JP2005334578A - Noninvasive system for diagnosing urination disorder by intelligence robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a person other than a specialist to perform diagnosis by allowing a doctor or a nurse to correctly calculate a urination parameter and an anatomical parameter without touching a subject, in order to solve the problem that a noninvasive urination disorder diagnosing system for not causing shyness due to the exposure of external genitalia and pain due to the insertion of a urethral catheter is expected to develop over the years when the urination disorder is diagnosed. <P>SOLUTION: Automatic measurement is performed with ultrasonic wave only by the urination in a normally seated posture. Automatic spraying is performed concerning the washing of a perineal region and ultrasonic observation jelly. The positioning of an inspection with an ultrasonic scanner is performed by automatic guidance with the use of an intelligence robot arm, so as to acquire and analyze an optimum image. An automatic tracking method with the intelligence robot is adopted which corresponds to the body movement of the subject. Consequently, the diagnosis in a general hospital or medical center is made possible. When the diagnosis by the specialist is required, the system gives the display and supports the diagnosis of the specialist in a remote place. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

The present invention relates to a non-invasive dysuria diagnosis system that does not give pain to a subject in diagnosing urination disorder in elderly people.

The IPSS score established by the World Health Organization in 1995 is well known for diagnosis of subjective symptoms of dysuria. As a method for measuring urine flow rate and residual urine, a method of automatically urinating with a device such as a Western-style toilet and automatically measuring urine output, urination time, and the like is known. The amount of residual urine includes a method of inserting a catheter from the urethra and discharging urine, and a method of judging an approximate amount from an image using ultrasound. In addition, depending on the symptoms of dysuria, intravenous urography or cystography may be performed with X-rays. As a test for the presence or absence of urethral stricture, a test using a cystoscope is also known (Non-Patent Document 1). There is also a method for evaluating the function by measuring the internal pressure of the bladder with a catheter inserted from the urethra. However, these examination techniques are painful invasive examinations for subjects such as exposure of external genitalia and insertion of catheters. It is the result of being released. Another problem is that previous tests could only be performed by urologists.

As for the prior art, the patent office's published patent front page search was conducted with a non-invasive urination disorder diagnosis or a non-invasive urination disorder diagnosis system, and it was recognized that there was no prior art or prior system. Furthermore, even when searching for dysuria and dysuria tests as keywords, there were no cases. When searching for dysuria, there were 39 patents for therapeutics and health supplements as improving drugs. These are a saw palmetto extract, a flavonoid derivative, an alkyldiamine derivative, and the like, and it is considered that there is no background technology from the viewpoint of the patent related to the present invention.

Urology Disease Author Hirofumi Koubun Nippon Medical Newspaper Inc. March 2004 and others

The problem to be solved by the present invention is that non-invasive urination that does not cause pain such as insertion of a urethral catheter, injection of a contrast medium, etc. 4. It must be a failure diagnosis, 3 be able to calculate accurate anatomical parameters without touching the subject, and 4 be able to make a simple diagnosis without being a urologist. For example, diagnosis by a specialist can be received by remote communication.

(1) Ordinary urination only in a sitting position, and automatic measurement by ultrasound 2, that is, a non-invasive dysuria diagnosis method. The automatic injection method is also used for cleaning, drying, and ultrasonic observation jelly during 3 measurements. 4 Optimal positioning of the inspection by the ultrasonic scanner is assumed to be automatic guidance with a learning function by an intelligent robot. 5 An intelligent robot automatic tracking system that can cope with slight movements of subjects. Enables simple diagnosis of urination disorder even in 6 general hospitals. 7 Develop Internet communication software and diagnostic software that enable consultation with specialists at remote locations. 8 Enable diagnosis support for specialists at general hospitals and clinics. These realizations are means for solving the problems.

The effect of dramatically improving the chances of consultation for patients suffering from dysuria is great. About half of adult women suffer from urinary incontinence, but they have not been able to attend a specialist because of shame. Catheter insertion is also painful in diagnosing dysuria due to enlarged prostate in older men. The present invention eliminates these obstacles and expands the chances of consultation. Furthermore, with proper urination management, it is said that diapers and urethral catheters can be removed in 30 to 40% of elderly people requiring care who have urinary incontinence or dysuria. Urinary catheter placement limits daily living activities, hurts human dignity, and induces bedridden patients. In that sense, the present invention improves the quality of life of the elderly and has the effect of suppressing the occurrence of bedridden elderly people. In addition, in an evolving network environment, it has the effect of greatly reducing medical costs by improving the efficiency of medical care through cooperation between regional clinics and specialists.

Prior to the visit, the perineum is automatically washed and dried in the sitting position, and then an ultrasonic measurement jelly is applied. After completing the preparation process, an intelligent robot arm equipped with an ultrasonic scanner is used for optimal position control and optimal image acquisition, and three-dimensional image processing is performed to calculate anatomical parameters. The three-dimensional image display by the ultrasonic scanner is first performed before urination. Next, an ultrasonic scan is executed during urination. Since the movement of the optimal position occurs due to the body movement of the subject, tracking is performed by a robot arm having a function of finely adjusting the deviation from the target site. This function allows accurate anatomical and urination parameters to be obtained and recorded on a personal computer. In addition, data after urination is collected and combined with three-dimensional ultrasound imaging information such as bladder capacity, bladder wall thickness, prostate volume, and residual urine volume after urination to improve the accuracy of urination disorder diagnosis Therefore, urination management support at the level of general medical care or nursing care can be easily realized.

By introducing diagnostic software, simple diagnosis can be made from anatomical and urinary parameters from before urination to after urination, and more accurate and quantitative urination disorder diagnosis than ISSP score and urine flow measurement becomes possible. It was. Simple diagnosis with accurate data can be done at general hospitals and clinics. If there is a problem with the diagnosis result, the introduced telemedicine support system will interact with the facility where the specialist is resident to evaluate the urination function more precisely. Regarding the diagnostic significance of changes in parameters such as urinary urinary flow rate, bladder wall thickness, and bladder inner diameter change at the time of urine drainage, the judgment of a specialist is required as necessary. In this way, the best mode for carrying out the present invention is to build a telemedicine support system in which support from specialists can be received anytime and anywhere.

This will be described with reference to FIG. Reference numeral 1 denotes a subject who is wearing the upper body. Sit in the normal sitting position on No. 2 toilet seat. A pressure sensor is arranged on the toilet seat. Reference numeral 3 denotes a perineum washing water reservoir 4, and automatically sprayed water and ultrasonic observation jelly nozzles 4 are attached to the reservoir, and move to predetermined positions during washing. This is an automatic injection system. Reference numeral 5 denotes a multi-axis robot arm connected to the control device, and a scanner and an ultrasonic oscillator 6 at the tip thereof are located under the perineum of the subject. Reference numeral 7 denotes a control device. Reference numeral 8 denotes a sensing system. Reference numeral 9 denotes a urine receptor connected to a urinometer. Reference numeral 10 denotes a carriage on which a diagnostic system device is mounted.

Subject 1 sits on 2 and sits on the elbow resting on the armrest as much as possible. The perineum was washed by 4 and applied with ultrasonic observation jelly. The transducer built in the scanner at the tip of the intelligent robot 5 scans, and the obtained two-dimensional image is three-dimensionally constructed to create a three-dimensional positional diagram of the urinary bladder and scanner. In the control device built in 7 for optimal position control of measurement and optimal image acquisition, three types of learning optimization systems were introduced: neural network for initial position guidance, neural network for optimal image acquisition, and neural network for automatic tracking, Advanced information built into 7 using multiple sensing information, such as pressure-sensitive sensor information built into the toilet seat, contact pressure between the sensor and skin, and sound generated by urine flow. An intelligent control system was constructed. In addition, it incorporates a function to fine-tune the tracking of the target site due to body movement during urination.

Diagnosis software automatically calculates bladder capacity, prostate volume, bladder wall thickness, bladder inner diameter, etc. before urination and asks the subject to urinate, urinary parameters and anatomy by urine flow measurement and urinary urinary flow rate measurement The parameter information is comprehensively used for diagnosis, and the need for diagnosis and consultation with a specialist is automatically displayed. For analysis of parameters such as bladder wall thickness and changes in bladder inner diameter, the patient was diagnosed by a telemedicine device with a specialist to obtain a precise urinary function result and transmitted to the subject.

In an aging society, urination disorder of elderly people has become a problem, and the system according to the present invention can be said to be a medical diagnostic system with a high social need. Of the estimated 10 million patients with dysuria, many are managed by non-urologists such as family doctors and geriatric insurance facilities. There are 13,000 target facilities such as regional hospitals, screening centers, and geriatric insurance facilities. In order to be introduced for simple diagnosis at these facilities, it can be provided as an easy-to-use device. As a non-invasive diagnosis of urination disorder, it becomes a popular new medical device and can create one medical industry. In addition, it has an element that can be used as a general-purpose dissemination device by adopting a remote medical cooperation system and establishing a telemedicine support system. The emergence of companies that participate in the production of equipment is likely to lead to the revitalization of local industries.

Aspects of non-invasive dysuria diagnostic system equipment using neural network

Explanation of symbols

1 Subject 2 Multiple toilet seats with pressure-sensitive sensors adopting a normal sitting position 3 Water storage tank for perineum washing 4 Washing water and ultrasonic jelly nozzle and automatic injector 5 Robot arm with learning function 6 Perineum A scanner at the tip of the arm located underneath and an ultrasonic transmitter 7 A control device with a built-in neural network function 8 Sensing system 9 Urine container 10 Carriage carrying the diagnostic system device of the present invention

Claims (3)

Image processing is performed by an ultrasonic scanner system with initial position guidance control and a learning function to determine the test position, contact pressure between the scanner and the perineum, and calculate anatomical parameters before, during and after urination Dysuria diagnosis system obtained by acquiring optimal images and analyzing measurement parameters The three-dimensional scanning of the transducer in the scanner automatically calculates the three-dimensional positional relationship of bladder capacity, prostate volume, bladder wall thickness, and bladder inner diameter from the three-dimensional image information before urination, and ultrasonic vibration at the optimal position for urination observation The child arm is placed, the urine flow rate measurement in the urethra during urination, the remaining amount after urination is tracked by the robot arm so that it can respond to unexpected movements of the subject, optimal image acquisition and analysis, diagnosis The non-invasive urinary dysfunction diagnosis system according to claim 1, wherein the diagnosis name and necessity of consultation with a specialist are automatically displayed by software, and remote diagnosis by a specialist is also possible. The non-invasive urinary dysfunction diagnosis system according to claim 1 and 2, which enables measurement of anatomical parameters with high accuracy by washing and drying of the perineum and scanner before and after the examination and automatic jetting of the ultrasonic observation jelly before the examination.

Images