EP4121255A1 - Dispositif et procédé de détection de l'état médical d'une personne - Google Patents

Dispositif et procédé de détection de l'état médical d'une personne

Info

Publication number
EP4121255A1
EP4121255A1 EP21715489.7A EP21715489A EP4121255A1 EP 4121255 A1 EP4121255 A1 EP 4121255A1 EP 21715489 A EP21715489 A EP 21715489A EP 4121255 A1 EP4121255 A1 EP 4121255A1
Authority
EP
European Patent Office
Prior art keywords
akt
aktk
robot manipulator
person
eff
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP21715489.7A
Other languages
German (de)
English (en)
Inventor
Simon Haddadin
Christoph Jähne
Dmitrij Forssilow
Saskia Golz
Andreas SPENNINGER
Simon Josef GABL
Carles Calafell Garcia
Christian Mack
Lukas Anton HAUSPERGER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of EP4121255A1 publication Critical patent/EP4121255A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/72—Signal processing specially adapted for physiological signals or for diagnostic purposes
    • A61B5/7271—Specific aspects of physiological measurement analysis
    • A61B5/7275—Determining trends in physiological measurement data; Predicting development of a medical condition based on physiological measurements, e.g. determining a risk factor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/0205—Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
    • A61B5/02055—Simultaneously evaluating both cardiovascular condition and temperature
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11—Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • A61B5/1113—Local tracking of patients, e.g. in a hospital or private home
    • A61B5/1114—Tracking parts of the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150015—Source of blood
    • A61B5/150022—Source of blood for capillary blood or interstitial fluid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/683—Means for maintaining contact with the body
    • A61B5/6835—Supports or holders, e.g., articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B7/00—Instruments for auscultation
    • A61B7/02—Stethoscopes
    • A61B7/04—Electric stethoscopes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features
    • A61B2560/0266—Operational features for monitoring or limiting apparatus function
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0204—Acoustic sensors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0062—Arrangements for scanning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/024—Detecting, measuring or recording pulse rate or heart rate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves 
    • A61B5/053—Measuring electrical impedance or conductance of a portion of the body
    • A61B5/0531—Measuring skin impedance
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/145—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue
    • A61B5/1455—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue using optical sensors, e.g. spectral photometrical oximeters
    • A61B5/14551—Measuring characteristics of blood in vivo, e.g. gas concentration, pH value; Measuring characteristics of body fluids or tissues, e.g. interstitial fluid, cerebral tissue using optical sensors, e.g. spectral photometrical oximeters for measuring blood gases
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6887—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient mounted on external non-worn devices, e.g. non-medical devices
    • A61B5/6889—Rooms

Definitions

  • the invention relates to a device and a method for detecting a medical status of a person.
  • the object of the invention is to specify a device and a method for acquiring bio-signals for acquiring a medical status of a person, which largely excludes potential risks of infection for medical personnel.
  • a first unit for determining a current state Z RM (t) of the robot manipulator RM and a current state Z E FFn (t) of an effector EFF n currently arranged at its distal end a second unit for determining and / or in particular customizable, mechanical specification of a current position (position / orientation) L KT, AKTk (t) of a body part KT of the person in the work area of the robot manipulator RM, which is related to a selected activity AKT k, a third unit for determining a current response to the robot manipulator RM acting power winch KW (t), a fourth unit, which for each of the activities AKT k a target position L K T, SOLL, AKTk of the respectively assigned body part KT in the working area of the robot manipulator RM, a target movement of the robot manipulator RM MOVE SOLL, RM , AKTk and target interaction forces INT S o LL, AKTk (BEWEGso LL,
  • Li _ (BEWEGso LL, RM, AKTk ) between the robot manipulator RM (101) and the body part KT during the execution of the target movement and the associated permissible deviations: AL «T, SOLL, AKTk, allowed, ⁇ BEWEGsOLL, AKTk , permitted,
  • ⁇ I NTsOLL, AKTk allowed (BEWEGsOLL, RM, AKTk) and ⁇ ZEFFÜ, SOLL, allowed (BEWEGsOLL, RM, AKTk) specifies, and a control unit that is designed and set up to control the robot manipulator RM when an activity AKT k is specified : Z RM (t), L KT , AKTk (t), KW (t), L KT , soLL, AKTk (t), BEWEGSOLL, AKTk, AL «T, SOLL, AKTk, allowed, ⁇ BEWEGsoLL, AKTk, allowed,
  • the robot manipulator RM is preferably an articulated manipulator with six or seven degrees of freedom.
  • the robot manipulator RM can also be a continuum robot, a parallel robot, a linear robot, or any other movement apparatus.
  • the robot manipulator RM is preferably force- and / or impedance- and / or admittance-controlled. It can also be current-regulated or flexible regulated in some other form. It can also be position-controlled and have force feedback or a flexible end effector EFF n .
  • the robot manipulator RM is preferably provided with an antibacterial, disinfecting coating.
  • ACT k is understood to mean at least those diagnostic activities that start with AKT- ! to ACT 2I are designated. However, this list is not exhaustive, so that other diagnostic activities are also included in the concept of the invention.
  • the effectors EFF n for sampling microbiological material from the person are advantageously designed as grippers, so the provided swab, swab, smear spatula or biopsy needles can advantageously be gripped, handled according to the specified target movements, and placed in closable containers provided after the sampling is complete.
  • the effectors EFF n for sampling capillary blood from the person advantageously comprise, on the one hand, a device for puncturing the skin and a corresponding gripper with which the capillary tubes provided can be gripped, handled according to the specified target movement, and stored in closable containers provided after sampling is complete .
  • the effectors EFF n for detecting medical parameters of the person advantageously include appropriate sensors for blood pressure measurement, pulse measurement, temperature measurement, measurement of electrical skin resistance, measurement of electrical conductivity of the skin, measurement of local electrical potentials on the skin surface, measurement of oxygen saturation (especially by pulse oximetry) and for listening to the lungs, heart, etc. (auscultation).
  • AKT k such as the acquisition of medical parameters and data through the use of ultrasonic sensors, laser sensors, X-ray sensors, etc. are included in the concept of the invention.
  • the effectors EFF n for capturing image data advantageously include corresponding imaging sensors, such as camera sensors, infrared sensors, laser sensors, ultrasonic sensors, X-ray sensors, nuclear magnetic resonance sensors, etc.
  • imaging sensors such as camera sensors, infrared sensors, laser sensors, ultrasonic sensors, X-ray sensors, nuclear magnetic resonance sensors, etc.
  • the effectors EFF n are advantageously coupled to the distal end of the robot manipulator RM either manually or in an automated manner, depending on a selected activity AKT k.
  • An effector EFF n can advantageously have several different sensors and / or instruments for performing different activities AKT k .
  • the control of the robot manipulator RM and of the currently arranged effector EFF n on the robot manipulator RM is carried out by the control unit.
  • state Z RM (t) of the robot manipulator RM is understood broadly in the present case. This includes, in particular, the dynamic and electrical state of the robot manipulator RM.
  • state Z E FFn (t) of the effector EFF n is also understood broadly in the present case. This includes in particular the dynamic and electrical state of the effector EFF n .
  • the state Z RM (t) of the robot manipulator RM and the state Z E FFn (t) of the effector EFF n are determined in the present case by the first unit. To this end, corresponding information and data are advantageously transmitted to the first unit from the robot manipulator RM and the respective effector EFF n . As an alternative or in addition, information and data from external sensors, observers, etc. can be used for this purpose.
  • the second unit serves firstly to determine the current position (ie the position and orientation) L KT, AKTk (t) of a body part KT of the person in the working area of the robot manipulator RM that is related to a selected activity AKT k and / or secondly the customizable, mechanical specification of a current position UT, AKTk (t) of a body part KT of the person in the working area of the robot manipulator RM, which is related to a selected activity AKT k.
  • the second unit comprises sensors (in particular imaging sensors: e.g. camera sensor, video sensor, infrared sensor, ultrasonic sensor, laser scanner, etc.), and / or distance-measuring sensors (in particular ultrasonic sensors, capacitive sensors, laser sensors, etc.) by means of which a 3D position and 3D orientation of the body part KT to be analyzed is preferably possible .
  • sensors in particular imaging sensors: e.g. camera sensor, video sensor, infrared sensor, ultrasonic sensor, laser scanner, etc.
  • distance-measuring sensors in particular ultrasonic sensors, capacitive sensors, laser sensors, etc.
  • the first unit thus comprises a corresponding processor on which a corresponding evaluation program (app) runs.
  • the unit preferably comprises a mechanical contact or guide device with which the person can position a part of the body KT to be examined on the mechanical contact or guide device with a predetermined position and orientation.
  • This installation or guiding device is preferably made of an easily disinfectable material or, as a consumable material, it is manually or automatically exchanged and thus renewed before each corresponding examination activity AKT k.
  • the contact or guide device can be designed, for example, in such a way that the person places their nose or mouth opening or one of their ear openings at the position and orientation specified by the design and positioning of the device.
  • the position and orientation specified by the contact or guide device can preferably be individualized and can preferably be adjusted manually by the person or, if the first and second cases interact, automatically individualized (positioned) on the basis of the optical conditions of the person detected by sensors can.
  • the third unit determines the force winder KW (t) currently acting on the robot manipulator RM, ie forces and / or moments.
  • the third unit is advantageously connected to at least one force sensor or a contact detection device on the robot manipulator or on the effector EFF n.
  • the third unit thus determines during an interaction between the robot manipulator RM or the effector EFF n currently located distally thereon and the person during the execution of an activity AKT k interaction forces and interaction moments.
  • any power winders that occur must be determined with a high level of sensitivity and reliability (robustness).
  • the third unit comprises a corresponding processor on which a corresponding external program (app) runs.
  • the fourth unit For each of the activities AKT k, the fourth unit provides information and data on the target position L KT, so LL, AKTk of the respectively assigned body part KT in the working area of the robot manipulator RM, on the target movement of the robot manipulator RM as well as target interaction forces I NT SO LL, AKTk (MOVE S oLL, RM, AKTk) and target states of the effector Z EFFn, so LL (MOVE S o LL, RM, AKTk ) between the robot manipulator RM (101) and the Body part KT during the execution of the target movement and the associated permissible deviations: k, permitted,
  • the fourth unit advantageously comprises a corresponding data memory and a corresponding processor on which a corresponding software (app) runs.
  • the proposed device enables the medical condition of persons to be recorded without the need for medical personnel.
  • the proposed device can be operated fully autonomously, partially autonomously or remotely.
  • the proposed device is preferably mobile and can therefore easily be brought into medical crisis areas in particular.
  • the device has a first data interface via individual medical information IN FO PE RS ON the examined person one or more information (not final) from the following list is provided:
  • the first data interface advantageously comprises a card reader, with the individual medical information INFO PERS on a chip card (for example health insurance card G2) are stored and the card reader is designed and set up to read out the chip card.
  • the analysis unit also advantageously uses a neural network and a self-learning algorithm to determine AKT k (INFO PER s). This enables, in particular, more targeted diagnostic planning based on existing anamnesis information, and thus a corresponding selection of activities to be carried out AKT k .
  • An advantageous development of the proposed device is characterized in that there is a second data interface via which the recorded medical parameters and / or image data can be transmitted to a computer in a data network.
  • the second data interface is also advantageously designed to receive data or instructions from the computer or from a control unit, which are output on an optical and / or acoustic output unit of the device (and relate, for example, to instructions to the person) and / or to a controller of the robot manipulator RM from the computer or the control unit.
  • the robot manipulator RM is integrated into a lockable, advantageously air-conditioned room, which has a device for killing microbiological germs in the room and the objects located therein, this device after the detection of the medical condition has ended the person is automatically activated when the person has left the room, no other person is in the room and the room is locked.
  • the room is advantageously so tight that microbiological germs cannot penetrate the room from the outside if the room is closed.
  • the device advantageously comprises a UV light source and / or chemicals that can be dispensed into the room and / or an ultrasound source. When the device is activated, the dosage of the application of chemicals or the intensity of the UV light source or the ultrasound source is set in such a way that the room is sufficiently sterile before the next person is examined.
  • the device has an output unit for outputting optical and / or acoustic instructions to the person, the instructions depending on the determined current position (position / orientation) L KT, AKTk (t) of the person's body part KT associated with the selected activity AKT k can be determined and output.
  • the output unit is therefore used in particular for instructions and Informing the person during the determination of their medical condition.
  • the robot manipulator RM is arranged in a space separated from the person by means of a partition, the partition having an opening, and the control unit being designed and set up in such a way that the robot manipulator RM can take samples microbiological material of the person only leads a distal end of a respective swab or a respective swab or a respective smear spatula or a respective biopsy needle through the opening in the body part to be examined KT of the person.
  • the room advantageously comprises a device with a UV light source and / or chemicals that can be discharged into the room and / or an ultrasound source.
  • the dosage of the application of chemicals or the intensity of the UV light source or the ultrasound source is set in such a way that the room remains sufficiently sterile.
  • the opening advantageously has a contact device for supported and / or guided contact of the body part to be examined.
  • the opening is advantageously designed in such a way that predetermined movement restrictions of an inserted distal end of a respective swab or of a respective swab or of a respective smear spatula or of a respective biopsy needle are given. This creates an additional safety frame which, in particular, mechanically limits the range of motion of a distal end guided through the opening sufficiently well so that injuries to the examined body part can be excluded.
  • the partition wall advantageously has a device for disinfecting the installation device.
  • the proposed method comprises the following steps.
  • a current state Z RM (t) of the robot manipulator RM and a current state Z EFF n (t) of an effector EFF n currently arranged at its distal end are determined.
  • a current position (position / orientation) UT, AKTk (t) of a body part KT of the person in the working area of the robot manipulator RM associated with a selected activity AKT k is determined and / or, in particular, mechanically specified in a customizable manner.
  • a power winch KW (t) currently acting on the robot manipulator RM is determined.
  • a target position L K T, SOLL, AKTk of the respectively assigned body part KT in the working area of the robot manipulator RM, a target movement of the robot manipulator RM BEWEGSOLL, RM, AKTk as well as target is specified for each of the activities AKT k -Interaction forces INT S o LL, AKTk (BEWEGso LL, RM, AKTk ) and target states of the effector Z EFF n , so Li _ (BEWEGso LL, RM, AKTk ) between the robot manipulator RM (101) and the body part KT, which during the execution of the target movement as well as the associated permissible deviations: AL «T, SOLL, AKTk, allowed, ABEWEGSOLL, AKTk, allowed,
  • the robot manipulator RM is controlled depending on: Z RM (t ), L KT , AKTk (t), KW (t), L KT , soLL, AKTk (t), BEWEGSOLL, AKTk, AL «T, SOLL, AKTk, allowed, ABEWEGsOLL, AKTk, allowed,
  • AI NTsOLL, AKTk allowed (BEWEGsOLL, AKTk) and AZEFFn, SOLL, allowed (BEWEGsOLL, AKTn), WHERE
  • a current movement of the determined from the current states Z RM (t) Robot manipulator RM or a currently detected force winder KW (t) or a variable derived therefrom or a current state Z EFF (t) of the effector EFF n currently arranged on the robot manipulator RM exceeds a correspondingly specified and / or learned permissible deviation
  • the robot manipulator RM and the Effector EFF n currently arranged thereon can be controlled into a security state SZ RM (AKT n ), SZ EFFn (AKT n ) which is dependent on the currently selected activity AKT n.
  • the robot manipulator RM (101) and the effector EFF n (102) currently arranged thereon are controlled in such a way that image recordings and / or medical parameters and / or samples determined during the current execution of the activity AKT k for further evaluation on a respective one Interface are provided.
  • ACT k ACT k (INFO PERS ).
  • the first data interface comprises a card reader, the individual medical information INFO PERS being stored on a chip card (e.g. health insurance card G2) and the information INFO PERS being read out and provided by the card reader.
  • a chip card e.g. health insurance card G2
  • An advantageous development of the proposed method is characterized in that a neural network and a self-learning algorithm are used to determine AKT k (INFO PERS ).
  • An advantageous development of the proposed method is characterized in that the recorded medical parameters and / or image data are transmitted to a computer in a data network via a second data interface.
  • the second data interface receives data from the computer which are output on an optical and / or acoustic output unit of the device and / or which enable the robot manipulator RM to be controlled from the computer.
  • the robot manipulator RM is integrated into a lockable, air-conditioned room which has a device for killing microbiological germs in the room and the objects located therein, this device after the detection of the medical condition has ended the person is automatically activated when the person has left the room, no other person is in the room and the room is locked.
  • the device comprises a UV light source and / or chemicals that can be dispensed into the room and / or an ultrasound source.
  • An advantageous development of the proposed method is characterized in that there is an output unit for outputting optical and / or acoustic instructions to the person, the instructions depending on the determined current position (position / orientation) L KT, AKTk (t) des body part KT of the person related to the selected activity AKT k can be determined and output.
  • An advantageous development of the proposed method is characterized in that the robot manipulator RM is arranged in a space separated from the person by means of a partition, the partition having an opening, and the control unit controlling the robot manipulator RM in such a way that for sampling microbiological material the person only a distal end of a respective swab or a respective swab or a respective smear spatula or a respective biopsy needle is passed through the opening in the body part KT of the person to be examined.
  • An advantageous further development of the proposed method is characterized in that the opening on the side of the partition wall facing away from the room has a contact device for supported and / or guided contact of the body part to be examined.
  • FIG. 2 shows a highly schematic flow chart of a proposed method.
  • a fourth unit 106 which for each of the activities AKT k a target position L K T, SOLL, AKTk of the respectively assigned body part KT in the working area of the robot manipulator RM, a target movement of the robot manipulator RM MOVE , RM, AKTk as well as target interaction forces INT S o LL, AKTk (BEWEGso LL, RM, AKTk ) and target states of the effector Z EFF n , so Li _ (BEWEGso LL, RM, AKTk ) between the robot manipulator RM 101 and the body part KT during the execution of the target movement and the associated permissible deviations: ⁇ L «T, SOLL, AKTk, allowed, ⁇ BEWEGsoLL, AKTk, allowed,
  • ⁇ I NTsOLL, AKTk allowed (BEWEGsOLL, RM, AKTk) and ⁇ ZEFFÜ, SOLL, allowed (BEWEGsOLL, RM, AKTk) specifies, and a control unit 107, which is designed and set up for this purpose, the robot manipulator RM 101 when an activity AKT k is specified depending on: Z RM (t), AEZ EFF n, so LL, e ri dusted (BEWEGso LL, AKT n) to be controlled, wherein when one of the current states Z RM determined current motion (t) of the robot manipulator RM 101 or a currently detected force Winder KW (t) or The variable derived therefrom or a current state ZEFFW of the effector EFF n currently arranged on the robot manipulator RM 101
  • the robot manipulator RM 101 and the currently arranged effector EFF n 102 are controlled in a security state SZ RM (AKT n ), SZ E FFn (AKT n ) dependent on the currently selected activity AKT n , and furthermore the robot manipulator RM 101 and to control the effector EFF n 102 currently arranged thereon in such a way that image recordings and / or medical parameters and / or samples determined during the current execution of the activity AKT k are provided for further evaluation at a respective interface.
  • AKTI 3 Acquisition of image data of the entire person (AKTI 3 ) or of selected areas of the person, e.g. external auditory canal (AKT14), pharynx (AKTI 5 ), specified skin areas (AKTI 6 ), joints (AKTI 7 ), eyes (AKTI 8 ), feet (AKT »), hands (AKTI 7 ), head (AKTn,), neck (AKT 19 ), abdomen (AKT 20 ), back (AKT 2 I), with the following steps:

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Abstract

L'invention concerne un dispositif et un procédé de détection de l'état de santé d'une personne. Le dispositif de détection de l'état de santé d'une personne comprend au moins un manipulateur robotisé RM (101), qui est conçu et équipé pour recevoir et manipuler en alternance un nombre N de différents effecteurs EFFn (102) présents à l'extrémité distale du manipulateur robotisé, où n = 1, 2,..., N, chaque effecteur EFFn (102) permettant une activité AKTk sélectionnée, où k = 1, 2.., K et K ≥ 1 ; une première unité (103) destinée à déterminer l'état actuel ZRM(t) du manipulateur robotisé RM (101) et l'état actuel ZEFFn(t) d'un effecteur EFFn (102) actuellement agencé sur l'extrémité distale du manipulateur robotisé ; une deuxième unité (104) destinée à déterminer et/ou à spécifier mécaniquement, notamment de manière individualisée, la position actuelle ΕΚΤ,ΑΚΤk(t) d'une partie corporelle KT de la personne liée à une activité AKTk sélectionnée dans la région de travail du manipulateur robotisé RM (101) ; une troisième unité (105) destinée à déterminer une vis de force KW(t) agissant actuellement sur le manipulateur robotisé RM (101) ; une quatrième unité (106) qui spécifie des données cibles et des écarts admissibles correspondants pour chaque activité AKTk ; et une unité de commande (107) qui est conçue et équipée pour commander le manipulateur robotisé RM (101) lorsqu'une activité AKTk est spécifiée sur la base : de ZRM(t), de LKT,AKTk(t), de KW(t), des données cibles et des écarts admissibles, dès qu'un écart admissible est dépassé, le manipulateur robotisé RM (101) et l'effecteur EFFn (102) actuellement disposé sur ce dernier étant commandés dans un état de sécurité SZRM(AKTn), SZEFFn(AKTn) étant basé sur l'activité AKTn actuellement sélectionnée, et des échantillons et/ou des données déterminées au cours de l'activité AKTk actuellement en cours d'exécution étant fournis en vue d'une analyse ultérieure au niveau d'une interface respective.
EP21715489.7A 2020-03-18 2021-03-12 Dispositif et procédé de détection de l'état médical d'une personne Withdrawn EP4121255A1 (fr)

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DE102020001954.4A DE102020001954B4 (de) 2020-03-18 2020-03-18 Vorrichtung und Verfahren zur Erfassung eines medizinischen Status einer Person
PCT/EP2021/056288 WO2021185683A1 (fr) 2020-03-18 2021-03-12 Device and method for detecting the medical status of a person

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EP4121255A1 true EP4121255A1 (fr) 2023-01-25

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US (1) US20230329565A1 (fr)
EP (1) EP4121255A1 (fr)
JP (1) JP2023518095A (fr)
KR (1) KR20220154793A (fr)
CN (1) CN115151384A (fr)
DE (1) DE102020001954B4 (fr)
WO (1) WO2021185683A1 (fr)

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DE102021116881A1 (de) 2021-06-30 2023-01-05 Jens Uphoff Mobile Testkabine zur Aufnahme und Auswertung individualisierter Testproben

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US5086401A (en) 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US9675419B2 (en) * 2013-08-21 2017-06-13 Brachium, Inc. System and method for automating medical procedures
DE102016004837C5 (de) 2016-04-24 2023-02-23 Franka Emika Gmbh Steuerung eines aktorisch angetriebenen Robotermanipulators
KR20240035632A (ko) * 2017-05-12 2024-03-15 아우리스 헬스, 인코포레이티드 생검 장치 및 시스템
US11672412B2 (en) 2017-10-13 2023-06-13 Intuitive Surgical Operations, Inc. Systems and methods for detecting environmental forces on an elongate device

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KR20220154793A (ko) 2022-11-22
JP2023518095A (ja) 2023-04-27
CN115151384A (zh) 2022-10-04
DE102020001954B4 (de) 2023-06-22
WO2021185683A1 (fr) 2021-09-23
US20230329565A1 (en) 2023-10-19

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