JP2008167866A - Diagnostic robot, and control method and control program of diagnostic robot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a diagnostic robot finding the lesion of a child who can not fully have a conversation for instance, and to provide a control method and control program of the diagnostic robot. <P>SOLUTION: The diagnostic robot is provided with a reaction observation unit 6 for observing the reaction of a user when the finger 23a of the robot which is a member for palpation is pressed by a pressing unit 5. A lesion recognition unit 7 specifies a palpation point P<SB>max</SB>at which the reaction of the user observed by the reaction observation unit 6 is the largest among palpation points P<SB>1</SB>-P<SB>N</SB>set by a palpation point setting unit 4 and recognizes the palpation point P<SB>max</SB>as a lesion. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a diagnostic robot, a diagnostic robot control method, and a control program, for example, for finding an affected part of a child (for example, a 1 to 3 year old child) who cannot sufficiently talk.

A conventional diagnostic robot is equipped with an imaging unit that images a diagnostic part of a vehicle and an image holding part that holds a captured image in a normal state. Are compared, and the failure of the diagnosis part is diagnosed (see, for example, Patent Document 1).
That is, the conventional diagnostic robot is merely for diagnosing a failure of a machine such as a vehicle, and is essentially different from that for diagnosing a human being.

Japanese Patent Laying-Open No. 2005-324267 (paragraph number [0038], FIG. 1)

  Since the conventional diagnostic robot is configured as described above, it can diagnose a failure of a machine such as a vehicle, but, for example, an affected part of a child (for example, a 1 to 3 year old child) who cannot perform a conversation sufficiently There was a problem such as being unable to find.

  The present invention has been made to solve the above-described problems. For example, a diagnostic robot, a diagnostic robot control method, and a control program capable of finding an affected area of a child who cannot sufficiently communicate can be obtained. With the goal.

  The diagnostic robot according to the first aspect of the present invention is provided with reaction observation means for observing a user's reaction when the palpation member is pressed by the pressing means, and the affected part recognition means is the palpation point setting means. Among the one or more palpation points set by the above, the palpation point having the largest user response observed by the reaction observation means is specified, and the palpation point is identified as an affected part.

  According to the first aspect of the present invention, for example, an effect of finding an affected part of a child who cannot sufficiently perform a conversation can be obtained.

  A diagnostic robot according to a second aspect of the present invention captures a user when the palpation member is pressed by the pressing means, and observes a change amount of the user's video as a user's reaction. It is a thing.

  According to the second aspect of the present invention, there is an effect that the painful part can be examined even when the user cannot sufficiently talk.

  The diagnostic robot according to the third aspect of the invention collects the voice of the user when the palpation member is pressed by the pressing means, and observes the volume of the voice as a response of the user. It is a thing.

  According to the third aspect of the present invention, there is an effect that the painful part can be examined even when the user cannot sufficiently perform the conversation.

  According to a fourth aspect of the present invention, there is provided a diagnosis robot according to a fourth aspect of the present invention, wherein an affected part information registration unit is provided for registering information indicating a position of an affected part recognized by the affected part recognition unit in a browsing recording medium.

  According to the fourth aspect of the present invention, for example, an effect can be obtained in which the affected part can be grasped before a family, a doctor or the like performs full-scale treatment.

  According to the fifth aspect of the present invention, when the pressing means presses the palpation member against the palpation point set by the palpation point setting means, the user is inquired.

  According to the fifth aspect of the present invention, there is an effect that the user can easily understand that palpation is performed.

  According to a sixth aspect of the present invention, there is provided a diagnostic robot according to a sixth aspect of the present invention, wherein a vital information registration unit is provided for measuring a user's vitals and registering information indicating the vitals in a viewable recording medium.

  According to the sixth aspect of the invention, for example, there is an effect that a family, a doctor, or the like can easily grasp the patient's condition.

  According to a seventh aspect of the present invention, there is provided a diagnostic robot control method comprising: a reaction observation step of observing a user's reaction when a palpation member is pressed by a pressing unit; Among the one or more palpation points set by the point setting means, a palpation point having the largest user response observed by the reaction observation means is specified, and the palpation point is recognized as an affected part. .

  According to the seventh aspect of the present invention, for example, an effect of finding an affected part of a child who cannot sufficiently perform a conversation can be obtained.

  The diagnostic robot control program according to claim 8 is provided with a reaction observation processing procedure for observing a user's reaction when the palpation member is pressed by the pressing processing procedure. Among the one or more palpation points set by the palpation point setting processing procedure, the palpation point having the highest user response observed by the reaction observation processing procedure is identified, and the palpation point is identified as an affected part. It is a thing.

  According to the eighth aspect of the present invention, for example, an effect of finding an affected part of a child who cannot sufficiently perform a conversation can be obtained.

  According to this invention, the reaction observation means for observing the reaction of the user when the palpation member is being pressed by the pressing means is provided, and the affected part recognition means is one or more set by the palpation point setting means Since the palpation point with the greatest user response observed by the reaction observation means is identified and the palpation point is identified as the affected area, for example, sufficient conversation can be performed. It has the effect of finding the affected area of a child who cannot.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing the inside of a diagnostic robot according to Embodiment 1 of the present invention. In FIG. 1, a medical record recording unit 1 can be viewed by, for example, a family member or a doctor using a portable terminal or a personal computer. A possible electronic recording medium that records patient's personal information (eg name, age, address, phone number, blood type, body type (height, weight, sitting height, chest circumference, waist circumference, waist circumference, etc.)) I remember the medical record. As long as the medical record recording unit 1 is an electronic recording medium, any type of medium may be used. Therefore, for example, it can be configured by a hard disk or a database.
The patient information input receiving unit 2 is configured by a man-machine interface such as a keyboard and a mouse, for example, and performs a process of receiving input of personal information (for example, name) of a child who is a patient.

The body shape grasping unit 3 performs a process of collecting body shape information of a child who is a patient from the medical record recording unit 1, using the personal information received by the patient information input receiving unit 2 as a key.
However, the body shape grasping unit 3 is built in, for example, because the child cannot operate the patient information input receiving unit 2 to input personal information in a situation where only the child is at home, for example. A child, who is a patient, is photographed using the camera 3a, and the body shape is determined by analyzing the child's video.
The palpation point setting unit 4 refers to the child's body shape information collected by the body shape grasping unit 3 and performs a process of setting N palpation points P _n (n = 1, 2,..., N). .
The patient information input receiving unit 2, the body shape grasping unit 3, and the palpation point setting unit 4 constitute palpation point setting means.

The pressing unit 5 controls, for example, an actuator that drives the robot's hand, and performs a process of pressing the robot's hand against the palpation points P _{1 to} P _N set by the palpation point setting unit 4. The pressing unit 5 constitutes pressing means.
The reaction observation unit 6 includes, for example, a camera 6a and an image analysis unit 6b, and performs a process of observing a user's reaction when the hand of the robot is pressed by the pressing unit 5. The reaction observation unit 6 constitutes reaction observation means.
The camera 6a of the reaction observation unit 6 captures the user when the robot hand is being pressed by the pressing unit 5 and outputs a video of the user.
The reaction image analysis unit 6b of the observing unit 6 analyzes the change amount C ₁ -C _N of the video of the user output from the camera 6a, the memory 6c the variation C ₁ -C _N as the observation of the user's reaction Store.

The affected part recognition unit 7 identifies the palpation point having the largest user response observed by the reaction observation unit 6 among the palpation points P _{1 to} P _N set by the palpation point setting unit 4 and determines the palpation point. Implement a process to identify the affected area. In addition, the affected part recognition part 7 comprises the affected part recognition means.
The affected part information registration unit 8 performs a process of registering information indicating the position of the affected part recognized by the affected part recognition unit 7 in the chart recording unit 1. The affected area information registration unit 8 constitutes affected area information registration means.

  In the example of FIG. 1, the body shape grasping unit 3, the palpation point setting unit 4, the pressing unit 5, the reaction observation unit 6, the affected part recognition unit 7, and the affected part information registration unit 8, which are components of the diagnostic robot, For example, it is assumed that the device is composed of a semiconductor integrated circuit board on which an IC such as a CPU is mounted. However, when the diagnostic robot is composed of a computer, the body shape grasping unit 3 and the palpation point setting unit 4 , Processing contents of the pressing unit 5, the reaction observation unit 6, the affected part recognition unit 7, and the affected part information registration unit 8 (body type grasping processing procedure, palpation point setting processing procedure, pressing processing procedure, reaction observation processing procedure, affected part recognition processing procedure , The control program in which the affected area information registration processing procedure) is described is stored in the memory, and the CPU of the computer executes the control program stored in the memory. It may be.

2 is a front view showing the diagnostic robot according to the first embodiment of the present invention, and FIG. 3 is a side view showing the diagnostic robot according to the first embodiment of the present invention.
FIG. 2 and FIG. 3 show examples of a diagnostic robot that presses the palm or finger against a child who is a patient to find the affected area.
2 and 3, the upper arms 21a and 21b of the diagnostic robot are attached to shoulder joints 24a and 24b so that one end is movable, and the lower arms 22a and 22b are elbow joints 25a and 25b so that one end is movable. It is attached to 25b.
Further, fingers 23a and 23b of the diagnostic robot are attached to the wrist joint portions 26a and 26b so that one end thereof is movable.

The shoulder joint portions 24a and 24b are machines comprising, for example, an actuator that rotates the upper arm portions 21a and 21b in the direction of arrow A, an actuator that swings the upper arm portions 21a and 21b in the direction of arrow B under the instruction of the pressing portion 5. Is an element.
The elbow joint portions 25a and 25b are mechanical elements including an actuator that rotates the lower arm portions 22a and 22b in the direction of arrow C, for example, under the instruction of the pressing portion 5.
The wrist joint portions 26a and 26b are mechanical elements composed of, for example, an actuator for raising and lowering the fingers 23a and 23b under the instruction of the pressing portion 5.
In addition, the camera 3a of the body shape grasping unit 3 is mounted on the eyes 27a of the diagnostic robot, and the camera 6a of the reaction observation unit 6 is mounted on the eyes 27b of the diagnostic robot.
A speaker 9 is mounted on the mouth 28 of the diagnostic robot.
FIG. 4 is a flowchart showing a diagnostic robot control method according to Embodiment 1 of the present invention.

Next, the operation will be described.
For example, in a situation where a diagnosis robot is used in a hospital waiting room to grasp an affected area in advance of a doctor's examination, for example, a medical clerk or nurse can receive a patient information input reception unit 2 of the diagnosis robot. To input personal information (for example, name) of the child who is a patient (step ST1).
When the patient information input receiving unit 2 receives the input of the personal information of the child who is the patient, the body type grasping unit 3 collects the child's body type information from the medical record recording unit 1 using the personal information as a key, and the body type information To grasp the child's body shape (step ST2).
Here, the child's body type information is information indicating a child's height, weight, sitting height, chest circumference, abdominal circumference, waist circumference, and the like.

The body shape grasping unit 3 operates the patient information input receiving unit 2 when the child's personal information is not registered in the medical record recording unit 1 and the child's body shape information cannot be collected from the medical record recording unit 1. Built-in if you cannot enter the personal information of the child child (for example, you may not be able to enter personal information in situations where only the child is at home) A child, who is a patient, is photographed using the camera 3a, and the body shape is determined by analyzing the child's video. That is, the video is analyzed to measure the height, sitting height, chest circumference, abdominal circumference, etc. of the child.
When the camera 3a captures a child, if the distance from the camera 3a to the child is measured, the height and sitting height of the child can be calculated by comparing the distance with the size of the child in the video. .

However, when the camera 3a captures the child and grasps the child's body shape, the body shape grasping unit 3 analyzes the image of the child when the child is not standing upright, for example, when the child is crouched. However, since the body shape cannot be grasped, for example, a message instructing to get up and take an upright posture is output from the speaker 9 as a voice.
Needless to say, the “upright posture” is merely an example, and for example, a posture of sleeping on the back or a posture of sitting on a chair may be used.

When the body shape grasping unit 3 grasps the child's body shape, the palpation point setting unit 4 sets N palpation points P _{1 to} P _N according to the child's body shape (step ST3).
For example, when searching for an affected part from the torso of a child, as shown in FIG. 5, palpation points P _{1 to} P _N at equal intervals in the vertical and horizontal directions based on the child's sitting height and chest or abdominal circumference. Set.
FIG. 5 shows an example in which 5 points are set in the vertical direction and 6 points are set in the horizontal direction. However, this is only an example, and 6 or more points in the vertical direction and 7 or more points in the horizontal direction may be set.

When the palpation point setting unit 4 sets the palpation points P _{1 to} P _N , for example, when the setting is made to use the finger 23a of the robot as a member for palpation, the pressing unit 5 has a shoulder joint 24a and an elbow joint. and controls the parts 25a and wrist joints 26a, upper arm 21a, by driving the lower arm portion 22a and the finger 23a, to move the finger 23a of the robot until palpated points P _1, of the robot to the palpated points P ₁ The finger 23a is pressed (step ST4).

Reaction observation unit 6, when the pressing portion 5 is pressed against the finger 23a of the robot palpated points P _1, to observe the reaction of the user (Step ST5).
That is, the camera 6a reaction observing unit 6, when the pressing portion 5 is pressed against the finger 23a of the robot palpated points P _1, photographed user, outputs the video of the user to the image analysis unit 6b.
Storing the image analysis portion 6b of the reaction observing unit 6, when the camera 6a receives the image of the user, analyzes the change amount C ₁ in the user's video, the memory 6c the variation C ₁ as an observation amount of the user's reaction To do.
For example, the camera 6a is taken twice user chronologically, by comparing the latest image and the previous image, to measure the amount of deviation of the two images as a change amount C _1.

The rest part 5 pressed, when the reaction observation unit 6 to observe the reaction of the user in the palpated points P _1, again, shoulder joints 24a, and controls the elbow joint portion 25a and the wrist joints 26a, upper arm 21a, the lower arm by driving the parts 22a and finger 23a, to move the finger 23a of the robot until palpated points P _2, so that pressing the finger 23a of the robot on the palpated points P ₂ (step ST4).
When the pressing unit 5 presses the robot finger 23a against the palpation point P ₂ , the reaction monitoring unit 6 analyzes the change amount C ₂ of the user's video and observes the change amount C ₂ of the user's response. The quantity is stored in the memory 6c (step ST5).
The pressing unit 5 and the reaction observation unit 6 repeatedly perform the processes of steps ST4 and ST5 until the observation of the user's reaction at the _N palpation points P _{1 to} P _N is completed (step ST6).

When the reaction observation unit 6 observes the user's reaction at the palpation points P _{1 to} P _N , the affected part recognition unit 7 compares the observed amounts C _{1 to} C _N of the user's reaction at the palpation points P _{1 to} P _N. identifies the highest palpated points P _max is observables C ₁ -C _N in the palpated points P ₁ to P _N, certifies its palpated points P _max to the affected area (step ST7)
When the affected part recognition unit 7 recognizes the affected part as the affected part, the affected part information registering part 8 registers information indicating the position of the affected part (position of the palpation point _Pmax ) in the medical chart recording unit 1 (step ST8).
Accordingly, for example, if a family member, a doctor, or the like accesses the medical record recording unit 1 using a mobile terminal or a personal computer, the affected part of the child who is a patient can be grasped.

As apparent from the above, according to the first embodiment, the reaction observation unit that observes the reaction of the user when the finger 23a of the robot that is a palpation member is pressed by the pressing unit 5 6, the affected part recognition unit 7 specifies the palpation point P _max where the reaction of the user observed by the reaction observation unit 6 is the largest among the palpation points P _{1 to} P _N set by the palpation point setting unit 4. And since it comprised so that the palpation point _Pmax might be recognized as an affected part, there exists an effect which can find the affected part of the child who cannot fully talk, for example.

Also, according to the first embodiment, the user is photographed when the finger 23a of the robot, which is a palpation member, is pressed by the pressing unit 5, and the amount of change C _1- and then, it is observed C _N as a user of the reaction, even if the user can not be performed sufficiently conversation offers an advantage of being able to examine painful site.
Further, according to the first embodiment, since the affected part information registration unit 8 is configured to register the information indicating the position of the affected part recognized by the affected part recognition unit 7 in the medical record recording unit 1, for example, a family member or a doctor And the like have an effect of grasping the affected area before full-scale treatment.

In the first embodiment, the robot finger 23a is set to be used as a palpation member. However, this is merely an example. For example, the robot finger 23b, the palm of the robot, The robot elbow may be used as a palpation member.
The setting of the palpation member can be realized, for example, if a setting switch (not shown) is mounted on the robot.

  In this Embodiment 1, although it showed about what certifies the affected part of a child, it cannot be overemphasized, and you may make it certify the affected part of users other than a child.

Embodiment 2. FIG.
6 is a block diagram showing the inside of a diagnostic robot according to Embodiment 2 of the present invention. In the figure, the same reference numerals as those in FIG.
The microphone 6 d of the reaction observation unit 6 collects the voice of the user when the hand of the robot is pressed by the pressing unit 5.
The sound volume observing unit 6e of the reaction observing unit 6 stores the sound volumes V _{1 to} V _N of the user's voice collected by the microphone 6d in the memory 6c as the amount of user's reaction observed.

In the first embodiment, when the camera 6a of the reaction monitoring unit 6 is pressing the robot finger 23a against the palpation points P _{1 to} P _N by the pressing unit 5, the user is photographed and the user's video is displayed. Output to the image analysis unit 6b, and the image analysis unit 6b analyzes the change amounts C _{1 to} C _N of the user's video, and stores the change amounts C _{1 to} C _N in the memory 6c as observation amounts of the user's reaction However, as shown below, the user's voice volume V _{1 to} V _N may be stored in the memory 6c as an observation amount of the user's reaction.

In other words, the microphone 6d of the reaction observation unit 6, when the pressing portion 5 is pressed against the finger 23a of the robot in the palpated point P _1, by collecting the user's voice, the voice signal to the volume observation section 6e Output.
When receiving a sound signal from the microphone 6d, the sound volume observing unit 6e of the reaction observing unit 6 stores the sound volume V ₁ indicating the signal level of the sound signal in the memory 6c as an observed amount of the user's reaction.
Here, as mentioned above. Observing the response of the user in the state where the finger 23a of the robot is pressed against the palpated points P _1, reaction monitoring unit 6, as in the first embodiment, all of the The user's reaction at the palpation points P _{1 to} P _N is observed.

When the reaction observation unit 6 observes the user's reaction at the palpation points P _{1 to} P _N , the affected part recognition unit 7 compares the observation amounts V _{1 to} V _N of the user's reaction at the palpation points P _{1 to} P _N. identifies the highest palpated points P _max is observed amount V ₁ ~V _N in the palpated points P ₁ to P _N, certifies its palpated points P _max to the affected area.

As apparent from the above, according to the second embodiment, the voice of the user when the finger 23a of the robot as a palpation member is pressed by the pressing unit 5 is collected, Since the voice volumes V _{1 to} V _N are observed as the user's reaction, there is an effect that the painful part can be examined even when the user cannot sufficiently perform the conversation.

Embodiment 3 FIG.
FIG. 7 is a block diagram showing the inside of the diagnostic robot according to the third embodiment of the present invention.
In the first embodiment, the reaction observation unit 6 stores the change amounts C _{1 to} C _N of the user's video in the memory 6c as the observation amount of the user's reaction, and in the second embodiment, the volume V of the user's voice. _{Although 1 to} V _N is stored in the memory 6c as the observed amount of the user's reaction, the change amount C _{1 to} C _{N of} the user's video and the volume V _{1 to} V _N of the user's voice are converted into points. The total of the points may be stored in the memory 6c as an observation amount.

Specifically, it is as follows.
When the image analysis unit 6b of the reaction observation unit 6 analyzes the change amount C _n of the user's video in the same manner as in the first embodiment, the image analysis unit 6b compares the change amount C _n with the thresholds C _ref1 and C _ref2 (C _ref1> C _ref2), as shown below, in accordance with the comparison result, it determines the point CP _n relates the change amount C _n.
Change amount C _n point CP _n
C _n ≧ C _ref1 5
C _ref1 > C _n ≧ C _ref2 3
C _ref2 > C _n 1

When the volume observing unit 6e of the reaction observing unit 6 observes the volume V _n of the user's voice in the same manner as in the second embodiment, as shown below, according to the level of the volume V _n , Determine a point VP _n for V _n .
Volume V _n point VP _n
60 dB or more 20
59dB ~ 50dB 15
49dB ~ 40dB 11
39 dB to 30 dB 7
29dB ~ 20dB 3
19dB-10dB 2
9 dB to 0 dB 1

Accordingly, the memory 6c of the reaction observation unit 6 stores, for each palpation point P _n , the sum T _n (=) of the point CP _n determined by the image analysis unit 6b and the point VP _n determined by the volume monitoring unit 6e. CP _n + VP _n ) is stored as an observed amount of user reaction.
When the reaction observation unit 6 observes the user's reaction at the palpation points P _{1 to} P _N , the affected part recognition unit 7 compares the observed amounts T _{1 to} T _N of the user's reaction at the palpation points P _{1 to} P _N. identifies the highest palpated points P _max is observables T ₁ through T _N in the palpated points P ₁ to P _N, certifies its palpated points P _max to the affected area.
According to the third embodiment, since both the user's change amount and the voice are observed, there is an effect that the user's reaction can be accurately captured as compared with the first and second embodiments.

In the first to third embodiments, when the palpation point setting unit 4 sets the palpation points P _{1 to} P _N , the pressing unit 5 presses the robot's hand against the palpation points P _{1 to} P _N. However, when the pressing unit 5 presses the hand of the robot against the palpation points P _{1 to} P _N , for example, an inquiry may be performed for outputting a voice such as “Is this a pain?”. For example, the pressing unit 5 may have a built-in speaker and may be output through the built-in speaker. Thereby, the user can easily understand that palpation is performed.
As described above, when the pressing unit 5 makes an inquiry such as “Is this painful?”, The affected part recognition unit 7 responds to the inquiry by performing an operation such as “nodding”, for example. Alternatively, if a voice such as “pain” is uttered, the palpation points P _{1 to} P _N currently pressed by the robot's hand can be recognized as the affected part.
The user's operation such as “nodding” can be detected, for example, if the affected part recognition unit 7 is equipped with a camera or an image analysis unit. The user's voice such as “pain” can be detected, for example, if the affected part recognition unit 7 is equipped with a microphone or a voice recognition processing unit.

Embodiment 4 FIG.
FIG. 8 is a block diagram showing the inside of a diagnostic robot according to Embodiment 4 of the present invention. In the figure, the same reference numerals as those in FIG.
The vital measurement unit 10 is a sensor (for example, a sphygmomanometer, a thermometer, a hardness meter, a heart sound meter, a skin color tester, an echo tester, or the like) attached to the robot finger 23a, which is a palpation member, for example. When the hand of the robot is pressed against the palpation points P _{1 to} P _N by the abutment unit 5 or when the affected part is recognized by the affected part recognition unit 7, a process of measuring a child's vitals is performed. However, the vital measurement need not necessarily be in the middle of the reaction observation unit 6 observing the reaction.
The vital information registration unit 11 performs a process of registering information indicating the vital measured by the vital measurement unit 10 in the medical record recording unit 1.
The vital measurement unit 10 and the vital information registration unit 11 constitute vital information registration means.

In the first to third embodiments, the diseased part information registration unit 8 registers the information indicating the position of the affected part recognized by the affected part recognition unit 7 (position of the palpation point _Pmax ) in the medical record recording unit 1. Furthermore, information indicating the vitality of a child who is a patient may be registered in the medical record recording unit 1.
In other words, the vital measurement unit 10 is configured such that, for example, when the hand of the robot is pressed against the palpation points P _{1 to} P _N by the pressing unit 5 or when the affected part is recognized by the affected part recognition unit 7, Measure vitals.
When the vital measurement unit 10 measures the vitals of a child, the vital information registration unit 11 registers information indicating the vitals in the medical record recording unit 1.

  As apparent from the above, according to the fourth embodiment, since the patient's vitality is measured and information indicating the vital is registered in the medical record recording unit 1, for example, a family member or a doctor Etc. have the effect of easily grasping the patient's condition.

Embodiment 5. FIG.
9 is a block diagram showing the inside of a diagnostic robot according to Embodiment 5 of the present invention. In the figure, the same reference numerals as those in FIG.
The voice output unit 12 is composed of, for example, a voice synthesizer, and performs a process of outputting a voice message prompting a child, who is a patient, to touch a painful part with a hand. Note that the audio output unit 12 constitutes an audio output means.
The video registration unit 13 is equipped with a camera 13a, and after the audio is output from the audio output unit 12, the image of the hand position touched by the child who is a patient is photographed, and the image of the hand position is recorded. The process of registering in 1 is performed. The video registration unit 13 constitutes video registration means.

In the first to fourth embodiments described above, the diseased part recognition unit 7 identifies the diseased part based on the child's reaction observed by the reaction observation unit 6, but depending on the state of the child, the reaction does not appear remarkably. In some cases, the affected area cannot be accurately identified.
Therefore, in the fifth embodiment, the audio output unit 12 and the video registration unit 13 are mounted in order to assist in the identification of the affected area in the affected area identification unit 7.
Specifically, it is as follows.

The voice output unit 12 outputs a message prompting a child who is a patient to touch a painful part with a hand. Thereby, it is assumed that the child who is a patient touches the affected part with his / her hand.
After the sound is output from the sound output unit 12, the image registration unit 13 uses the mounted camera 13a to photograph the position of the hand touched by the child as a patient, and displays the image of the hand position. Register in the chart recording unit 1.
Thereby, if a family and a doctor look at the position of the hand in a picture, it can grasp an affected part.

  As is apparent from the above, according to the fifth embodiment, the voice output unit 12 that outputs a message prompting the child, who is a patient, to touch a painful part by hand, and the voice output unit 12 outputs the voice. After that, since it is configured to provide the video registration unit 13 for photographing the position of the hand touched by the user and registering the video of the hand position in the medical chart recording unit 1, the first to fourth embodiments. This has the effect that the affected part can be identified more accurately.

Embodiment 6 FIG.
In the said Embodiment 1-5, although shown about what registers the information (position of palpation point _Pmax ) which shows the position of the affected part recognized by the affected part recognition part 7 in the medical chart recording part 1, the affected part recognition part 7 is shown. When the affected part is recognized, the fact that the affected part has been recognized may be directly notified to, for example, a doctor's portable terminal.
At this time, a mechanism that allows a doctor or the like to remotely operate the diagnostic robot may be implemented. For example, a remote operation in which a diagnostic robot performs a procedure of attaching an AED for cardiac massage to a patient can be considered.
Alternatively, the affected part recognition unit 7 may mark the affected part of the patient to indicate that it is an affected part.
Further, the affected part recognition unit 7 may guide the coping method of the affected part and the consultation department.

  In the first to sixth embodiments, a case where a plurality of cameras (for example, the cameras 3a, 6a, and 13a) are mounted has been described. However, one camera is mounted on the diagnostic robot, and one camera is mounted. The camera may also function as the cameras 3a, 6a, and 13a.

It is a block diagram which shows the inside of the diagnostic robot by Embodiment 1 of this invention. It is a front view which shows the diagnostic robot by Embodiment 1 of this invention. It is a side view which shows the diagnostic robot by Embodiment 1 of this invention. It is a flowchart which shows the control method of the diagnostic robot by Embodiment 1 of this invention. Is an explanatory diagram showing the setting of the palpated points P ₁ to P _N. It is a block diagram which shows the inside of the diagnostic robot by Embodiment 2 of this invention. It is a block diagram which shows the inside of the diagnostic robot by Embodiment 3 of this invention. It is a block diagram which shows the inside of the diagnostic robot by Embodiment 4 of this invention. It is a block diagram which shows the inside of the diagnostic robot by Embodiment 5 of this invention.

Explanation of symbols

1 Medical record recording section (recordable recording media)
2 Patient information input reception part (Palpation point setting means)
3 Body shape grasping part (Palpation point setting means)
3a Camera 4 Palpation point setting part (Palpation point setting means)
5 Pushing part (Pushing means)
6 Reaction observation section (reaction observation means)
6a Camera 6b Image analysis part 6c Memory 6d Microphone 6e Volume observation part 7 Affected part recognition part (affected part recognition means)
8 affected area information registration section (affected area information registration means)
9 Speaker 10 Vital measurement part (Vital information registration means)
11 Vital information registration department (Vital information registration means)
12 Audio output unit (Audio output means)
13 Video registration unit (Video registration means)
13a Camera 21a, 21b Upper arm part 22a, 22b Lower arm part 23a, 23b Finger (member for palpation)
24a, 24b shoulder joint part 25a, 25b elbow joint part 26a, 26b wrist joint part 27a, 27b eye 28 mouth

Claims (8)

  A palpation point setting means for grasping a user's body shape and setting at least one palpation point, a pressing means for pressing a palpation member against the palpation point set by the palpation point setting means, and the pressing means The reaction observation means for observing the user's reaction when the palpation member is being pressed by and the one or more palpation points set by the palpation point setting means. A diagnostic robot comprising an affected area identifying means for identifying a palpation point having the greatest response from the user and identifying the affected area as an affected area.   The response observing means captures a user when the palpation member is being pressed by the pressing means, and observes a change amount of the user's video as a user's reaction. Diagnostic robot.   The response observation means collects a user's voice when the palpation member is being pressed by the pressing means, and observes the volume of the voice as a user's reaction. Or the diagnostic robot of Claim 2.   The affected part information registration means for registering information indicating the position of the affected part recognized by the affected part recognition means in a recordable recording medium is provided. Diagnostic robot.   5. The pressing device according to claim 1, wherein the pressing device makes an inquiry to the user when pressing the palpation member against the palpation point set by the palpation point setting device. Diagnostic robot.   6. The diagnosis according to any one of claims 1 to 5, further comprising vital information registration means for measuring a user's vitals and registering information indicating the vitals in a viewable recording medium. robot.   The palpation point setting means grasps the user's body shape and sets at least one or more palpation points, and the pressing means presses the palpation member against the palpation points set by the palpation point setting means. A pressing step, a reaction observing step in which the reaction observing means is in a state where the palpation member is pressed by the pressing means, and an affected part identification means are set by the palpation point setting means. A diagnostic robot comprising: an affected part identification step for identifying a palpated point with the greatest user response observed by the reaction observation means from among the one or more palpated points, and identifying the affected point as an affected part. Control method.   Grasping a user's body shape, setting at least one or more palpation points, a palpation point setting processing procedure, a pressing processing procedure for pressing a palpation member against the palpation points set by the palpation point setting processing procedure, and Among the one or more palpation points set by the reaction observation processing procedure for observing the reaction of the user when the member for palpation is pressed by the pressing processing procedure and the palpation point setting processing procedure, A diagnostic robot control program for identifying a palpation point having the greatest user response observed by the reaction observation processing procedure and causing the computer to execute an affected area recognition processing procedure for recognizing the affected area as an affected area.

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