and based on the detected height, the inclination angle of the top plate placed on the mobile trolley with respect to the horizontal plane is detected.

[0092] (Item 7) The aforementioned mobile trolley includes a pair of first detection members, each positioned at both ends of the notch, The horizontal sensor detects the position of the first member to be detected in the horizontal direction. The control device is Based on the detection result of the horizontal sensor, the distance between the pair of first detected members is detected. The robotic system according to item 6, which detects the rotation angle of the top plate on the horizontal plane based on the detected interval.

[0093] (Item 8) The position detection unit includes a vertical sensor that detects the distance along the vertical direction to the top plate. The control device is A robot system according to any one of items 1 to 7, wherein the vertical sensor detects the distance along the vertical direction to the top plate, and controls the attachment of the robot body to the top plate located on the mobile trolley.

[0094] (Item 9) The aforementioned mobile trolley includes a second member to be detected, The position detection unit further includes a horizontal sensor that detects the position of the second member to be detected in the horizontal direction. The control device is Based on the detection result of the second detected member by the horizontal sensor, it is determined whether the relative position of the robot body and the mobile trolley on the horizontal plane is normal, and, The robot system according to item 8, wherein the vertical sensor detects the distance along the vertical direction to the top plate, and controls the attachment of the robot body to the top plate which is positioned on the mobile trolley.

[0095] (Item 10) The aforementioned mobile trolley includes a second marker, The position detection unit includes a second imaging unit that photographs the second marker of the mobile trolley when the top plate is not in place. The robot system according to any one of items 1 to 9, wherein the control device corrects the position of the robot body relative to the top plate based on the image of the second marker captured by the second imaging unit, and controls the placement of the top plate attached to the robot body on the mobile trolley and the detachment of the top plate from the robot body.

[0096] (Item 11) The aforementioned mobile trolley includes a notched portion, The second marker is positioned on the upper surface of the mobile trolley, The control device is The robot body, with the top plate attached, is moved above the notched portion of the aforementioned mobile trolley. The second imaging unit is used to photograph the second marker on the mobile trolley. The robot system according to item 10, wherein, based on the image of the second marker captured by the second imaging unit, the position of the robot body relative to the mobile trolley is corrected, the top plate attached to the robot body is placed on the mobile trolley, and control is performed to detach the top plate from the robot body.

[0097] (Item 12) The robot body is further equipped with an automatic tool changing device for attaching and detaching the top plate, The robot system according to any one of items 1 to 11, wherein the control device controls the automatic tool changer to perform at least one of the following controls: control to attach the robot body to the top plate, and control to detach the top plate from the robot body.

[0098] (Item 13) The robot body further includes a base member that is attached to the tip of the robot arm, The robot system according to item 12, wherein the automatic tool changer and the position detection unit are arranged on the base member.

[0099] (Item 14) The robot body is further equipped with a torque sensor that detects the force applied to the robot body due to the load when the robot body is attached to the top plate, The control device is Based on the position of the top plate placed on the mobile trolley detected by the position detection unit, the robot body is moved. With the robot body and the top plate in contact, the position of the robot body is adjusted based on the force applied to the robot body detected by the torque sensor. A robot system according to any one of items 1 to 13, which controls the attachment of the robot body to the top plate located on the mobile trolley.

[0100] (Item 15) The robot body includes a robotic arm that is attached to and detached from a top plate on a mobile trolley on which the patient is placed, The position of the top plate placed on the mobile trolley, or the position of the mobile trolley when the top plate is not placed, is detected by a position detection unit located on the robot body, A control device is provided, The control device is Based on the position of the top plate on the mobile trolley detected by the position detection unit, the robot body is moved to mount the robot body onto the top plate on the mobile trolley. A robot that performs at least one of the following controls: moving the robot body based on the position of the mobile trolley in which the top plate is not placed, as detected by the position detection unit, to place the top plate attached to the robot body onto the mobile trolley, and to detach the top plate from the robot body. [Explanation of Symbols]

[0101] 10 Top plate 10a Underside of the top panel 11. First Marker 20 Robot body 21 Robot Arm 22 Base member 30 Position detection unit 31. First Photography Department 32. Second Photography Department 33 Horizontal sensor 34 Vertical Sensor 40 Control device 50 Automatic tool changer 60 Torque Sensor 100 Robot Systems 300 Mobile cart 300a Top surface of the mobile trolley 305 Notch 306 Second Marker 307, 307a, 307b First detected member 308 Second detected member 400 robots A1, A2 Lower end of the first detected member h1, h2 Height of the lower end of the first detected member L1 Distance between the pair of first detected members P patient θ1 Inclination angle θ2 rotation angle

Claims

1. The patient is placed on the top plate which is positioned on the transport trolley, The robot body includes a robot arm that can be attached to and detached from the aforementioned top plate, The robot body includes a position detection unit that detects at least one of the positions of the top plate placed on the mobile trolley and the position of the mobile trolley when the top plate is not placed on it, and A control device is provided, The control device is Based on the position of the top plate on the mobile trolley detected by the position detection unit, the robot body is moved to mount the robot body onto the top plate. A robot system that controls at least one of the following: moving the robot body based on the position of the mobile trolley in which the top plate is not placed, as detected by the position detection unit, to place the top plate attached to the robot body onto the mobile trolley, and to detach the top plate from the robot body.

2. The robot system according to claim 1, wherein the control device performs both of the following controls: control to attach the robot body to the top plate based on the position of the top plate detected by the position detection unit, and control to detach the top plate from the robot body based on the position of the mobile trolley detected by the position detection unit.

3. The position detection unit includes a first imaging unit that photographs the top plate placed on the mobile trolley, The robot system according to claim 1, wherein the control device corrects the position of the robot body relative to the top plate and controls the attachment of the robot body based on the information captured by the first imaging unit.

4. The top plate includes a first marker, The aforementioned mobile trolley includes a notched portion, The top plate is placed on top of the notched portion of the mobile trolley. The first marker is positioned on the underside of the top plate, The control device is The robot body is moved below the notch on the mobile trolley on which the top plate is placed. The first imaging unit is used to photograph the first marker located on the underside of the top plate. The robot system according to claim 3, wherein the position of the robot body relative to the top plate is corrected based on the image of the first marker captured by the first imaging unit, and control is performed to attach the robot body to the top plate which is placed on the mobile trolley.

5. The position detection unit includes a horizontal sensor that detects the position of the object to be measured in the horizontal direction. The control device is Based on the detection result of the horizontal sensor, at least one of the inclination angle of the top plate with respect to the horizontal plane and the rotation angle of the top plate on the horizontal plane is detected. The robot system according to claim 4, wherein the position of the robot body relative to the top plate is corrected based on the image of the first marker captured by the first imaging unit and at least one of the tilt angle and rotation angle of the top plate, and control is performed to mount the robot body onto the top plate which is placed on the mobile trolley.

6. The aforementioned mobile trolley includes a pair of first detection members, each positioned at both ends of the notch, The horizontal sensor detects the position of the first member to be detected in the horizontal direction. The control device is The robot system according to claim 5, wherein the height of the lower end of each of the pair of first detected members is detected based on the detection result of the horizontal sensor, and the inclination angle of the top plate placed on the mobile trolley with respect to the horizontal plane is detected based on the detected height.

7. The aforementioned mobile trolley includes a pair of first detection members, each positioned at both ends of the notch, The horizontal sensor detects the position of the first member to be detected in the horizontal direction. The control device is Based on the detection result of the horizontal sensor, the distance between the pair of first detected members is detected. The robot system according to claim 5, wherein the rotation angle of the top plate on the horizontal plane is detected based on the detected interval.

8. The position detection unit includes a vertical sensor that detects the distance along the vertical direction to the top plate. The control device is The robot system according to claim 1, wherein the vertical sensor detects the distance along the vertical direction to the top plate, and controls the attachment of the robot body to the top plate which is positioned on the mobile trolley.

9. The aforementioned mobile trolley includes a second member to be detected, The position detection unit further includes a horizontal sensor that detects the position of the second member to be detected in the horizontal direction. The control device is Based on the detection result of the second detected member by the horizontal sensor, it is determined whether the relative position of the robot body and the mobile trolley on the horizontal plane is normal, and, The robot system according to claim 8, wherein the vertical sensor detects the distance along the vertical direction to the top plate, and controls the attachment of the robot body to the top plate which is positioned on the mobile trolley.

10. The aforementioned mobile trolley includes a second marker, The position detection unit includes a second imaging unit that photographs the second marker of the mobile trolley when the top plate is not in place. The robot system according to claim 1, wherein the control device corrects the position of the robot body relative to the top plate based on the image of the second marker captured by the second imaging unit, and controls the robot to place the top plate attached to the robot body onto the mobile trolley and detach the top plate from the robot body.

11. The aforementioned mobile trolley includes a notched portion, The second marker is positioned on the upper surface of the mobile trolley, The control device is The robot body, with the top plate attached, is moved above the notched portion of the aforementioned mobile trolley. The second imaging unit is used to photograph the second marker on the mobile trolley. The robot system according to claim 10, wherein the position of the robot body relative to the mobile trolley is corrected based on the image of the second marker captured by the second imaging unit, and control is performed to position the top plate attached to the robot body onto the mobile trolley and to detach the top plate from the robot body.

12. The robot body is further equipped with an automatic tool changing device for attaching and detaching the top plate, The robot system according to claim 1, wherein the control device controls the automatic tool changer to perform at least one of the following controls: controlling the attachment of the robot body to the top plate, and controlling the removal of the top plate from the robot body.

13. The robot body further includes a base member that is attached to the tip of the robot arm, The robot system according to claim 12, wherein the automatic tool changer and the position detection unit are arranged on the base member.

14. The robot body is further equipped with a torque sensor that detects the force applied to the robot body due to the load when the robot body is attached to the top plate, The control device is Based on the position of the top plate placed on the mobile trolley detected by the position detection unit, the robot body is moved. With the robot body and the top plate in contact, the position of the robot body is adjusted based on the force applied to the robot body detected by the torque sensor. The robot system according to claim 1, wherein control is performed to attach the robot body to the top plate which is positioned on the mobile trolley.

15. The robot body includes a robotic arm that is attached to and detached from a top plate on a mobile trolley on which the patient is placed, The position of the top plate placed on the mobile trolley, or the position of the mobile trolley when the top plate is not placed, is detected by a position detection unit located on the robot body, A control device is provided, The control device is Based on the position of the top plate on the mobile trolley detected by the position detection unit, the robot body is moved to mount the robot body onto the top plate on the mobile trolley. A robot that performs at least one of the following controls: moving the robot body based on the position of the mobile trolley in which the top plate is not placed, as detected by the position detection unit, to place the top plate attached to the robot body onto the mobile trolley, and to detach the top plate from the robot body.

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