JP2022168669A - Sample collecting robot system and robot system - Google Patents

Abstract

To provide a sample collecting robot system and a robot system that can collect a sample from a subject while reducing infection risks from a subject.SOLUTION: A sample collecting robot system 100 includes: a slave robot 10 for collecting a sample from a subject S by a sample collecting member 101; a master robot 20 for remotely operating the slave robot 10; a controller 40 for controlling the operation of the slave robot 10; and a facial part detection unit 60 for detecting a separation of the facial part of the subject S from a predetermined position. The controller 40 causes the slave robot 10 to stop doing the sample collecting operation when the facial part detection unit 60 detects a separation of the facial part of the subject S from the predetermined position.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to specimen collection robotic systems and robotic systems.

2. Description of the Related Art Conventionally, a sample collection box for collecting a sample from a subject has been known (see Patent Document 1, for example). Patent Document 1 discloses a specimen collection box for collecting a specimen from a subject as a countermeasure against infectious diseases caused by the novel coronavirus (COVID-19). This sample-collecting box includes a sample-collecting main box and a protective glove provided on the sample-collecting main box. This sample collection box is configured so that a sampler who enters the sample collection body box can perform a sample collection operation of collecting a sample from a subject while wearing protective gloves. .

Utility Model Registration No. 3228999

However, in the technique described in Patent Literature 1, the sampler (treatment person) performs treatment on the subject through protective gloves while being inside the body box for specimen collection. Therefore, the distance between the operator and the subject is shortened. In addition, since the operator enters the body box for specimen collection, it is necessary to take air into the body box for specimen collection. Therefore, there is a problem that the risk of infection is high for a person who performs treatment such as collecting a sample or examining a subject.

The present disclosure has been made to solve the above problems, and one object of the present disclosure is to reduce the risk of infection from the subject while allowing treatment such as specimen collection. It is to provide a specimen collection robot system and a robot system.

To achieve the above object, a specimen-collecting robot system according to a first aspect of the present disclosure includes a slave robot that collects a specimen from a subject using a specimen-collecting member, a master robot that remotely controls the slave robot, and a slave robot. and a face detection unit that detects whether or not the subject's face is separated from a predetermined position, and the control device detects whether the subject's face is detected by the face detection unit. When it is detected that the face is separated from the predetermined position, the slave robot stops the specimen collection operation.

A sample-collecting robot system according to the first aspect of the present disclosure includes, as described above, a slave robot that collects a sample from a subject using a sample-collecting member, and a master robot that remotely controls the slave robot. As a result, the sample can be collected from the subject by remotely controlling the slave robot by the master robot, so that the risk of infection from the subject to the operator can be reduced. In addition, the control device stops the specimen collection operation of the slave robot based on detection by the face detection unit that the subject's face has moved away from the predetermined position. As a result, when the subject moves his/her face, the sample collection operation of the slave robot is stopped. It is possible to suppress improper collection.

A robot system according to a second aspect of the present disclosure includes a slave robot that grips a medical examination instrument and treats a subject, a master robot that remotely controls the slave robot, and the movements of the slave robot. and a face detection unit for detecting whether or not the subject's face is separated from a predetermined position. The treatment operation of the slave robot is stopped based on detection of separation from the predetermined position. Here, "performing a treatment on a subject" in the present disclosure is a broad concept that includes not only collecting a specimen from a subject but also examining the subject. . In addition, the "testing instrument" of the present disclosure is a broad concept including not only disposable members such as sample-collecting members (sterilized cotton swabs), but also devices used for diagnosis, medical devices, and the like.

In the robot system according to the second aspect of the present disclosure, as described above, the slave robot grips the medical examination instrument and treats the subject; the master robot remotely controls the slave robot; Prepare. Accordingly, by remotely controlling the slave robot by the master robot, it is possible to perform treatment such as specimen collection on the subject, thereby reducing the risk of infection from the subject to the operator. Further, the control device stops the treatment operation of the slave robot based on detection by the face detection section that the subject's face has moved away from the predetermined position. As a result, when the subject moves his or her face, the treatment operation of the slave robot is stopped. can be suppressed.

According to the present disclosure, as described above, the risk of infection from the subject can be reduced. In addition, it is possible to prevent the sample collection (treatment) from being appropriately performed on the subject due to the movement of the position of the subject where the sample collection (treatment) is performed.

1 illustrates a robotic system according to one embodiment; FIG. 1 is a block diagram of a robotic system according to one embodiment; FIG. FIG. 10 is a diagram illustrating collection of specimens by manipulating a slave robot according to one embodiment; FIG. 4 is a diagram (viewed from the slave robot side) showing a slave robot, a shield plate, and a subject according to one embodiment; FIG. 12 illustrates a chin rest and forehead portion according to one embodiment; FIG. 12 is a perspective view of a chin rest and release paper according to one embodiment;

A configuration of a robot system 100 according to the present embodiment will be described with reference to FIGS. 1 to 6. FIG. The robot system 100 is an example of a "specimen collection robot system" and a "robot system" in the claims.

As shown in FIG. 1, the robot system 100 includes a slave robot 10, a master robot 20, a display device 30, and a face holder . Slave robot 10 and face holder 50 are arranged in space 2 different from space 1 where master robot 20 and display device 30 are arranged.

Further, as shown in FIG. 2, the master robot 20 includes a control section 20a, a driving section 20b (servo motor), and an encoder 20c. The slave robot 10 also includes a control section 10a, a driving section 10b (servo motor), and an encoder 10c. The robot system 100 also includes a control device 40 . A control device 40 controls the operation of the slave robot 10 . The control device 40 is configured by a computer including a processor such as a CPU (Central Processing Unit) and memories such as a RAM (Random Access Memory) and a ROM (Read Only Memory). The control device 40 also stores control software 41 for controlling the slave robot 10 . Then, when the operator (hereinafter referred to as operator O) operates the operation unit 21 (see FIG. 1) of the master robot 20, an operation command is calculated by the control software 41 of the control device 40, and the calculated operation is performed. A command is input to the controller 10 a of the slave robot 10 . As a result, the slave robot 10 is driven by driving the drive section 10b of the slave robot 10 . A specific configuration of the robot system 100 will be described below.

As shown in FIGS. 1 and 3, in this embodiment, the slave robot 10 is remotely operated to collect a sample from the subject S using a sample collection member 101 . Specimen-collecting member 101 is, for example, a sterile cotton swab (swab). A sterile swab has a stick shape. For example, the slave robot 10 inserts the specimen-collecting member 101 into the nasal cavity of the subject S, and collects a specimen (nasopharyngeal swab) from the nasopharynx of the subject S by the inserted specimen-collecting member 101 (FIG. 3, dotted line sample collection member 101). Note that the slave robot 10 may insert the specimen-collecting member 101 into the oral cavity of the subject S to collect the specimen. A virus test (a test for novel coronavirus or the like) such as a PCR (Polymerase Chain Reaction) test is performed on the collected specimen. Note that the sample-collecting member 101 is an example of the "testing instrument" in the scope of claims.

As shown in FIGS. 1 and 3, the slave robot 10 is a vertically articulated robot. The slave robot 10 includes an arm section 11 of a vertical articulated arm and a hand section 12 attached to the tip of the arm section 11 . Arm part 11 has a plurality of joints. Each of the joints of the arm section 11 is provided with a drive section 10b and an encoder 10c. Drive unit 10b is, for example, a servo motor. In this embodiment, the hand section 12 grips the sample-collecting member 101 . The hand section 12 has, for example, a chuck 12a (a pair of gripping members), and grips and holds the sample picking member 101 with the chucks 12a. Chuck 12a is, for example, an air chuck operated by air.

Also, the slave robot 10 is accommodated inside the housing 102 . A shielding plate 103 for shielding the slave robot 10 and the subject S is arranged between the slave robot 10 and the subject S. As shown in FIG. The shielding plate 103 is installed on the housing 102 . The shielding plate 103 is a transparent member such as a glass plate, and is provided with an opening 103a into which the specimen collecting member 101 gripped by the slave robot 10 is inserted. That is, the slave robot 10 inserts the sample-collecting member 101 into the nasal cavity of the subject S through the shielding plate 103 and through the opening 103a. The position and size of the opening 103a are set so that the opening 103a is positioned in the subject's S nasal cavity.

As shown in FIG. 1, the master robot 20 remotely controls the slave robots 10 . Specifically, the master robot 20 remotely controls the slave robot 10 by being operated by an operator such as a doctor (hereinafter referred to as operator O). The master robot 20 outputs an operation command based on the operator O's operation. The slave robot 10 performs an action corresponding to the operation of the operator O based on the operation command of the master robot 20 . The slave robot 10 and the master robot 20 are connected by wire or wirelessly so as to be able to communicate with each other.

The master robot 20 also includes an operation section 21 and an arm section 22 that movably supports the operation section 21 . The operation unit 21 receives an input operation for remotely operating the hand unit 12 of the slave robot 10 holding (gripping) the sample-collecting member 101 . Specifically, the operation part 21 is a grip handle having a bar shape. The operation unit 21 accepts an input operation of the slave robot 10 by the operator O by being held and moved by the operator O with one hand. The operation unit 21 is operated by the right hand of the operator O, for example. The arm part 22 has a plurality of joints and supports the operation part 21 so as to be movable in the vertical direction (Z direction), the horizontal direction (Y direction), and the front-rear direction (X direction).

The slave robot 10 is operated in a direction corresponding to the direction in which the operator O moves the operating section 21 . For example, when the operator O moves the operation unit 21 in the vertical direction (Z direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the vertical direction. Further, for example, when the operator O moves the operation unit 21 in the horizontal direction (Y direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the horizontal direction. . Further, for example, when the operator O moves the operation unit 21 in the front-rear direction (X direction), the hand unit 12 of the slave robot 10 (and the specimen collecting member 101 held by the hand unit 12) is moved in the front-rear direction. . When a sample is collected from the subject S by the sample collection member 101, the operator O moves the operation unit 21 forward (X1 direction) to move the hand unit 12 of the slave robot 10 (and the hand unit 12). The specimen-collecting member 101 is inserted into the nasal cavity of the subject S by moving the specimen-collecting member 101 held forward (insertion direction).

Further, as shown in FIG. 1, the display device 30 displays an image (video) of the subject S. As shown in FIG. The display device 30 may be, for example, an image of a camera (not shown) provided at the tip of the arm portion 11 of the slave robot 10 that captures the subject S from the front and a camera that captures the subject S from the side. (not shown) is displayed. While confirming the real-time image of the subject S displayed on the display device 30, the operator O operates the slave robot 10 using the master robot 20 to collect a sample from the subject S using the sample collecting member 101. Carry out collection work. Display device 30 includes, for example, a liquid crystal monitor.

Further, as shown in FIGS. 3 and 4, the face holding unit 50 is installed on the subject S side with respect to the shield plate 103 that shields the subject S and the slave robot 10 . The face holding portion 50 includes a chin rest 51 and a forehead rest portion 52 . The chin rest 51 is arranged below the opening 103a. Also, the chin rest 51 holds the subject's S chin. Specifically, the chin table 51 is a rectangular table on which the chin of the subject S is placed. Note that the chin rest 51 is vertically movable. The forehead rest 52 is arranged above the opening 103a. In addition, the forehead support section 52 holds the subject's S forehead. Specifically, the forehead support part 52 is a bar-shaped member curved along the subject's S forehead. The forehead support part 52 is arranged along the horizontal direction, and supports are connected to both ends thereof.

The subject S touches the forehead to the forehead placement position of the forehead rest 52 and places the chin on the chin placement position of the chin rest 51 so as to face the shielding plate 103 (slave robot 10 side). face) is fixed (held). By fixing the face of the subject S by the face holding unit 50, the nasal cavity of the subject S is positioned in front of the opening 103a (the position where the specimen collecting member 101 is inserted by the slave robot 10). placed. Thereby, the nasal cavity of the subject S is positioned.

In addition, as shown in FIG. 2, in this embodiment, the robot system 100 includes a face detection unit 60 that detects whether or not the face of the subject S has moved away from a predetermined position. Moreover, the face detection unit 60 includes a chin detection unit 61 and a forehead detection unit 62 . The chin detection unit 61 detects whether or not the chin of the subject S is separated from the chin arrangement position where the chin of the subject S is arranged, thereby detecting whether or not the face of the subject S is moved from the predetermined position. Detect whether or not they are separated. The forehead detection unit 62 detects whether or not the forehead of the subject S is separated from the forehead arrangement position where the forehead of the subject S is arranged, thereby detecting whether or not the face of the subject S is moved from the predetermined position. Detect whether or not they are separated. The chin detector 61 is an example of the "first optical sensor" in the scope of claims. Also, the forehead detection unit 62 is an example of a "second optical sensor" in the scope of claims.

As shown in FIGS. 3 and 5, the chin detector 61 detects whether or not the chin of the subject S has moved away from the chin arrangement position where the chin of the subject S is arranged on the chin rest 51 . The chin detector 61 is arranged in a concave portion 51 a (hollow) provided in the chin base 51 so as not to come into direct contact with the subject S. As shown in FIG. Further, the forehead detection unit 62 detects whether or not the forehead of the subject S is separated from the forehead placement position where the forehead of the subject S is placed in the forehead support unit 52 . Similarly, the forehead detection unit 62 is arranged so as not to come into direct contact with the subject S in a concave portion 52 a (hollow) provided in the forehead support unit 52 .

Moreover, the chin detection unit 61 is a reflective optical sensor that detects separation of the chin of the subject S without contact. Similarly, the forehead detection unit 62 is a reflective optical sensor that detects separation of the forehead of the subject S without contact. That is, the chin detection unit 61 and the forehead detection unit 62 emit detection light for detecting the chin and the forehead of the subject S, respectively. The chin detection unit 61 and the forehead detection unit 62 have, for example, LEDs (light emitting diodes) that emit detection light. Then, the chin detection unit 61 and the forehead detection unit 62 detect the detection light reflected by the chin and the forehead of the subject S, respectively, so that the face of the subject S is arranged at a predetermined position. detect whether or not there is Moreover, the chin detection unit 61 and the forehead detection unit 62 each output a detection signal to the control device 40 based on the detected detection light.

Moreover, as shown in FIGS. 5 and 6 , a plurality of release papers 104 are superimposed on the chin rest 51 . The release paper 104 is peeled off and discarded one by one each time a sample is collected from one subject S when samples are collected from a plurality of subjects S in sequence. The release paper 104 is provided with a through hole 104a so that the jaw of the subject S can be irradiated with the detection light from the jaw detection unit 61 .

In the robot system 100 according to the present embodiment, the control device 40 controls the slave robot 10 based on detection by the face detection unit 60 that the face of the subject S has moved away from the predetermined position. Stop the specimen collection operation (treatment operation).

Specifically, the chin detection unit 61 detects that the chin of the subject S has moved away from the chin placement position, and the forehead detection unit 62 detects that the forehead of the subject S has moved away from the forehead placement position. Based on at least one of , it is detected that the face of the subject S has moved away from the predetermined position (the face of the subject S has moved). Specifically, when at least one of the chin and forehead of subject S is not detected based on the detection signals from chin detection unit 61 and forehead detection unit 62, control device 40 Assuming that the face has moved away from the predetermined position, a command is output to the controller 10a of the slave robot 10 to stop the operation of the slave robot 10. FIG. That is, the control device 40 acquires detection signals indicating that the forehead and chin of the subject S are arranged at the chin placement position and the forehead placement position from both the chin detection unit 61 and the forehead detection unit 62. If so, it accepts a remote operation by the master robot 20 to operate the slave robot 10 .

Further, in the present embodiment, the control device 40 causes the face detection section 60 to detect the predetermined face of the subject S at least while the sample collection member 101 is inserted into the nasal cavity of the subject S (period). , the specimen collection operation of the slave robot 10 is stopped. Specifically, during a period from the start of the remote operation by the master robot 20 to the end of the remote operation, the control device 40 causes the face detection unit 60 to detect the predetermined face of the subject S. When it is detected that the slave robot 10 has moved away from the position of , the specimen collection operation of the slave robot 10 is stopped. For example, when the sample-collecting member 101 is brought close to the nasal cavity of the subject S, or when the sample-collecting member 101 is inserted into the nasal cavity of the subject S, the facial part detection unit 60 detects the presence of the subject S. The movement of the slave robot 10 (movement of the sample-collecting member 101) is stopped when it is detected that the face has moved away from the predetermined position.

Further, when the operator O receives a command to end the remote operation by the master robot 20 after the sample collection is finished, the control device 40 will Also, the operation of the slave robot 10 is not stopped. In addition, even while the slave robot 10 is performing preparation operations for sample collection, the control device 40 does not stop the operation of the slave robot 10 when the face of the subject S moves away from the predetermined position. .

[Effect of this embodiment]
The following effects can be obtained in this embodiment.

In the robot system 100 (specimen-collecting robot system) according to the present embodiment, as described above, the slave robot 10 that collects a specimen from the subject S using the specimen-collecting member 101, and the master robot 20 that remotely controls the slave robot 10. , provided. As a result, a sample can be collected from the subject S by remote-controlling the slave robot 10 by the master robot 20, so that the risk of infection from the subject S to the operator can be reduced. In addition, the control device 40 stops the specimen collection operation (treatment operation) of the slave robot 10 based on the fact that the face detection unit 60 detects that the face of the subject S has moved away from the predetermined position. Let As a result, when the subject S moves his/her face, the specimen collection operation of the slave robot 10 is stopped, so that the position of the subject S to whom specimen collection (treatment) is performed moves. Inadequate sample collection (treatment) for the subject S can be suppressed.

Further, in the present embodiment, as described above, the face detection unit 60 detects whether or not the chin of the subject S is separated from the chin arrangement position where the chin of the subject S is arranged. , a chin detection unit 61 for detecting whether or not the face of the subject S is separated from a predetermined position, and the forehead of the subject S is separated from the forehead arrangement position where the forehead of the subject S is arranged. and at least one of a forehead detection unit 62 for detecting whether or not the face of the subject S has moved away from a predetermined position. Accordingly, based on at least one of the position of the chin and the position of the forehead of the subject S, it is possible to easily detect whether or not the subject S has moved the face (head). Therefore, when the movement of the face of the subject S is detected, the sample collection operation by the slave robot 10 can be easily stopped, so that the sample collection from the face such as the nasal cavity is not properly performed. can be suppressed.

Further, in the present embodiment, as described above, the face detection unit 60 includes both the chin detection unit 61 and the forehead detection unit 62, and the chin detection unit 61 detects the chin of the subject S from the chin placement position. Based on at least one of the detection of separation and the detection by the forehead detection unit 62 of separation of the forehead of subject S from the forehead placement position, the face of subject S is separated from the predetermined position. to detect. As a result, by detecting both the position of the chin and the position of the forehead of the subject S, not only the position of the face of the subject S, but also the angle of the face (the positional relationship from the forehead to the chin) can be detected. is changed, the face detection section 60 can detect that the face has moved (separated from the predetermined position). Therefore, when the specimen collection operation from the subject S is being performed, the specimen collection operation of the slave robot 10 can be stopped when the angle of the face is changed. As a result, even when the angle of the face of the subject S is changed, it is possible to effectively prevent the specimen from being appropriately collected from the subject S.

Further, in the present embodiment, as described above, the chin detection unit 61 is a reflective optical sensor (first optical sensor) that detects whether or not the chin of the subject S is separated from the chin arrangement position by non-contact detection. ), and the forehead detection unit 62 includes a reflective optical sensor (second optical sensor) that detects whether or not the forehead of the subject S is separated from the forehead placement position in a non-contact manner. Here, in the case of detecting the movement (separation) by directly touching the face (chin and forehead) of the subject S, each time a sample of the subject S is collected, the subject S It is necessary to clean (disinfect) the chin detection unit 61 and the forehead detection unit 62 that are in contact with the face of the patient. In contrast, in the present embodiment, both the chin detection unit 61 and the forehead detection unit 62 detect the movement of the face (head) of the subject S without contact. In addition, the trouble of cleaning the chin detection unit 61 and the forehead detection unit 62 can be suppressed. In addition, since the subject S does not directly contact the chin detection unit 61 and the forehead detection unit 62, contact infection via the chin detection unit 61 and the forehead detection unit 62 can be suppressed.

Further, in the present embodiment, as described above, the chin support 51 that holds the chin of the subject S is included, and the chin detector 61 is arranged on the chin support 51 so that the chin of the subject S is detected on the chin support 51. It is detected whether or not the jaw of the subject S is separated from the jaw arrangement position where the is arranged. As a result, the chin of the subject S can be held by the chin rest 51, so that the chin of the subject S can be easily fixed at the chin placement position. Therefore, by holding the chin on the chin rest 51, it is possible to more easily prevent the chin of the subject S from being separated from the chin arrangement position. As a result, it is possible to further prevent specimen collection from being improperly performed due to movement of the subject's S face.

Further, in this embodiment, as described above, the shield plate 103 that shields the subject S from the slave robot 10 is further provided, and the sample-collecting member 101 gripped by the slave robot 10 is inserted into the shield plate 103. The chin rest 51 is arranged below the opening 103a on the subject S side with respect to the shielding plate 103 . Since the shield plate 103 is provided between the subject S and the slave robot 10, contact between the subject S and the slave robot 10 can be suppressed. In addition, since the chin rest 51 is arranged on the lower side of the opening 103a into which the specimen collecting member 101 is inserted, the part of the face of the subject S above the chin is arranged in front of the opening 103a. be able to. Therefore, the operation of collecting a specimen from the nasal cavity or oral cavity of the subject S can be properly performed while the contact is suppressed by the shielding plate 103 .

Further, in the present embodiment, as described above, the forehead support unit 52 that holds the forehead of the subject S is included, the forehead detection unit 62 is arranged in the forehead support unit 52, and the forehead support unit 52 detects the position of the subject. It is detected whether or not the subject S's forehead is separated from the forehead arrangement position where the forehead of S is arranged. As a result, the forehead of the subject S can be held by the forehead support section 52, so that the forehead of the subject S can be easily fixed at the forehead arrangement position. Therefore, by causing the forehead support portion 52 to hold the forehead, it is possible to more easily prevent the forehead of the subject S from being separated from the forehead arrangement position. As a result, it is possible to further prevent specimen collection from being improperly performed due to movement of the subject's S face.

Further, in this embodiment, as described above, the shield plate 103 that shields the subject S from the slave robot 10 is further provided, and the sample-collecting member 101 gripped by the slave robot 10 is inserted into the shield plate 103. The forehead rest 52 is arranged on the upper side of the opening 103a on the subject S side with respect to the shield plate 103 . Accordingly, since the forehead support 52 is arranged above the opening 103a into which the sample-collecting member 101 is inserted, the part of the face of the subject S below the forehead is placed in front of the opening 103a. can be placed. Therefore, the operation of collecting a sample from the nasal cavity or oral cavity of the subject S can be performed more appropriately while the contact is suppressed by the shielding plate 103 .

Further, in the present embodiment, the slave robot 10 is remotely operated to collect a specimen from the nasal cavity of the subject S, and the control device 40 controls at least the specimen collection member 101 to move the nasal cavity of the subject S, as described above. When the face detection unit 60 detects that the face of the subject S is separated from the predetermined position while the slave robot 10 is being inserted into the slave robot 10, the sample collection operation of the slave robot 10 is stopped. As a result, at least when the sample-collecting member 101 is inserted into the nasal cavity of the subject S, and when the face of the subject S is moved and moves away from the predetermined position, the slave robot 10 can be operated. Since it can be stopped, it is possible to suppress improper sample collection from the nasal cavity. In addition, since the movement of the face of the subject S can be prevented from being detected after the sampling of the specimen is finished, the slave robot 10 performs a post-processing operation to store the collected specimen in the specimen container. When the movement of the face of the subject S is detected, post-processing, preparation, etc. are performed when the next new subject S is prepared for sample collection. Interruption of the operation can be suppressed. Therefore, when samples are collected from a plurality of subjects S in order, the replacement of subjects S and the operation of post-processing and preparation by the slave robot 10 can be performed in parallel. It is possible to suppress an increase in the work time required for collecting the sample from the subject S.

Further, in the present embodiment, as described above, the slave robot 10 includes a vertical multi-joint robot including the hand portion 12 for gripping the sample-collecting member 101 and the arm portion 11 having a plurality of joints. The unit 60 detects whether or not the face of the subject S from whom the sample is to be collected using the sample-collecting member 101 gripped by the hand unit 12 has moved away from a predetermined position. As a result, even when the arm 11 having a plurality of joints is operated to three-dimensionally move the hand 12 for gripping the sample-collecting member 101, the face of the subject S is separated from the predetermined position. The sample collection operation of the slave robot 10 can be stopped based on the detection of the fact that the sample collection operation has been performed. Therefore, by three-dimensionally operating the hand unit 12, the position of the subject S where the specimen is collected is moved even when the specimen is collected from the nasal cavity or oral cavity of the face of the subject S. Therefore, it is possible to prevent the specimen from being appropriately collected from the subject S due to this.

[Modification]
It should be noted that the embodiments disclosed this time should be considered as examples and not restrictive in all respects. The scope of the present disclosure is indicated by the scope of claims rather than the above description of the embodiments, and further includes all modifications (modifications) within the meaning and scope of the scope of the claims.

For example, in the above-described embodiment, the face detection unit 60 includes the jaw detection unit 61 that detects whether or not the jaw of the subject S is separated from the jaw arrangement position where the jaw of the subject S is arranged; Although an example including the forehead detection unit 62 that detects whether or not the forehead of the subject S is separated from the forehead arrangement position where the forehead of the examiner S is arranged has been shown, the present disclosure is not limited to this. In the present disclosure, the placement of parts other than the chin or forehead of subject S may be detected. For example, a detection unit may be provided so as to detect the arrangement of the subject S's head (parietal region).

Also, in the above-described embodiment, an example in which the face detection unit 60 includes both the chin detection unit 61 and the forehead detection unit 62 is shown, but the present disclosure is not limited to this. For example, only one of the forehead detection unit 62 and the chin detection unit 61 may be provided without including both the chin detection unit 61 and the forehead detection unit 62 .

Further, in the above-described embodiment, an example in which the chin detection unit 61 and the forehead detection unit 62 are non-contact reflective optical sensors is shown, but the present disclosure is not limited to this. For example, the chin and forehead may be detected by contact, such as by mechanical switches. In addition, an image of the face of the subject S is captured by an imaging unit such as a camera, and the captured image is subjected to image processing so that the face of the subject S is separated from a predetermined position. You may make it detect whether. Also, the chin detection unit 61 and the forehead detection unit 62 may be distance sensors that measure the distance between the chin and the forehead of the subject S using light, radio waves, ultrasonic waves, or the like. In that case, when the distance between the chin and the forehead of the subject S becomes larger than a predetermined threshold value, a detection signal indicating that the chin and the forehead of the subject S are separated is output. good too. That is, the chin placement position and the forehead placement position may be placement positions that include a predetermined area (predetermined width).

Further, in the above-described embodiment, an example in which the chin detector 61 is arranged on the chin rest 51 and the forehead detector 62 is arranged on the forehead rest 52 is shown, but the present disclosure is not limited to this. For example, by arranging chin detection unit 61 and forehead detection unit 62 at a position separated from chin rest 51 and forehead rest 52 and irradiating light from a position separated from chin rest 51 and forehead rest 52, The chin and forehead of subject S may be detected.

Further, in the above-described embodiment, an example in which the shielding plate 103 that shields the slave robot 10 and the subject S is provided has been shown, but the present disclosure is not limited to this. For example, shield plate 103 may not be provided between subject S and slave robot 10 .

In the above-described embodiment, the chin rest 51 is arranged on the subject S side with respect to the shielding plate 103 and below the opening 103a, and the forehead rest 52 covers the shielding plate 103. Although an example in which it is arranged on the upper side of the opening 103a on the side of the examiner S has been shown, the present disclosure is not limited to this. For example, chin rest 51 and forehead rest 52 may be positioned at the same height as opening 103a. That is, the lower end of the opening 103a is lower than the chin rest 51 and the upper end of the opening 103a is higher than the forehead rest 52, so that the entire face of the subject S can be seen through the opening 103a. good.

Further, in the above embodiment, an example in which the slave robot 10 is a vertically articulated robot is shown, but the present disclosure is not limited to this. For example, the slave robot 10 may be a robot other than a vertical articulated robot, such as a horizontal articulated robot.

Further, in the above-described embodiment, an example was shown in which the slave robot 10 performs a treatment of collecting a specimen from the subject S, but the present disclosure is not limited to this. For example, a robot may use a medical testing instrument to treat the subject S, such as a medical examination. For example, while the face of the subject S is fixed using the chin rest 51 and the forehead rest 52, the movement of the face of the subject S is detected by the chin detection section 61 and the forehead detection section 62. , the ophthalmologic examination may be performed by remote control.

Further, in the above embodiment, it is detected that the face of the subject S has moved away from the predetermined position during the period from the start of the remote operation to the end of the remote operation. Although an example in which the specimen collection operation of the slave robot 10 is stopped has been shown, the present disclosure is not limited to this. For example, based on the operation information of the slave robot 10, after the specimen collection member 101 is inserted into the subject S side through the opening 103a of the shield plate 103, the specimen collection member 101 is moved to the shield plate. During the period from 103 to the time when the slave robot 10 is moved to the side of the slave robot 10, the specimen collection operation of the slave robot 10 is stopped based on detection that the face of the subject S is separated from the predetermined position. You may do so. In addition, after the start of the remote operation, the face of the subject S has moved away from the predetermined position from the time when the sample-collecting member 101 starts to move closer to the subject S. The specimen collection operation of the slave robot 10 may be stopped based on the detection.

10 slave robot 11 arm unit 12 hand unit 20 master robot 40 control device 51 chin rest 52 forehead support unit 60 face detection unit 61 chin detection unit 62 forehead detection unit 100 robot system (specimen collection robot system)
101 Specimen collection member (inspection instrument)
103 shielding plate 103a opening S subject

Claims (11)

a slave robot that collects a specimen from a subject using a specimen collection member;
a master robot that remotely controls the slave robot;
a control device for controlling the operation of the slave robot;
A face detection unit that detects whether the face of the subject has moved away from a predetermined position,
The control device is configured to stop the specimen collection operation of the slave robot based on detection by the face detection section that the face of the subject has moved away from the predetermined position. system. The face detection unit detects whether or not the jaw of the subject is separated from the jaw arrangement position where the jaw of the subject is arranged, thereby detecting whether the face of the subject is in the predetermined position. a chin detection unit for detecting whether or not the subject's forehead is separated from the position; 2. The sample-collecting robot system according to claim 1, comprising at least one of a forehead detection unit that detects whether or not the person's face is separated from the predetermined position. The face detection unit includes both the chin detection unit and the forehead detection unit, and the chin detection unit detects that the chin of the subject has moved away from the chin arrangement position, and the forehead detection unit. detecting that the face of the subject has moved away from the predetermined position based on at least one of detection that the forehead of the subject has moved away from the forehead placement position by Specimen collection robotic system as described. The chin detection unit includes a reflective first optical sensor that detects whether or not the chin of the subject is separated from the chin arrangement position by non-contact,
4. The sample collection robot according to claim 2, wherein the forehead detection unit includes a second reflective optical sensor that detects whether or not the subject's forehead is separated from the forehead placement position in a non-contact manner. system. including a chin rest that holds the chin of the subject;
The chin detector is arranged on the chin rest and detects whether or not the chin of the subject is separated from the chin arrangement position where the chin of the subject is arranged on the chin rest. The specimen collection robot system according to any one of 2 to 4. further comprising a shielding plate that shields the slave robot and the subject;
The shielding plate is provided with an opening into which the specimen-collecting member gripped by the slave robot is inserted,
6. The specimen-collecting robot system according to claim 5, wherein the chin rest is arranged below the opening on the side of the subject with respect to the shielding plate. including a forehead support that holds the subject's forehead;
The forehead detection unit is arranged in the forehead support unit, and detects whether the subject's forehead is separated from the forehead placement position where the subject's forehead is placed in the forehead support unit. A sample collection robot system according to any one of claims 2 to 6. further comprising a shielding plate that shields the slave robot and the subject;
The shielding plate is provided with an opening into which the specimen-collecting member gripped by the slave robot is inserted,
8. The specimen collection robot system according to claim 7, wherein the forehead support is arranged above the opening on the side of the subject with respect to the shielding plate. The slave robot is remotely operated to collect a sample from the subject's nasal cavity,
The control device detects that the face of the subject is separated from the predetermined position by the face detection unit at least while the specimen collecting member is inserted into the nasal cavity of the subject. The sample-collecting robot system according to any one of claims 1 to 8, wherein the sample-collecting operation of the slave robot is stopped based on the fact that the sample-collecting robot system has stopped. The slave robot includes a vertical multi-joint robot including a hand portion for gripping the sample-collecting member and an arm portion having a plurality of joints,
The face detection unit detects whether or not the face of the subject from whom the sample is collected using the sample collection member held by the hand has moved away from the predetermined position. 10. The specimen collection robot system according to any one of 1 to 9. a slave robot that grips a medical testing instrument and treats a subject;
a master robot that remotely controls the slave robot;
a control device for controlling the operation of the slave robot;
A face detection unit that detects whether the face of the subject has moved away from a predetermined position,
The robot system, wherein the control device stops the treatment operation of the slave robot based on detection by the face detection unit that the face of the subject is separated from the predetermined position.

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