JP2022163894A - Critical care system, critical care system control method, and program - Google Patents

Abstract

To provide a critical care system, a critical care system control method, and a program that can provide first aid by remote operation even if there is no person capable of medical treatment on site.SOLUTION: A critical care system includes: a photographing device that can be remotely controlled in at least one or more positions or directions; a life-saving emergency instrument storage portion containing a life-saving emergency instrument; a life-saving emergency robot including at least one end effector that can be remotely controlled; a terminal for remotely controlling the life-saving emergency robot by at least one operator; and a server that can obtain medical condition information and environmental information obtained by the life-saving emergency robot, transmits the obtained medical condition information and environmental information to the terminal, receives operation information for the life-saving emergency robot from the terminal, and controls the life-saving emergency robot based on the received operation information.SELECTED DRAWING: Figure 3

Description

The present invention relates to a critical care system, a critical care system control method, and a program.

There is a demand for a system capable of carrying a device that automatically monitors and transmits the user's biological information, determining the degree of abnormality in the user's physical condition, notifying a third party of the abnormality as necessary, and requesting emergency medical care. As such a system, based on the user's biometric information acquired by a mobile terminal carried by the user, the degree of abnormality in the user's physical condition is determined and notified. A system has been proposed (see Patent Document 1, for example).

In the emergency assistance system described in Patent Document 1, the user terminal device includes a biological information detection unit that detects the user's biological information, and a user terminal position detection unit that measures the user position information representing the position of the user terminal device. and a lifesaving information communication unit that transmits lifesaving information including biometric information and user position information to the lifesaving assistance device. In addition, the third-party terminal device includes a third-party terminal location detection unit that measures the location information of the third-party terminal device, and the third-party terminal information including the third-party terminal location information of the third-party terminal device. a third-party terminal lifesaving information transmitting/receiving unit for transmitting to the lifesaving assistance device and receiving lifesaving instruction information from the lifesaving assistance device. In addition, the lifesaving assistance device includes a lifesaving information transmitting/receiving unit that receives lifesaving information and third party terminal information and transmits lifesaving instruction information to the third party terminal device, and judges the urgency of lifesaving from the lifesaving information. A user terminal device and a third party terminal device by analyzing the positional relationship of a third party near the user's current position from the emergency judgment unit that outputs the urgency information and the lifesaving information and the third party terminal position information a location information analysis unit that outputs distance information between the user, a database that records the history of the user's biometric information, the distance information, and the third party's attribute information in correspondence with each of a plurality of third party terminal devices; a notifier determination unit that receives the sex information, the distance information, and the attribute information of the third party and specifies the third party terminal device that transmits the lifesaving instruction information.

Japanese Patent No. 5705621

However, in the lifesaving assistance system described in Patent Document 1, it is people near the site who actually perform lifesaving, and it is not always possible for lifesaving paramedics to come. There were limits.

The present invention has been made in view of the above problems, and provides a life-saving emergency system, a life-saving emergency system control method, and a remote-controlled rescue system that can provide relief even if a person capable of medical treatment is not present at the scene. The purpose is to provide a program.

(1) In order to achieve the above object, a life-saving emergency system according to one aspect of the present invention includes an imaging device capable of remotely controlling at least one position and direction, and a life-saving equipment storage that stores life-saving tools. a lifesaving robot comprising a unit, at least one end effector that can be remotely controlled, a terminal for remotely controlling the lifesaving robot by at least one operator, and acquiring medical condition information and environmental information acquired by the lifesaving robot. A server that transmits the acquired medical condition information and the environment information to the terminal, receives operation information for the lifesaving robot from the terminal, and controls the lifesaving robot based on the received operation information And prepare.

(2) In addition, in the lifesaving system according to one aspect of the present invention, the lifesaving robot can be operated by a plurality of people, and the server assigns priority to operators with high priority based on priority. You may make it transfer the control right of a low operator.

(3) Further, in the lifesaving system according to one aspect of the present invention, the terminals are plural, and the first terminal is operated by the operator of the lifesaving robot, and the second terminal is operated by the doctor. , the lifesaving robot includes an imaging device, the imaging device can be operated by the doctor by operating the second terminal, and observes the patient from a different viewpoint from that of the operator of the lifesaving robot. It may be possible to

(4) In the lifesaving system according to one aspect of the present invention, the terminals are plural, and a coordinator operates a terminal different from the terminal operated by the operator of the lifesaving robot, The terminal may transmit to the server the result of the coordinator's determination of the destination hospital based on the medical condition information and the environment information.

(5) Further, in the lifesaving system according to one aspect of the present invention, the server transmits the medical condition information obtained by the lifesaving robot to the terminal in real time, and the information obtained by the lifesaving robot A processing instruction may be added to the environment information for privacy protection when it is stored.

(6) In order to achieve the above object, a lifesaving system control method according to one aspect of the present invention includes an imaging device capable of remotely controlling at least one position and direction, and a lifesaving device containing tools for lifesaving. A lifesaving system control method comprising a lifesaving robot comprising an instrument storage unit, at least one remotely operable end effector, a terminal for remotely controlling the lifesaving robot by at least one operator, and a server, , the lifesaving robot acquires the medical condition information and the environmental information, transmits the acquired medical condition information and the environmental information to the server, and the server transmits the acquired medical condition information and the environmental information to the terminal and receives operation information for the lifesaving robot from the terminal, and controls the lifesaving robot based on the received operation information.

(7) In order to achieve the above object, a program according to an aspect of the present invention includes an imaging device capable of remote control of at least one position and direction, and a lifesaving equipment storage section storing lifesaving tools. , a lifesaving robot comprising at least one end effector that can be remotely controlled; a terminal for remotely controlling the lifesaving robot by at least one operator; and a server, wherein a computer of the server , causing the emergency robot to acquire medical condition information and environmental information, causing the acquired medical condition information and the environmental information to be transmitted to the server, causing the acquired medical condition information and the environmental information to be transmitted to the terminal, and causing the terminal receives operation information for the lifesaving robot from, and controls the lifesaving robot based on the received operation information.

According to (1) to (7), even if a person capable of medical care is not present at the site, the medical condition information can be obtained by operating the lifesaving robot by remote control, so relief can be provided.
According to (2), a plurality of operators can smoothly and efficiently remotely operate a single lifesaving robot, so that relief can be performed efficiently.
According to (3), the doctor can observe the patient from a different viewpoint than the operator of the lifesaving robot.
According to (4), the transportation means can be selected from the options in an emergency. According to (4), the ambulance can reach people who really need it because the method of transportation is expanded to other than the ambulance. According to (4), the number of dispatches of ambulances can be reduced.
According to (5), the privacy of the patient, the person who treated the patient, and the people around the patient can be protected.

It is a figure which shows the structural example of the lifesaving robot which concerns on embodiment. It is a figure which shows the example of the outline of the lifesaving robot which concerns on embodiment. It is a figure which shows the structural example of the critical care system which concerns on embodiment. It is a figure which shows the data example which the database which concerns on embodiment stores. It is a figure which shows the structural example of the lifesaving robot which concerns on embodiment. It is a figure which shows the structural example of the server which concerns on embodiment. It is a figure which shows the operation example of the double arm which concerns on embodiment. It is a figure which shows an example of the priority of arm operation which concerns on embodiment. It is a figure which shows the structural example of the terminal which concerns on embodiment. It is a figure which shows the example of alerting|reporting using the alerting|reporting part with directivity which concerns on embodiment. 4A and 4B are diagrams showing an example of an acquired image and an example of an image to be saved according to the embodiment; FIG. It is a figure which shows the operation example of two imaging devices which concern on embodiment. 4A and 4B are diagrams showing examples of images captured by two imaging devices according to the embodiment; FIG. 4 is a flow chart of a procedure for determining a method of transporting a patient and a procedure for determining a transport destination hospital according to the embodiment; It is a figure which shows the example of a process of the critical care system which concerns on embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, in the drawings used for the following description, the scale of each member is appropriately changed so that each member has a recognizable size.

[Configuration example of lifesaving robot]
An example of an ambulance robot will be described with reference to FIGS. 1 and 2. FIG.
FIG. 1 is a diagram showing a configuration example of a lifesaving robot according to an embodiment. As shown in FIG. 1, the lifesaving robot 2 includes, for example, a housing 200, an arm 211a (arm, end effector), an arm 211b (arm, end effector), a first display device 2071, a second display device 2072, a first speaker 2073, a second speaker 2074, a first photographing device 2091, a second photographing device 2092, moving means 212a, moving means 212b, a lifesaving device storage section 213, an arm storage section 214a, an arm storage section 214b, and the like. The arm 211a has a hand 2112a. The arm 211b has a hand 2112b. In addition, the lifesaving robot 2 has pointers 2113 attached to hands 2112 (2112a, 2112b) (end effectors), for example. In addition, the lifesaving robot 2 may hold the pointer 2113 with the hand 2112 .

FIG. 2 is a diagram showing an example of the outline of the lifesaving robot according to the embodiment. The first outer shape g11 is a state in which the arms 211 (211a, 211b) are taken out from the arm storage portions 214 (214a, 214b), a state in which the first display device 2071 can present information, and a lifesaving device. The part 213 is opened (or opened) so that a life-saving device (not shown) can be taken out. The lifesaving equipment includes, for example, blood pressure gauges, pulse measuring devices, body temperature measuring devices, respiratory measuring devices, AEDs, masks, triangular bandages, stethoscopes, airway maintenance equipment, and the like.

The second outer shape g12 is a state in which the arm 211 is housed in the arm housing portion 214, and the first display device 2071 is closed. , the lifesaving equipment storage unit 213 is closed and the lifesaving equipment (not shown) cannot be taken out.

The third outer shape g13 is a state in which the lifesaving robot 2 is moving, or a state in which the lifesaving robot 2 is being moved. The lifesaving robot 2 may be self-propelled and movable, or may be movable by a person.
In addition, the outer shape of the lifesaving robot 2 shown in FIGS. 1 and 2 is an example, and is not limited to this.

[Configuration example of life-saving emergency system]
Next, a configuration example of the life-saving emergency system will be described. FIG. 3 is a diagram illustrating a configuration example of the lifesaving emergency system according to the embodiment. As shown in FIG. 2, the lifesaving emergency system 1 includes, for example, a lifesaving robot 2, a server 3, a database 4, a patient's mobile phone 5-1, a caller's mobile phone 5-2, a doctor 101 in a hospital 100, etc. Terminal 6-1 used, terminal 6-2 used by ambulance crew 111 rushing to the scene, terminal 6-3 used by remote-controlled paramedic 121, terminal 6-4 used by auxiliary paramedic 123, and a terminal 6-5 used by the coordinator 131, and the like. In addition, the terminal 6 (6-1, 6-2, 6-3, 6-4, 6-5) is, for example, a smartphone, a tablet terminal, a notebook computer with a communication function, and at least one of dedicated equipment is.

In the following explanation, the "mobile phone 5-1 of the patient" is the "mobile phone 5-1", the mobile phone 5-2 of the caller is the "mobile phone 5-2", and the doctor in the hospital 100 Terminal 6-1 used by 101 etc. is "Terminal 6-1", "Terminal 6-2 used by ambulance crew 111 rushing to the scene" is "Terminal 6-2", "Remotely operated paramedic 121 "Terminal 6-3 used" is "Terminal 6-3", "Terminal 6-4 used by auxiliary paramedic 123" is "Terminal 6-4", and "Terminal 6-5 used by coordinator 131" is Also referred to as "terminal 6-5".
Further, in the following description, the "emergency team 111 rushing to the scene" is also referred to as the "emergency team 111", and the "remotely operated emergency medical technician 121" is also referred to as the "emergency medical technician 121".

Each mobile phone, each terminal, lifesaving robot 2, server 3, and database 4 are connected to a network NW by, for example, a communication line or Internet line.

The lifesaving robot 2 is installed, for example, in places where people gather, such as shopping centers, train stations, public halls, and museums.
Configurations and functions of the lifesaving robot 2 and the server 3, data acquired and transmitted by the lifesaving robot 2, people who assist in lifesaving, etc. will be described in the embodiments.

FIG. 4 is a diagram illustrating an example of data stored in a database according to the embodiment;
As shown in FIG. 4, the database 4 stores, for example, mobile phone numbers in association with information such as name, medical history, emergency contact information, and family hospital. The database 4 stores at least the mobile phone number in association with the medical history and contact information. In addition, the data stored in the database 4 of FIG. 4 is an example, and is not limited to this. The database 4 may store other information in association with it.

[Configuration example of lifesaving robot]
First, a configuration example of the lifesaving robot 2 will be described.
FIG. 5 is a diagram showing a configuration example of the lifesaving robot according to the embodiment. As shown in FIG. 5, the lifesaving robot 2 includes, for example, a housing 200, a control unit 201, a storage unit 202, a drive unit 203, a power supply 204, a communication unit 205, a lighting device 206, a notification unit 207, a notification drive unit 208, It has an imaging device 209 , an imaging device driving section 210 , an arm 211 , a moving means 212 , a lifesaving equipment storage section 213 , an arm storage section 214 , and a sound pickup section 215 . Note that the configuration shown in FIG. 5 is an example, and the configuration is not limited to this. The lifesaving robot 2 may have other functional units. For example, the lifesaving robot 2 may be provided with a route generator 216, for example. In addition, the lifesaving robot 2 should just be provided with the one or more arms 211 which can be instruct|indicated with the pointer 2113 grade|etc.,.

The control unit 201 controls the operation of the lifesaving robot 2 according to the remote operation instruction received by the communication unit 205 . Or the control part 201 controls operation|movement of the lifesaving robot 2 based on the program which the memory|storage part 202 memorize|stores. The control unit 201 transmits images (for example, surrounding information D2) captured by the imaging device 209 to the server 3, the doctor 101, the ambulance crew 111, and the coordinator 131 via the communication unit 205. FIG. In addition, the control unit 201 receives medical information such as a vital check obtained by the caller or people at the scene by operating the life-saving tools, via the communication unit 205 to the server 3, the doctor 101, the ambulance crew 111, Send to coordinator 131 . The control unit 201 takes out the arm 211 from the arm storage unit 214 and controls it, for example, based on the remote control information. The control unit 201 stores the arm 211 in the arm storage unit 214 based on remote control information, for example. The control unit 201 controls opening and closing of the lifesaving equipment storage unit 213, for example, based on remote control information. The control unit 201 controls the moving means 212, for example, based on remote control information. The control unit 201 switches the illumination of the illumination device 206 between an on state and an off state based on remote control information and an image captured by the imaging device 209 . The control unit 201 controls the operation of the arm 211 by driving the driving unit 203 based on remote control information, for example. Control unit 201 outputs information included in the remote operation information to notification unit 207 . Note that the remote control information may include text information, image information, voice information, and the like. The control unit 201 controls the operation of the arm 211 of the lifesaving robot 2 according to the remote operation instruction received by the communication unit 205 from the server 3 . Each of the arms 211 may be remotely operated by a different operator (eg, paramedic, auxiliary paramedic).

The storage unit 202 stores programs used for control of the control unit 201, predetermined values, and the like. Storage unit 202 temporarily stores the acquired information.

The drive unit 203 includes, for example, actuators, gears, and the like. Drive unit 203 controls the operation of arm 211 under the control of control unit 201 .

The power supply 204 supplies electric power to each part of the lifesaving robot 2 . Note that the power source 204 may include a rechargeable secondary battery, replaceable battery, solar battery, or the like.

The communication unit 205 transmits and receives information via the network NW. The communication unit 205 includes, for example, a communication circuit connectable to a communication line and a communication circuit connectable to the Internet. The communication unit 205 may include a GPS (Global Positioning System) receiver.

The lighting device 206 switches between an ON state and an OFF state of lighting according to the control of the control unit 21 . Note that a plurality of lighting devices 206 may be provided.

The notification unit 207 includes a first display device 2071, a second display device 2072, a first speaker 2073, and a second speaker 2074, for example. Note that the number of display devices and speakers included in the notification unit 207 is not limited to two. Note that the first display device 2071 or the second display device 2072 may have a touch panel sensor on the screen.

The first display device 2071 notifies the information included in the remote control information to the caller at the site or people in the vicinity.
The second display device 2072 presents information input, for example, by the operator 122 who, for example, calms the bystander or gives instructions to the bystander. The operator 122 operates a touch panel (not shown) or operates a keyboard (not shown) to input presentation information to the bystanders.

The first speaker 2073 notifies the information included in the remote control information to the caller at the scene or people in the vicinity. Note that the notification unit 207 may convert the text information included in the remote control information into an audio signal using a known technique and output the audio signal from the first speaker 2073 .
The second speaker 2074 outputs information input, for example, by the operator 122 who, for example, calms the bystander or gives instructions to the bystander. The operator 122 uses a microphone (not shown) or operates a keyboard (not shown) to input presentation information to the bystander.

The notification drive unit 208 controls opening and closing of the first display device 2071, removal and storage of the second display device 2072 from the housing 200, direction and angle, removal and storage of the first speaker 2073 from the housing 200, direction and angle, and so on. , and the directions and angles of taking out and storing the second speaker 2074 from the housing 200 according to the control of the control unit 201 . The notification unit 207 of the embodiment can control the height, the orientation and angle in the vertical direction, and the orientation and angle in the horizontal direction, that is, the directivity. In the embodiment, in response to a remote operation instruction of at least one of the paramedic 121, the operator 122 and the auxiliary paramedic 123, the notification drive unit 208 controls the directivity of the notification unit 207, Information can be provided to the person who provided it or to the person who wants to convey it.

The imaging device 209 includes a first imaging device 2091 and a second imaging device 2092 . Note that the number of imaging devices is not limited to two.
The first image capturing device 2091 performs image capturing based on, for example, an image capturing instruction remotely operated by the paramedic 121 . The captured image is, for example, an image of the patient, an image of the patient's surroundings, or the like.
The second image capturing device 2092 performs image capturing based on an image capturing instruction remotely operated by the doctor 101, for example. The captured image is, for example, an image of a patient, an image of an affected area of the patient, or the like.

The photographing device drive unit 210 controls the direction and angle of taking out and storing the first photographing device 2091 from the housing 200 and the direction and angle of taking out and housing the second photographing device 2092 from the housing 200. control according to the control of

The arm 211 includes an arm 2111, a hand 2112 (end effector), a pointer 2113, and a sensor 2114, for example. In addition, like FIG. 1, the lifesaving robot 2 is provided with two arms 211 (211a, 211b), for example. Also, the arm 211 can be stored in an arm storage portion 214 . Arm 211 is controlled by remote control. The arm 211 can handle lifesaving equipment stored in the lifesaving equipment storage section 213 . The arm 211 includes an actuator (motor, artificial muscle, etc.) (not shown) driven by the drive unit 203 .

The arm part 2111 corresponds to a human arm, and a sensor 2114 is attached to the joint.
A hand 2112 (grasping part) corresponds to a human hand, and includes, for example, two or more fingers, and sensors 2114 are attached to joints of the fingers or the like.
Pointer 2113 is, for example, a laser pointer. The pointer 2113 may be attached to, for example, the hand 2112 and may be grasped by the hand 2112 . The pointer 2113 is switched between an ON state and an OFF state under the control of the control unit 201 .
The sensor 2114 is an encoder that detects joint movement, a tactile sensor attached to the finger or the hand 2112, or the like. The sensor 2114 outputs the detected value to the control unit 201 .

The moving means 212 is, for example, a plurality of wheels. The moving means 212 may be driven by the driving section 203 . The lifesaving robot 2 may be hand-carried by a person, and in this case, the moving means 212 may be driven by the drive unit 203 to assist the movement.

In the life-saving equipment storage section 213, life-saving equipment is stored, for example, in a box or a bag. In addition, the number of the lifesaving equipment storage units 213 is not limited to one, and two or more such as the front and rear may be provided. Each lifesaving tool has a wired or wireless communication function, and transmits acquired data to the lifesaving robot 2 .

Arm 211 is housed in arm housing portion 214 . The arm housing portion 214 is provided for each arm 211 as shown in FIG.

The sound pickup unit 215 is a microphone or a microphone array including multiple microphones. The sound pickup unit 215 may pick up an acoustic signal based on a remote operation by the paramedic 121 or the like, and transmit the picked-up acoustic signal to the server 3 as environmental data (environmental information).

The route generation unit 216 performs the same processing as the route generation unit 306 of the server 3, for example.

[Server configuration example]
Next, a configuration example of the server 3 will be described.
FIG. 6 is a diagram illustrating a configuration example of a server according to the embodiment; As shown in FIG. 6, the server 3 includes, for example, a disease condition data control unit 301, a robot data control unit 302, an environment data control unit 303, a storage unit 304, a communication unit 305, a route generation unit 306, a transport means determination unit 307, and A directivity determination unit 308 is provided. Note that the configuration shown in FIG. 6 is an example, and the configuration is not limited to this.

The medical condition data control unit 301 acquires medical information such as a vital check from the lifesaving robot 2 via the communication unit 305 . In the following description, "medical information such as vital check" is also referred to as "medical condition information". The medical condition information may include, for example, respiratory status, pulse rate, blood pressure value, body temperature, vital signs such as consciousness level, degree of bleeding, and the like. The medical condition data control unit 301 transmits the acquired medical information such as vital signs to the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The robot data control unit 302 acquires a remote operation instruction from the paramedic 121 or the doctor 101 who performs remote operation via the communication unit 305 . The robot data control unit 302 generates control command information for controlling the operation of the lifesaving robot 2 based on the acquired remote operation instruction, and transmits the generated control command information to the lifesaving robot 2 via the communication unit 305. Send to Based on the directivity information, the robot data control unit 302 generates directivity control information for controlling the direction in which the notification unit 207 of the lifesaving robot 2 is directed, and transmits the generated directivity control information via the communication unit 305. Send to the lifesaving robot 2. The robot data control unit 302 transmits the voice signal received from the terminal 6 to the lifesaving robot 2 via the communication unit 305 and the network NW. Note that the remote operation instruction may also include an instruction to output an audio signal from the second speaker 2074 .

The environmental data control unit 303 acquires environmental data captured by the imaging device 209 from the lifesaving robot 2 via the communication unit 305 . The environmental data also includes, for example, the number of people around, information on the ground and topography, and traffic volume. The environment data control unit 303 transmits the acquired environment data to the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The storage unit 304 stores programs used by each unit of the server 3, threshold values, network information, and the like. The storage unit 304 stores location information (latitude and longitude, commercial facility name, etc.) where the lifesaving robot 2 is installed.

The communication unit 305 transmits and receives data to and from the lifesaving robot 2 via the network NW. The communication unit 305 refers to the database 4 via the network NW. The communication unit 305 transmits and receives information to and from the terminals 6 (6-1, 6-2, 6-3, 6-4, 6-5) via the network NW.

The route generation unit 306 selects the lifesaving robot 2 installed closest to the caller based on the caller's location information and the mobile phone 5-2's location information. The route generation unit 306 generates route information between the caller and the lifesaving robot 2 using the selected positional information of the lifesaving robot 2 , the positional information of the caller, and environmental data. The route may be generated in consideration of not only the shortest distance but also the surrounding road conditions, the number of people, the width of the road, and the like. The route generating unit 306 transmits the generated route information to the mobile phone 5-2 of the caller via the network NW.

The transportation means determination unit 307 determines whether or not the medical treatment or treatment is completed based on the acquired medical information such as the vital check and instructions from the paramedics. The transportation means determination unit 307 transmits a dispatch stop request to the terminal 6-2 of the ambulance crew 111 to monitor the dispatch of an ambulance when, for example, transportation by taxi becomes possible after treatment or treatment is completed. do. When the transportation means determination unit 307 determines that the medical treatment or treatment is not completed, it indicates that remote operation is still necessary and transmits information to the terminal 6-3 of the paramedic 121 or the like.

The directivity determination unit 308 directs the notification unit 207 of the lifesaving robot 2 in response to remote operations and instructions from the lifesaving paramedic 121, the operator 122 who calms the bystanders, the auxiliary paramedic 123, the coordinator 131, etc. Determine the muzzle (directivity). The directivity determination unit 308 outputs the determined directivity information to the robot data control unit 302 .

[Example of double arm operation]
Next, an example of double-arm operation will be described.
FIG. 7 is a diagram showing an operation example of two arms according to the present embodiment. In the example of FIG. 7, the paramedic 121 operates the arm 211b corresponding to the left arm by operating the terminal 6-3, and the auxiliary paramedic 123 operates the terminal 6-4 on the right arm. The corresponding arm 211a is operated. The server 3 receives operation requests from the terminals 6-3 and 6-4, extracts which arm 211 the received operation request is for, and generates remote operation information for each arm 211. FIG. The operation request includes, for example, identification information of the terminal 6, information indicating the arm 211 to be operated, and the like. Further, the storage unit 304 of the server 3 associates and stores the identification information of the terminal 6 and the user. The server 3 transmits the generated remote control information to the lifesaving robot 2 via the network NW, thereby allowing another operator to remotely control the arms of the lifesaving robot 2 .

In the example shown in FIG. 7, another remote operator remotely operates the left and right arms 211, but both arms 211 can be operated by one remote operator (e.g. It can be operated remotely.

Further, when both arms 211 are being remotely operated by, for example, paramedic 121 , there is a case where an experienced paramedic assisting paramedic 123 wants to operate arms 211 . In such a case, two remote operators cannot operate the same arm 211 at the same time. Therefore, in this embodiment, priority is set for the operation of the arm 211 . FIG. 8 is a diagram showing an example of arm operation priority according to the present embodiment. In the example of FIG. 8, the priority of the paramedic 123 of assistance is an example set higher than the priority of the paramedic 121. In the example of FIG. Information about such priority may be stored in advance in the storage unit 304 of the server 3, or may be set by an emergency medical technician or the like for each emergency.

Based on such priority, the server 3 generates remote control information. For example, when the arm 211 is remotely operated by the paramedic 121, when receiving a request to operate the arm 211 from the terminal 6-4 used by the paramedic 123 with high priority, the server 3, Based on the priority, the operation right of the arm 211 is changed from the paramedic 121 to the auxiliary paramedic 123 for control. That is, the robot data control unit 302 of the server 3 transfers the control right of the operator with the lower priority to the operator with the higher priority. In this case, the server 3 may transmit information indicating that the priority has been changed to each of the terminals 6-3 and 6-4. In addition, although the example mentioned above demonstrated the example which changes the operation right of the arm 211 with both arms from the paramedic 121 to the paramedic 123 of assistance, it does not restrict to this. For example, when the paramedic 121 is operating both arms 211, if the auxiliary paramedic 123 requests the operation of the arm 211a corresponding to the right arm, the server 3 operates the arm 211a as a paramedic. 121 instruction to the auxiliary paramedic 123 instruction.
As a result, according to the present embodiment, a plurality of operators can smoothly and efficiently remotely operate a single lifesaving robot, so relief can be performed efficiently.

In the above example, the number of remote operators is two, but the number of remote operators may be three or more. Also, the number of arms 211 may be three or more.

[Configuration example of terminal 6]
Next, a configuration example of the terminal 6 will be described.
FIG. 9 is a diagram showing a configuration example of a terminal according to this embodiment. As shown in FIG. 9, the terminal 6 includes a control unit 601, a storage unit 602, an operation unit 603, an image display unit 604, a sound pickup unit 605, an output unit 606, and a communication unit 607, for example. Note that the configuration of the terminal 6 shown in FIG. 9 is an example, and is not limited to this.

The control unit 601 causes the image display unit 604 to display information (medical condition information, environmental data, etc.) received by the communication unit 607 . When the environment data received by the communication unit 607 contains an acoustic signal, the control unit 601 causes the output unit 606 to reproduce the acoustic signal. The control unit 601 transmits the audio signal picked up by the sound pickup unit 605 to the server 3 via the communication unit 607 . Control unit 601 generates a remote operation instruction based on the operation result detected by operation unit 603 , and transmits the generated remote operation instruction to server 3 via communication unit 607 . Note that the transmitted audio signal may be associated with a remote operation instruction. For example, when the operator uses the second speaker 2074 to call out to people around the patient, the remote operation instruction also includes an instruction to output an audio signal from the second speaker 2074 .

The storage unit 602 stores programs, thresholds, and the like used for control by the control unit 601 . The storage unit 602 stores environment data and medical condition information under the control of the control unit 601 .

The operation unit 603 detects the operation result of the operator. An operation unit 603 is, for example, a touch panel sensor provided on the image display unit 604 . Alternatively, the operation unit 603 may be a keyboard and a mouse. Alternatively, the operation unit 603 may be a joystick. Alternatively, the operation unit 603 may be a glove or the like having a tactile sensor that detects the movement of the operator's hand.

An image display unit 604 displays an image output by the control unit 601 .

The sound pickup unit 605 has at least one microphone and picks up the operator's voice. Note that the sound pickup unit 605 may be a microphone array composed of a plurality of microphones.

The output unit 606 is, for example, a speaker. The output unit 606 outputs the acoustic signal output by the control unit 601 .

The communication unit 607 receives information (medical condition information, environmental data, etc.) from the server 3 via the network NW, and outputs the received information to the control unit 601 . The communication unit 607 transmits the operation request output by the control unit 601 to the server 3 via the network NW.

The GPS receiver 608 acquires position information of the terminal 6 based on information received from GPS satellites. If the terminal 6 is, for example, a mobile phone, the terminal 6 may acquire position information based on base station information.

[Notification example using a directional notification part]
Next, an example of notification using the notification unit 207 with directivity will be described.
FIG. 10 is a diagram showing an example of notification using the directional notification unit according to the present embodiment. In the example of FIG. 10, for example, the caller Hu1 is processing the patient. If the place where the treatment is being performed is crowded with people, such as a shopping center, there may be many people in the surroundings in addition to the patient and the person performing the treatment. In such a case, it is possible that some people in the surroundings may panic.

For this reason, in the present embodiment, the remote operator operates the terminal 6, directs the notification unit (for example, the second speaker 2074) to the Hug of the people to whom attention is to be conveyed, and the voice picked up by the terminal 6 Let the signals alert the Hugs to those who wish to convey cautions, etc. In addition, the lifesaving robot 2 or the server 3 estimates the direction of the hugs of the people to whom attention is to be conveyed by performing a well-known sound source method estimation process or the like on the sound signal picked up by the sound pickup unit 215 of the lifesaving robot 2. may In addition, the lifesaving robot 2 or the server 3 may also use the result of performing well-known image processing on the image photographed by the photographing device 209 to estimate the hug directions of the people to whom attention is to be conveyed. .

[Processing example of acquired information]
Next, an example of processing information acquired by the lifesaving robot 2 will be described.
The server 3 transmits medical information such as a vital check acquired by the lifesaving robot 2 to each terminal 6, for example, in real time. The medical information such as this vital check may be stored in each terminal 6 or the like.

FIG. 11 is a diagram showing an example of an acquired image and an example of an image to be saved according to this embodiment.
The image (environmental data) captured by the imaging device 209 is transmitted from the server 3 to each terminal 6 . This image information may be stored in each terminal 6 or the like, but at the time of storage, the acquired image g101 is mosaiced (image g102) or the image is blurred for privacy protection. The server 3 attaches processing instructions for such privacy protection to the image (environmental data), and transmits the image (environmental data) attached with the processing instruction to each terminal 6 . It should be noted that the processing performed at the time of saving is not limited to mosaic processing or blurring processing, and may be other image processing.

[Example of operation of imaging device]
Next, an operation example of the photographing device will be described.
12A and 12B are diagrams showing operation examples of two imaging devices according to the present embodiment. In the example of FIG. 12, the paramedic 121 operates the first imaging device 2091 by operating the terminal 6-3, and the assistant doctor 101 operates the terminal 6-4 to operate the second imaging device 2092. are operating. Note that the operation instruction to the imaging device 209 includes the angle of view for imaging, the center position for imaging, and the like.

13A and 13B are diagrams showing examples of images captured by two imaging devices according to the present embodiment. The paramedic 121 operates the terminal 6-4 to capture the image g121 necessary for acquiring or instructing treatment or medical condition information using the first imaging device 2091, for example.
The doctor 101 may want to check the patient's condition or the image of the affected area at a different angle or a different angle of view than the image g121. In such a case, the doctor 101 operates the terminal 6-1 to capture the necessary image g122 with the second imaging device 2092, for example.

[Determination of transport method and method of transport destination hospital]
Next, a method of determining a method of transporting a patient and a method of determining a transport destination hospital will be described.
FIG. 14 is a flow chart of a patient transportation method determination procedure and a transportation destination hospital determination procedure according to the present embodiment.

(Step S101) The server 3 acquires medical condition information and environment data from the lifesaving robot 2 via the network NW. Subsequently, the server 3 transmits the acquired medical condition information and environmental data to each terminal 6 via the network NW.

(Step S102) For example, the paramedic 121 remotely operates the paramedic robot 2 by operating the terminal 6-4 based on the medical condition information and environmental data received by the terminal 6-4, and instructs treatment, etc. , or let the process take place. Based on the remote operation instruction received from the terminal 6-4, the server 3 controls the lifesaving robot 2 to instruct the treatment and the like for the patient.

(Step S103) For example, the paramedic 121 determines whether the treatment for the patient has been completed based on the acquired medical condition information and environmental data. For example, the server 3 may determine whether or not the treatment for the patient has been completed based on the medical condition information and environmental data. The paramedic 121 operates the terminal 6-4 to input the judgment result as to whether or not the treatment for the patient has been completed. The terminal 6-4 transmits the judgment result to the server 3 via the network 3. . The server 3 determines whether the treatment for the patient has been completed based on the determination result received from the terminal 6-4. When the server 3 determines that the treatment for the patient has ended (step S103; YES), the process proceeds to step S104. When the server 3 determines that the treatment for the patient has not been completed (step S103; NO), the process proceeds to step S105.

(Step S104) The server 3 transmits information indicating that the treatment has ended to each terminal 6 via the network NW. The coordinator 131 determines that transportation by ambulance is not necessary based on the medical condition information, the environmental data, and the information indicating that the treatment has been completed obtained by the terminal 6-5. The decision to transport the patient by other transport means may be made by the coordinator 131, the auxiliary paramedic 123, or the like. The coordinator 131 operates the terminal 6-5 to input the result of determination that transportation by ambulance is unnecessary. The terminal 6-5 transmits the determination result to the server 3 via the network NW. The coordinator 131 arranges other transportation means (for example, a taxi). Note that the notification of suspension of the ambulance service and the arrangement of other transportation means may be performed by the coordinator 131, or may be performed by the server 3 that receives such information. When the coordinator 131 determines that the patient will be transported to the hospital by other transport means, the coordinator 131 may determine the hospital (for example, the patient's family hospital) based on the medical condition information and environmental data. The terminal 6-5 may transmit medical condition information and personal information to the determined hospital based on the result of operation by the coordinator 131. FIG. The server 3 may receive this information and transmit the medical condition information and personal information to the determined hospital.

(Step S105) The server 3 determines whether or not a predetermined time has passed since the process was started by remote control, for example. In addition, the predetermined time is a time within the expected arrival time of the ambulance after the emergency call is made. When the server 3 determines that the predetermined time has passed (step S105; YES), the process proceeds to step S106. When the server 3 determines that the predetermined time has not elapsed (step S105; NO), the process returns to step S101.

(Step S106) The server 3 determines that the patient should be transported to the hospital because the treatment has not been completed even after the predetermined time has elapsed. Subsequently, as a result of judging that the patient should be transported to a hospital, the server 3 transmits an instruction requesting selection of a transport destination to the terminal 6-5 used by the coordinator 131 via the network NW. The server 3 adds the patient's personal information (medical history, etc.) to the instruction requesting the selection of the transportation destination and transmits the instruction. The coordinator 131 operates the terminal 6-5 to input the information of the candidate of the destination hospital based on the information received by the terminal 6-5 (medical information, environmental data, instruction requesting the selection of the destination). do. The terminal 6-5 transmits the information on the candidate of the destination hospital to the server 3 via the network NW. The server 3 acquires the information on the candidate hospitals to be transferred from the terminal 6-5 via the network NW.

(Step S107) The server 3 determines whether or not an ambulance has arrived based on the result of the operation of the terminal 6-2 by the ambulance crew 111, for example. When the server 3 determines that the ambulance has arrived (step S107; YES), it ends the procedure for determining the method of transporting the patient and the process for determining the transport destination hospital. When the server 3 determines that the ambulance has not arrived (step S107; NO), the process returns to step S101.

[Processing example of critical care system 1]
Next, a processing example of the lifesaving emergency system 1 of this embodiment will be described with reference to FIGS. 3, 5, 6, and 15. FIG. FIG. 15 is a diagram showing a processing example of the life-saving emergency system according to this embodiment. In addition, in FIG. 15, "emergency rescue robot" is also described as "robot". Note that the example shown in FIG. 15 is an example in which the lifesaving robot 2 does not touch a person such as a patient, but gives instructions to people around by the light of the pointer 2113 or the like.

(Step S11) When the caller finds the patient, the caller uses the mobile phone 5-2 to make a call to request emergency medical care (emergency emergency call). In addition, for example, this lifesaving emergency call, for example, the lifesaving robot 2, the server 3, the terminal 6-2 of the ambulance team 111, the terminal 6-3 of the paramedic 121, the terminal 6-4 of the auxiliary paramedic, the coordinator 131 is transmitted to the terminal 6-5. The emergency call includes at least location information such as the address of the scene. The emergency call may include information such as the condition of the patient, the state of the environment, the number of patients, and the like. The environmental conditions are, for example, traffic conditions at the site, information such as that the site is a shopping center, and information such as temperature and humidity at the site. The location information such as the address of the site may be obtained by the server 3 based on the location information of the cellular phone 5-2 of the caller, for example.

(Step S12) An ambulance (not shown) starts rushing to the site in response to the emergency call. After processing, the critical care system 1 performs at least one of step S13a and step S13b.

(Step S13a) In response to the lifesaving call, the server 3 activates the lifesaving robot 2 installed closest to the position based on the location information included in the lifesaving call. Alternatively, in response to the emergency call, the server 3 sends the position information to the emergency robot 2 installed closest to the position based on the position information included in the emergency call, and to the mobile phone 5-2. Send. In addition, the server 3 transmits to each terminal 6 information such as the fact that there is a request for lifesaving and the identification information of the lifesaving robot 2 to be used.

(Step S13b) Based on the position information included in the emergency call, the emergency rescue robot 2 installed closest to that position is activated. Alternatively, the caller moves to the place where the lifesaving robot 2 is installed and activates the lifesaving robot 2 based on the location information of the lifesaving robot 2 transmitted to the mobile phone 5-2. In addition, the paramedic 121 may activate the paramedic robot 2 in response to the paramedic call. In addition, the server 3 transmits to each terminal 6 information such as the fact that there is a request for lifesaving and the identification information of the lifesaving robot 2 to be used.

(Step S14) The lifesaving robot 2 moves to the reported position based on the position information included in the lifesaving call. Alternatively, the caller moves the lifesaving robot 2 to the position where the patient is. In addition, in response to the emergency call, the emergency responder 121 may remotely operate the emergency rescue robot 2 to move to the notified position.

(Step S15) The paramedic 121 remotely operates the paramedic robot 2, for example, displays it on the first display device 2071, reports from the first speaker 2073, or uses the pointer 2113 to give instructions to those in The paramedic 121 remotely operates the paramedic robot 2, for example, displays it on the first display device 2071, reports it from the first speaker 2073, or uses the pointer 2113 to contact the caller or people at the scene Explain how to use the life-saving equipment and obtain medical information such as vital signs of the patient. The lifesaving robot 2 transmits the acquired medical information such as vital signs to the server 3 via the network NW. In addition, the paramedic 121 remotely operates the paramedic robot 2, for example, displays it on the first display device 2071, reports from the first speaker 2073, or uses the pointer 2113 to indicate the caller or the site. Have people take care of the patient. In addition, the paramedic 121 remotely operates the paramedic robot 2 to obtain environmental data (image data, acoustic signal), which is information on the surrounding situation. The lifesaving robot 2 transmits the acquired environmental data to the server 3 via the network NW. A remote operator gives an operation instruction using a terminal, and the server 3 that acquires this operation instruction controls the notification unit 207, the hand 2112, and the pointer of the lifesaving robot 2 to give instructions and notifications. In addition, the server 3 (medical condition data control unit 301, robot data control unit 302, environment data control unit 303) controls the operation of the arm 211 of the lifesaving robot 2 and drives the notification drive unit 208 based on the acquired remote instructions. control, and drive control of the imaging device drive unit 210 .

(Step S16) The caller (or a person in the vicinity of the patient), according to the instructions of the lifesaving robot 2, retrieves and processes lifesaving tools, obtains medical information such as vital signs using the lifesaving tools, etc. I do.

(Step S17) After the emergency robot 2 arrives at the patient, medical information such as a vital check from the emergency robot 2 is sent to the terminal 6-2 of the ambulance crew 111 on the ambulance network NW and the server. 3. Medical information such as a vital check from the lifesaving robot 2 is also transmitted to the terminal 6-3 of the lifesaving technician 121 who remotely controls the lifesaving robot 2. FIG.

(Step S18) Medical information such as a vital check from the lifesaving robot 2 is transmitted from the server 3 to the terminal 6-5 of the coordinator 131. FIG. Further, the personal information of the patient (medical history, family hospital, etc.) is transmitted from the server 3 to the terminal 6-5 of the coordinator 131. FIG. The coordinator 131 lists candidates for the destination hospital based on the medical information such as the vital check and the personal information acquired by the terminal 6-5. The coordination and determination of the destination hospital may be performed by the coordinator 131 or by the server 3 .

(Step S19) After the destination hospital is determined, medical information such as a vital check from the lifesaving robot 2 is transmitted from the server 3 to the terminal 6-1 of the hospital 100. FIG. Subsequently, the server 3 gives the operator of the terminal 6-1 (for example, the doctor 101) the right to use the photographing device 209 of the lifesaving robot 2 when it is not being used by remote control. Thereby, the doctor 101 can operate, for example, the second imaging device 2092 to confirm the patient's condition, etc., separately from the remote operation of the paramedic 121 .

(Step S<b>20 ) The transport means determination unit 307 of the server 3 determines whether or not the treatment is completed based on the obtained medical information such as vital check and the image captured by the imaging device 209 . It should be noted that the paramedics 121 may determine whether or not the treatment has been completed. When it is determined that the treatment is completed, for example, the transport means determination unit 307 of the server 3 transmits a dispatch stop request to the terminal 6-2 of the emergency crew 111 via the network NW, and another transport means (for example, a taxi ). If it is determined that the treatment has not been completed, for example, the robot data control unit 302 of the server 3 controls to notify and instruct that the treatment will be continued until the ambulance arrives according to the remote control. , continues to send medical information such as vital signs and environmental data to the terminal 6 .

(Step S21) The terminal 6-1 inside the ambulance receives the dispatch stop request. The ambulance crew 111 stops dispatching based on the received results.

(Step S22) The ambulance crew 111 in an ambulance arrives at the site where the patient is present.

(Step S23) The caller or the like hands over the patient to the ambulance crew. After handing over the patient, the lifesaving robot 2 may, for example, be returned to the place where the caller was placed, or it may be self-propelled to return to the place where it was placed by remote control. , may be collected later by a collection vehicle.

In addition to notifying the rescue team of whether or not to dispatch, the lifesaving robot 2 or the server 3 may send traffic control information (signals, instructions to surrounding vehicles (especially effective for automatic driving)) to, for example, a traffic control center or a lifesaving service. You may make it transmit to an emergency center.

In the above example, an example was explained in which the caller went to pick up the lifesaving robot 2. However, the present invention is not limited to this. It is also possible to notify the person in the room of assistance in moving the lifesaving robot 2 to the position where the patient is, and have the person in the vicinity of the lifesaving robot 2 move.

In this case, the process of step S14 may be performed as follows. The server 3 may generate route information of a movement route from the selected lifesaving robot 2 to the caller (the cellular phone 5-2 used by the caller) in response to the lifesaving call. Subsequently, the server 3 may generate navigation information from the rescue robot 2 to the caller using images and audio signals based on the generated route information. Subsequently, the server 3 may transmit the generated route information and navigation information to the lifesaving robot 2 via the network NW. Subsequently, the lifesaving robot 2 may report the received route information and navigation information to people in the surroundings, and encourage them to assist in moving to the caller. Then, the lifesaving robot 2 may navigate from the lifesaving robot 2 to the caller based on the route information and the navigation information.

Note that the processing procedure shown in FIG. 14 is an example, and is not limited to this. Some processes may be performed at the same time, and the procedures may be interchanged.

In the above-described example, when the emergency robot 2 gives an instruction or the like using the arm 211 by remote control, the emergency rescue robot 2 takes out the arm 211 from the arm storage section 214 according to the control command information of the server 3. The work is performed later, and the arm 211 is stored in the arm storage portion 214 after the work is completed.

When the lifesaving robot 2 performs a treatment of a patient, obtains medical information such as a vital check, or assists the patient in accordance with remote control, the processing of steps S15 and S16 may be performed as follows.
(Step S15) The paramedic 121 remotely operates the paramedic robot 2 to treat the patient or to use paramedic tools to acquire medical information such as vital checks. The robot data control unit 302 of the server 3 receives control command information for the arm 211 that causes the patient to perform treatment or uses emergency tools to obtain medical information such as a vital check in response to a remote instruction. Generate. The robot data control unit 302 transmits the generated control command information to the lifesaving robot 2 . In addition, the robot data control unit 302 provides cooperation instructions such as assistance in obtaining medical information such as a vital check by having the patient perform a treatment or using a lifesaving tool. etc. may be controlled.

(Step S16) When the caller (or a person around the patient) receives an instruction to request cooperation from the lifesaving robot 2, according to the instructions of the lifesaving robot 2, take out the lifesaving tool or assist in taking it out. , treatment, and life-saving tools may be used to assist in acquiring medical information such as vital checks.

When remote-controlling the ambulance robot 2, the operation unit 603 of the terminal 6-1 used by the paramedic 121 who remotely operates the terminal 6-1 may be a tactile data glove worn on the operator's hand. The tactile data glove detects the orientation, the movement of each finger, the movement of the hand, and the movement of the arm using sensors provided in the tactile data glove, and transmits the detected operator sensor values to the server 3 . The sensors are, for example, acceleration sensors, gyroscope sensors, magnetic force sensors, and the like. The haptic data glove may also include feedback means. The feedback means feeds back feedback information (pressure, temperature, etc.) from the end effector of the lifesaving robot 2 to the operator under the control of the control unit 601 . Also, the image display unit 604 of the terminal 6-1 may be an HMD (head mounted display). An image captured by the lifesaving robot 2 is displayed on the HMD. Also, the HMD may include a needle detector that detects line-of-sight information of the operator. In this case, the detected line-of-sight information is transmitted to the server 3 .

Furthermore, the control unit 201 of the lifesaving robot 2 may input the above operator sensor values and line-of-sight information into the learned model to estimate the intention of the operator's action. . As a result, the control unit 201 can perform the work even if the operator does not perform accurate positioning, so that the lifesaving robot 2 can perform the work with high accuracy. For the learned model, for example, operator sensor values and line-of-sight information are input in advance, and work that the operator is going to do is learned as teacher data.

As described above, the life-saving emergency system 1 of the present embodiment includes the photographing device 209 capable of remotely controlling at least one or more positions and directions, the life-saving equipment storage unit 213 storing life-saving tools, and the remote-controlled A lifesaving robot 2 equipped with at least one possible end effector, a terminal 6 for remotely controlling the lifesaving robot by at least one operator, and medical condition information and environmental information acquired by the lifesaving robot. , a server 3 that transmits the acquired medical condition information and the environment information to the terminal, receives operation information for the lifesaving robot from the terminal, and controls the lifesaving robot based on the received operation information; Prepare.

As a result, according to the present embodiment, even if there is no person on site who can provide medical care, the medical condition information can be obtained by operating the lifesaving robot by remote control, so relief can be provided. In addition, according to the present embodiment, a plurality of operators can smoothly and efficiently remotely operate a single lifesaving robot, so relief can be performed efficiently. Moreover, according to this embodiment, the doctor can observe the patient from a different viewpoint from the operator of the lifesaving robot. In addition, according to this embodiment, the transportation means can be selected from options in an emergency. In addition, according to the present embodiment, transportation methods other than ambulances can be used, so that ambulances can reach people who really need them. Moreover, according to this embodiment, the number of dispatches of an ambulance can be reduced. In addition, according to the present embodiment, since an instruction to perform privacy protection processing (for example, blurring processing or mosaic processing) is added to the environment data when it is saved, the patient, the person who processed the patient, and the surroundings of the patient can protect the privacy of

A program for realizing all or part of the functions of the lifesaving robot 2, the server 3, and the terminal 6 in the present invention is recorded in a computer-readable recording medium, and the program recorded in this recording medium is transferred to a computer. All or part of the processing performed by the lifesaving robot 2, the server 3, and the terminal 6 may be performed by loading and executing the system. It should be noted that the "computer system" referred to here includes hardware such as an OS and peripheral devices. In addition, the "computer system" shall include a system built on a local network, a system built on the cloud, and the like. The term "computer-readable recording medium" refers to portable media such as flexible discs, magneto-optical discs, ROMs and CD-ROMs, and storage devices such as hard discs incorporated in computer systems. In addition, "computer-readable recording medium" means a volatile memory (RAM) inside a computer system that acts as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line. , includes those that hold the program for a certain period of time.

Further, the above program may be transmitted from a computer system storing this program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in a transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. Further, the program may be for realizing part of the functions described above. Further, it may be a so-called difference file (difference program) that can realize the above-described functions in combination with a program already recorded in the computer system.

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

DESCRIPTION OF SYMBOLS 1... Critical care system, 2... Critical care robot, 200... Housing, 201... Control part, 202... Storage part, 203... Drive part, 204... Power supply, 205... Communication part, 206... Lighting device, 207... Notification part , 208... Notification drive unit 209... Photographing device 210... Photographing device drive unit 211, 211a, 211b... Arms 212, 212a, 212b... Moving means,
2071 First display device 2072 Second display device 2073 First speaker 2074 Second speaker 2091 First photographing device 2092 Second photographing device 2111 Arm 2112 Hand 2113 ... pointer, 2114 ... sensor, 215 ... sound pickup unit, 216 ... path generation unit,
301... Disease data control unit 302... Robot data control unit 303... Environment data control unit 304... Storage unit 305... Communication unit 306... Route generation unit 307... Transport means determination unit 308... Directivity determination unit ,
DESCRIPTION OF SYMBOLS 601... Control part 602... Storage part 603... Operation part 604... Image display part 605... Sound collection part 606... Output part 607... Communication part 608... GPS receiver

Claims (7)

an imaging device capable of remote control of at least one or more positions and directions;
A life-saving equipment storage unit that stores life-saving equipment,
a lifesaving robot comprising at least one remotely operable end effector;
a terminal for remotely controlling the lifesaving robot by at least one operator;
It is possible to acquire the medical condition information and the environment information acquired by the emergency rescue robot, transmit the acquired medical condition information and the environment information to the terminal, and receive operation information for the emergency rescue robot from the terminal. a server that controls the lifesaving robot based on the operation information;
life-saving emergency system. The lifesaving robot can be operated by a plurality of people,
The server transfers the control right of the operator with the lower priority to the operator with the higher priority based on the order of priority.
The life-saving emergency system according to claim 1. The terminals are plural, the first terminal is operated by the operator of the lifesaving robot, the second terminal is operated by the doctor,
The lifesaving robot is equipped with an imaging device,
The imaging device can be operated by the doctor by operating the second terminal, and can observe the patient from a different viewpoint than the operator of the lifesaving robot.
The life-saving emergency system according to claim 1 or claim 2. The terminals are plural, and a coordinator operates a terminal different from the terminal operated by the operator of the lifesaving robot,
The another terminal transmits to the server the result of the coordinator's determination of the destination hospital based on the medical condition information and the environmental data.
The life-saving emergency system according to any one of claims 1 to 3. The server is
transmitting the medical condition information obtained by the lifesaving robot to the terminal in real time;
adding a processing instruction for privacy protection to the environmental data obtained by the lifesaving robot at the time of saving;
The life-saving emergency system according to any one of claims 1 to 4. A life-saving robot equipped with at least one or more remote-controlled imaging devices, a life-saving equipment storage unit containing life-saving tools, and at least one end-effector that can be remotely controlled, and at least one person A lifesaving system control method comprising a terminal for remotely controlling the lifesaving robot by an operator, and a server,
The lifesaving robot acquires medical condition information and environmental information, transmits the acquired medical condition information and environmental information to the server,
The server transmits the acquired medical condition information and the environment information to the terminal, receives operation information for the lifesaving robot from the terminal, and controls the lifesaving robot based on the received operation information.
Critical care system control method. A life-saving robot equipped with at least one or more remote-controlled imaging devices, a life-saving equipment storage unit containing life-saving tools, and at least one end-effector that can be remotely controlled, and at least one person A lifesaving system comprising a terminal for remotely controlling the lifesaving robot by an operator, and a server, wherein a computer of the server includes:
cause the emergency robot to acquire medical condition information and environmental information, and transmit the acquired medical condition information and environmental information to the server;
causing the acquired medical condition information and the environment information to be transmitted to the terminal;
receiving operation information for the lifesaving robot from the terminal, and controlling the lifesaving robot based on the received operation information;
program.

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