JP2022163896A - Transportation means determination system, transportation means determination method, and program - Google Patents

Abstract

To provide a transportation means determination system, a transportation means determination method, and a program capable of selecting transportation means from among choices in emergency.SOLUTION: The transportation means determination system comprises: a lifesaving device capable of acquiring condition information and environment information; a server for acquiring the environment information and the condition information acquired from the lifesaving device; a terminal which is capable of acquiring the condition information and the environment information and remotely operating the lifesaving device and transmits to the server a result of determination based on the acquired condition information and environment information; and a transportation means determination unit which determines at least one transportation means from among a plurality of pieces of transportation means by using at least one piece of information from among the condition information, the environment information, and the determination result.SELECTED DRAWING: Figure 3

Description

The present invention relates to a transport means determination system, a transport means determination method, and a program.

A traffic signal control device has been proposed that enables emergency vehicles to reach their destinations more quickly and safely, and also enables them to minimize the occurrence of traffic jams, and achieves a balance between the two. (See, for example, Patent Document 1).
In addition, an emergency system has been proposed that can more accurately determine the need for transportation of a subject (see Patent Document 2, for example).

The traffic signal control device described in Patent Document 1 includes receiving means for receiving vehicle information transmitted from an emergency vehicle, recognition means for recognizing the type of emergency vehicle based on the vehicle information received by the receiving means, recognition setting means for setting a time for controlling the display of the traffic signal based on the type of emergency vehicle recognized by the means; and control means for controlling the display of the traffic signal corresponding to the time set by the setting means. .

The emergency system described in Patent Document 2 includes first display control means for displaying a screen for selecting one or more symptom items from a plurality of predetermined symptom items, and is set for each of the plurality of symptom items, each symptom A screen displayed by a first storage means for storing question contents consisting of a quantitative question to ask about quantity, a qualitative question to ask about nature, and a time question to ask about time with respect to symptoms indicated by the item, and first display control means second display control means for reading out from the first storage means and sequentially displaying on the screen the contents of quantitative questions, qualitative questions, and time questions set for the selected symptom item, and sequentially displayed by the second display control means. Symptom result judgment means for judging the result for each symptom according to the answer result to the question contents of each symptom item input on the screen, and the subject person based on the result for each symptom judged by the symptom result judgment means and a transportation determination means for determining whether or not transportation of the substrate is required.

Japanese Patent Application Laid-Open No. 2002-042291 JP 2017-138699 A

However, with the conventional technology, there are cases in which it is not possible to calmly select a transport means from among options in an emergency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and aims to provide a transportation means determination system, a transportation means determination method, and a program that can select a transportation means from options in an emergency. aim.

(1) In order to achieve the above object, a transport means determination system according to an aspect of the present invention includes: a lifesaving device capable of acquiring medical condition information and environmental information; a server that acquires information, the medical condition information and the environmental information can be acquired, the emergency equipment can be remotely operated, and a judgment result determined based on the acquired medical condition information and the environmental information is sent to the a terminal for transmitting information to a server; and a transport means determination unit that determines at least one transport means from among a plurality of transport means using at least one of the medical condition information, the environmental information, and the determination result. Prepare.

(2) Further, in the transport means determination system according to an aspect of the present invention, when the transport means is determined, the transport means determination unit transmits the medical condition information to the transport destination according to the determined transport means. good too.

(3) Further, in the transport means determination system according to one aspect of the present invention, when the transport means is determined, the transport means determination unit generates and transmits traffic control information of the transport route according to the determined transport means. You may do so.

(4) Further, in the transport means determination system according to one aspect of the present invention, the medical condition information includes at least one of patient history, respiratory condition, pulse rate, blood pressure value, body temperature, level of consciousness, and degree of bleeding. and the environmental information may be at least one of the number of people around the patient, information on ground and topography, and traffic volume in the surroundings.

(5) Further, in the transport means determination system according to an aspect of the present invention, the transport means determination unit may be provided in the server or the lifesaving device.

(6) In order to achieve the above object, a transport means determination method according to an aspect of the present invention includes: a lifesaving device acquires medical condition information and environmental information; Medical condition information is acquired, the terminal can acquire the medical condition information and the environmental information, the emergency device can be remotely operated, and a judgment result is determined based on the acquired medical condition information and the environmental information. is transmitted to the server, and the transport means determination unit determines at least one transport means from among a plurality of transport means using at least one of the disease condition information, the environment information, and the determination result.

(7) In order to achieve the above object, a program according to an aspect of the present invention causes a computer to acquire the environmental information and the medical condition information from the life-saving device that has acquired the medical condition information and the environmental information, and the terminal acquires the medical condition information and the medical condition information. Information and the environmental information can be acquired, the emergency medical device can be remotely operated, judgment results determined based on the acquired medical condition information and the environmental information are transmitted, and the emergency medical device is remotely operated. A terminal capable of acquiring the medical condition information and the environmental information, and acquiring a determination result made by the terminal based on the acquired medical condition information and the environmental information, and obtaining the medical condition information and the environmental information. , and at least one of the determination results to determine at least one of the plurality of transport means.

According to (1) to (7), the transportation means can be selected from the options in an emergency. According to (1) to (7), transportation methods can be expanded to other than ambulances, so ambulances can reach people who really need them. According to (1) to (7), the number of dispatches of ambulances can be reduced.
According to (2), the destination hospital can acquire the patient's condition information before the patient is transported, so that preparations can be made to receive the patient.
According to (3), traffic control during transportation of the patient can be performed according to the transportation means.

It is a figure which shows the structural example of the lifesaving robot which concerns on embodiment. It is a figure which shows the example of the outline of the lifesaving robot which concerns on embodiment. It is a figure which shows the structural example of the conveyance means determination system which concerns on embodiment. It is a figure which shows the data example which the database which concerns on embodiment stores. It is a figure which shows the structural example of the lifesaving robot which concerns on embodiment. It is a figure which shows the structural example of the server which concerns on embodiment. It is a figure which shows the structural example of the terminal which concerns on embodiment. FIG. 10 is a diagram showing examples of destinations; 4 is a flowchart of a procedure for determining a patient transport method according to the embodiment; It is a figure which shows the example of a process of the conveyance means determination system which concerns on embodiment.

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

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

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

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

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

[Configuration example of transport means determination system]
Next, a configuration example of the transport means determination system will be described. FIG. 3 is a diagram showing a configuration example of a transport means determination system according to the embodiment. As shown in FIG. 2, the transport means determination system 1 includes, for example, an ambulance robot 2, a server 3, a database 4, a patient's mobile phone 5-1, a caller's mobile phone 5-2, a doctor 101 in a hospital 100, etc. Terminal 6-1 used by, terminal 6-2 used by ambulance crew 111 rushing to the scene, terminal 6-3 used by remote-controlled paramedic 121, terminal 6-4 used by auxiliary paramedic 123 , and a terminal 6-5 used by the coordinator 131. In addition, the terminal 6 (6-1, 6-2, 6-3, 6-4, 6-5) is, for example, a smartphone, a tablet terminal, a notebook computer with a communication function, and at least one of dedicated equipment is. The caller's mobile phone 5-2 has a GPS receiver 51, for example.

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

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

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

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

[Configuration example of lifesaving robot]
First, a configuration example of the lifesaving robot 2 will be described.
FIG. 5 is a diagram showing a configuration example of the lifesaving robot according to the embodiment. As shown in FIG. 5, the lifesaving robot 2 includes, for example, a housing 200, a control unit 201, a storage unit 202, a drive unit 203, a power supply 204, a communication unit 205, a lighting device 206, a notification unit 207, a notification drive unit 208, It has an imaging device 209 , an imaging device driving section 210 , an arm 211 , a moving means 212 , a lifesaving equipment storage section 213 , an arm storage section 214 , and a sound pickup section 215 . In addition, the lifesaving robot 2 may be provided with the path|route generation part 216 and the conveyance means determination part 217 (conveyance means determination part). Note that the configuration shown in FIG. 5 is an example, and the configuration is not limited to this. The lifesaving robot 2 may be provided with other functional units, for example. In addition, the lifesaving robot 2 should just be provided with the one or more arms 211 which can be instruct|indicated with the pointer 2113 grade|etc.,.

The control unit 201 controls the operation of the lifesaving robot 2 according to the remote operation instruction received by the communication unit 205 . Or the control part 201 controls operation|movement of the lifesaving robot 2 based on the program which the memory|storage part 202 memorize|stores. The control unit 201 transmits images (for example, surrounding information D2) captured by the imaging device 209 to the server 3, the doctor 101, the ambulance crew 111, and the coordinator 131 via the communication unit 205. FIG. In addition, the control unit 201 receives medical information such as a vital check obtained by the caller or people at the scene by operating the life-saving tools, via the communication unit 205 to the server 3, the doctor 101, the ambulance crew 111, Send to coordinator 131 . The control unit 201 takes out the arm 211 from the arm storage unit 214 and controls it, for example, based on the remote control information. The control unit 201 stores the arm 211 in the arm storage unit 214 based on remote control information, for example. Thereby, according to this embodiment, when it is not used for emergency lifesaving, it can install compactly. The control unit 201 controls opening and closing of the lifesaving equipment storage unit 213, for example, based on remote control information. The control unit 201 controls the moving means 212, for example, based on remote control information. The control unit 201 switches the illumination of the illumination device 206 between an on state and an off state based on remote control information and an image captured by the imaging device 209 . The control unit 201 controls the operation of the arm 211 by driving the driving unit 203 based on remote control information, for example. Control unit 201 outputs information included in the remote operation information to notification unit 207 . Note that the remote control information may include text information, image information, voice information, and the like. The control unit 201 controls the operation of the arm 211 of the lifesaving robot 2 according to the remote operation instruction received by the communication unit 205 from the server 3 . Each of the arms 211 may be remotely operated by a different operator (eg, paramedic, auxiliary paramedic).

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

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

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

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

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

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

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

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

The notification drive unit 208 controls opening and closing of the first display device 2071, removal and storage of the second display device 2072 from the housing 200, direction and angle, removal and storage of the first speaker 2073 from the housing 200, direction and angle, and so on. , and the directions and angles of taking out and storing the second speaker 2074 from the housing 200 according to the control of the control unit 201 . The notification unit 207 of the embodiment can control the height, the orientation and angle in the vertical direction, and the orientation and angle in the horizontal direction, that is, the directivity. In the embodiment, in response to a remote operation instruction of at least one of the paramedic 121, the operator 122 and the auxiliary paramedic 123, the notification drive unit 208 controls the directivity of the notification unit 207, Information can be provided to the person who provided it or to the person who wants to convey it. Note that the notification driving unit 208 does not control the directions and angles of the speakers to control the directivity, but uses two speakers, for example, and controls the phases of the audio signals output from the two speakers. You may make it control the property according to control of the control part 201. FIG. Directivity control is used, for example, to ensure safety at the site or to calm down excited people around the patient. Alternatively, directivity control is used to instruct a person of the same sex as the patient to put on and take off clothes, or to instruct surrounding people to turn their backs to the patient when putting on and taking off clothes.

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

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

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

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

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

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

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

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

The route generation unit 216 performs the same processing as the route generation unit 306 of the server 3, for example.
The transport means determination unit 217 performs the same processing as the transport means determination unit 307 of the server 3, for example.

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

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

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

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

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

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

The route generation unit 306 selects the lifesaving robot 2 installed closest to the caller based on the caller's location information and the mobile phone 5-2's location information. The position information is generated based on data received by the GPS receiver 51 from GPS satellites, for example. The route generation unit 306 generates route information between the caller and the lifesaving robot 2 by using the positional information of the selected lifesaving robot 2 and the difference between the positional information of the caller and the environment data. The route may be generated in consideration of not only the shortest distance but also the surrounding road conditions, the number of people, the width of the road, and the like. The route generating unit 306 transmits the generated route information to the mobile phone 5-2 of the caller via the network NW. In addition, the lifesaving robot 2 may be provided with the path|route generation part.

The transportation means determination unit 307 determines whether or not the medical treatment or treatment is completed based on the acquired medical information such as the vital check and instructions from the paramedics. The transportation means determination unit 307 transmits a dispatch stop request to the terminal 6-2 of the ambulance crew 111 to monitor the dispatch of an ambulance when, for example, transportation by taxi becomes possible after treatment or treatment is completed. do. When the transportation means determination unit 307 determines that the medical treatment or treatment is not completed, it indicates that remote operation is still necessary and transmits information to the terminal 6-3 of the paramedic 121 or the like. In addition, the lifesaving robot 2 may be provided with the transport means determination part 217 (transport means determination part) which performs the process equivalent to the transport means determination part 307. FIG.

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

[Configuration example of terminal 6]
Next, a configuration example of the terminal 6 will be described.
FIG. 7 is a diagram showing a configuration example of a terminal according to this embodiment. As shown in FIG. 7, the terminal 6 includes a control unit 601, a storage unit 602, an operation unit 603, an image display unit 604, a sound pickup unit 605, an output unit 606, and a communication unit 607, for example. Note that the configuration of the terminal 6 shown in FIG. 7 is an example, and is not limited to this. For example, terminal 6 may be equipped with a GPS receiver 608 .

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

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

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

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

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

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

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

GPS receiver 608 generates location information using information received from GPS satellites.

[Determination of transport method and method of transport destination hospital]
Next, the determination of the method of transporting the patient and the method of determining the destination hospital will be described with reference to FIGS. 8 and 9. FIG.
FIG. 8 is a diagram showing examples of destinations. FIG. 9 is a flowchart of the procedure for determining the patient transport method according to this embodiment.

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

(Step S102) For example, the paramedic 121 remotely operates the paramedic robot 2 by operating the terminal 6-4 based on the medical condition information and environmental data received by the terminal 6-4, and and instruct the lifesaving robot 2 to treat the patient Huk. Based on the remote operation instructions received from the terminal 6-4, the server 3 controls the lifesaving robot 2 to treat the patient Huk and give instructions to the caller.

(Step S103) For example, the paramedic 121 determines whether the treatment of the patient Huk is completed based on the acquired medical condition information and environmental data. The paramedic 121 operates the terminal 6-4 to input the judgment result as to whether or not the treatment of the patient Huk is completed. The terminal 6-4 transmits the determination result to the server 3 via the network NW. The transportation means determination unit 307 determines whether or not the treatment of the patient Huk is completed based on the determination result received from the terminal 6-4. It should be noted that the transportation means determination unit 307 may determine whether or not the treatment of the patient Huk is completed based on the medical condition information and the environmental data. When the transport means determination unit 307 determines that the treatment of the patient Huk is completed (step S103; YES), the process proceeds to step S104. When the transportation means determination unit 307 determines that the treatment of the patient Huk has not been completed (step S103; NO), the process proceeds to step S105.

(Step S104) Based on the medical condition information and environmental data acquired from the lifesaving robot 2, the transportation means determination unit 307 determines that the patient Huk should be transported by another transportation means. Subsequently, the transportation means determination unit 307 transmits an instruction to stop the dispatch of the ambulance to the terminal 6-2 of the ambulance crew 111 via the network NW. Subsequently, the transportation means determination unit 307 arranges for another transportation means (for example, taxi g121). After processing, the transport means determination unit 307 ends the processing. The decision to transport the patient by other transport means may be made by the coordinator 131, the paramedic 121, or the like. In this case, the transport means determination unit 307, based on at least one of the judgment result of the coordinator 131 or the paramedic 121, the medical condition information, and the environmental data, the ambulance dispatch stop instruction and other transport means You may make arrangements. Further, even when the treatment is completed, the transportation means determination unit 307 determines a hospital (for example, a family hospital) based on the medical condition information and the environmental data in the same manner as in step S106, and sends the determined hospital to the medical condition information. You may make it transmit information and personal information. Therefore, the destination to which the patient Huk is transported by the other transportation means g121 may be the home g122 or the like, or the hospital g102.

(Step S105) The conveying means determination unit 307 determines whether or not a predetermined time has passed since the process was started by remote control, for example. In addition, the predetermined time is a time within the estimated arrival time of the ambulance g101 after the emergency call is made. When the conveying unit determination unit 307 determines that the predetermined time has passed (step S105; YES), the process proceeds to step S106. When the server 3 determines that the predetermined time has not elapsed (step S105; NO), the process returns to step S101.

(Step S106) The coordinator 131, based on the medical condition information and the environmental data acquired by the terminal 6-5, selects a candidate for a destination hospital as a judgment result indicating that the patient should be transported to a hospital. Based on the operation result of the coordinator 131, the terminal 6-5 transmits information on the candidate hospitals to which the patient is transferred to the server 3 via the network NW. The transport means determination unit 307 arranges the hospital g102 based on at least one of the medical condition information, the environmental data, and the determination result, and transmits the patient's personal information and medical condition information to the arranged hospital g102. As a result, according to this embodiment, the destination hospital can acquire the patient's condition information before the patient is transported, so that preparations can be made to receive the patient. In the embodiment, the "plurality of transportation means" are, for example, transportation means by an ambulance, transportation means by a taxi, transportation means by an attendant's car when there is an attendant, and the like.

(Step S107) The server 3 determines whether or not the ambulance g101 has arrived based on the result of the operation of the terminal 6-2 by the ambulance crew 111, for example. When the server 3 determines that the ambulance g101 has arrived (step S107; YES), it ends the process of determining the method of transporting the patient. When the server 3 determines that the ambulance g101 has not arrived (step S107; NO), the process returns to step S101.

In addition to notifying the ambulance crew 111 of whether or not to dispatch, the lifesaving robot 2 or the server 3 may generate traffic control information (signals, instructions to surrounding vehicles (especially effective for automatic driving)) of the transportation route. can be The lifesaving robot 2 or the server 3 may transmit the generated traffic control information to, for example, a traffic control center or a lifesaving center. Thus, according to the present embodiment, it is possible to perform traffic control on the transportation route according to the reaction means.

[Processing example of transport means determination system 1]
Next, a processing example of the transportation means determination system 1 of this embodiment will be described with reference to FIGS. 3, 5 to 7, and 10. FIG. FIG. 10 is a diagram showing a processing example of the transport means determination system according to this embodiment. In addition, in FIG. 10, "emergency rescue robot" is also described as "robot". Note that the example shown in FIG. 10 is an example in which the lifesaving robot 2 does not touch a person such as a patient, but instructs the surrounding people with the light of the pointer 2113, for example.

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

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

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

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

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

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

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

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

(Step S18) Medical information such as a vital check from the lifesaving robot 2 is transmitted from the server 3 to the terminal 6-5 of the coordinator 131. FIG. Further, the personal information of the patient (medical history, family hospital, etc.) is transmitted from the server 3 to the terminal 6-5 of the coordinator 131. FIG. For example, if the patient is conscious, ask the patient for the cell phone number. Obtained by making an emergency emergency call from mobile phone 5-1. The coordinator 131 lists candidates for the destination hospital based on the medical information such as the vital check and the personal information acquired by the terminal 6-5. The coordination and determination of the destination hospital may be performed by the coordinator 131 or by the server 3 .

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

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

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

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

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

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

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

Note that the processing procedure shown in FIG. 10 is an example, and is not limited to this. Some processes may be performed at the same time, and the procedures may be interchanged.

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

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

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

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

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

In addition, in embodiment mentioned above, although the example which one emergency rescue robot 2 instruct|indicates, treats, etc. was demonstrated, it does not restrict to this. The lifesaving robot 2 may transmit a support request to other lifesaving robots 2 in the vicinity to the server 3 via the network NW, depending on the situation at the site and the condition of the patient. The other emergency lifesaving robots 2 used for assistance are remotely controlled by an operator different from the operator of the emergency lifesaving robot 2 performing treatment.

As described above, the transport means determination system 1 of the present embodiment acquires the lifesaving robot 2 (a lifesaving device) capable of acquiring medical condition information and environmental information, and the environmental information and the medical condition information acquired from the lifesaving device. a server 3, a terminal 6 capable of acquiring medical condition information and environmental information, capable of remotely controlling an emergency device, and transmitting to the server 3 a decision result determined based on the acquired medical condition information and environmental information; and a transportation means determination unit 307 that determines at least one transportation means from among a plurality of transportation means using at least one information among the medical condition information, the environment information, and the determination result.

As a result, according to this embodiment, it is possible to select the transportation means from among the options in an emergency. In addition, according to the present embodiment, transportation methods other than ambulances can be used, so that ambulances can reach people who really need them. Further, according to the present embodiment, a request for traffic control and traffic control can be performed according to the transport means.

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

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

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

DESCRIPTION OF SYMBOLS 1... Conveyance means determination system, 2... Emergency rescue robot, 200... Case, 201... Control part, 202... Storage part, 203... Drive part, 204... Power supply, 205... Communication part, 206... Lighting device, 207... Notification Unit 208 Notification driving unit 209 Imaging device 210 Imaging device driving unit 211, 211a, 211b Arms 212, 212a, 212b Moving means 215 Sound collection unit 216 Path generation unit 217 ... conveying means determination unit,
2071 First display device 2072 Second display device 2073 First speaker 2074 Second speaker 2091 First photographing device 2092 Second photographing device 2111 Arm 2112 Hand 2113 ... pointer, 2114 ... sensor,
301... Disease data control unit 302... Robot data control unit 303... Environment data control unit 304... Storage unit 305... Communication unit 306... Route generation unit 307... Transport means determination unit 308... Directivity determination unit ,
DESCRIPTION OF SYMBOLS 601... Control part 602... Storage part 603... Operation part 604... Image display part 605... Sound collection part 606... Output part 607... Communication part 608... GPS receiver

Claims (7)

A life-saving device capable of acquiring medical condition information and environmental information,
a server that acquires the environmental information and the medical condition information acquired from the lifesaving device;
a terminal capable of acquiring the medical condition information and the environmental information, capable of remotely controlling the emergency medical device, and transmitting to the server a determination result determined based on the acquired medical condition information and the environmental information;
a transport means determination unit that determines at least one transport means from among a plurality of transport means using at least one of the medical condition information, the environment information, and the determination result;
A vehicle determination system comprising: When the transportation means is determined, the transportation means determination unit transmits the medical condition information to the transportation destination according to the determined transportation means.
The transportation means determination system according to claim 1. When the transportation means is determined, the transportation means determination unit generates and transmits traffic control information for the transportation route according to the determined transportation means.
3. The transportation means determination system according to claim 1 or 2. the medical condition information is at least one of a patient's medical history, respiratory condition, pulse rate, blood pressure value, body temperature, level of consciousness, and degree of bleeding;
The environmental information is at least one of the number of people around the patient, information about ground and topography, and surrounding traffic volume.
The transportation means determination system according to any one of claims 1 to 3. The transport means determination unit is provided in the server or the lifesaving device,
The transportation means determination system according to any one of claims 1 to 4. The lifesaving equipment acquires medical condition information and environmental information,
The server acquires the environmental information and the medical condition information acquired from the lifesaving device,
The terminal is capable of acquiring the medical condition information and the environmental information, is capable of remotely controlling the emergency medical device, and transmits to the server a determination result determined based on the acquired medical condition information and the environmental information. ,
a transport means determination unit that determines at least one transport means from among a plurality of transport means using at least one of the medical condition information, the environmental information, and the determination result;
How to determine means of transport. to the computer,
obtaining the environmental information and the medical condition information from the lifesaving device that has acquired the medical condition information and the environmental information;
the terminal is capable of acquiring the medical condition information and the environmental information, is capable of remotely controlling the emergency medical device, and transmits a determination result determined based on the acquired medical condition information and the environmental information;
A terminal capable of remotely controlling the lifesaving device and capable of acquiring the medical condition information and the environmental information, wherein the terminal acquires a determination result determined by the terminal based on the acquired medical condition information and the environmental information,
determining at least one transport means from among a plurality of transport means using at least one of the medical condition information, the environmental information, and the determination result;
program.

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