JP6764747B2 - Massage machine and remote diagnostic system equipped with it - Google Patents

Description

The present invention relates to a massage machine such as a chair-type massage machine and a remote diagnostic system including the massage machine.

Patent Document 1 discloses a remote diagnostic apparatus including a subject-side component and an examiner-side component connected to the subject-side component via a communication network. The subject side component is provided with a group of electroacoustic converters. The electroacoustic converter group consists of a plurality of electroacoustic converters arranged in a matrix. The electroacoustic transducer detects an auditory signal spontaneously radiated from the subject's body. For example, the subject-side component selects a predetermined electro-acoustic converter from a plurality of electro-acoustic converters based on a command from the inspector-side component, and the auditory sound detected by the selected electro-acoustic converter. The signal is acquired and transmitted to the inspector side component.

JP-A-9-238938

In the subject-side component described in Patent Document 1, the detection position for detecting the hearing signal from the back of the subject is limited to the position where the electroacoustic converter is arranged. Therefore, it is difficult to acquire the auscultation signal from a position suitable for auscultation. Further, the more the detection position of the listening signal is to be increased, the more electro-acoustic converters are required, which increases the cost.
An object of the present invention is to provide a massage machine capable of acquiring body sounds from a position suitable for auscultation and a remote diagnostic system including the massage machine.

One embodiment of the present invention includes an electronic stethoscope for detecting the body sound of the treated person from the back side of the treated person in a massage machine having a backrest portion for supporting the upper body of the treated person. To move the electronic stethoscope supported by the backrest portion in the vertical direction of the backrest portion, the lateral direction of the backrest portion, and the front-back direction of the thickness direction of the backrest portion. only contains the electronic stethoscope moving mechanism, and a control means for controlling the electronic stethoscope moving mechanism, the operation mode of the massage machine performs diagnostics using the massage mode for massaging, the electronic stethoscope There is a diagnostic mode, and when the operation mode is switched from the diagnostic mode to the massage mode, the control means controls the electronic stethoscope moving mechanism to move the electronic stethoscope to a predetermined first retracted position. Provide a massage machine that moves to and stops .

In this configuration, the electronic stethoscope can be moved in the left-right direction, the up-down direction, and the front-back direction, so that the body sound can be acquired from a position suitable for auscultation. Further, in this configuration, the body sound can be detected at an arbitrary position within a certain detection range without arranging the electronic stethoscopes in a matrix, as compared with the case where the electronic stethoscopes are arranged in a matrix. , The number of electronic stethoscopes is small.

In one embodiment of the present invention, the electronic stethoscope moving mechanism includes a frame movably supported in the vertical direction with respect to the backrest portion and a first moving body movably attached to the frame in the horizontal direction. To move the frame in the vertical direction with respect to the second moving body and the backrest portion, which are movably attached to the first moving body in the front-rear direction and to which the electronic stethoscope is attached. A vertical movement mechanism, a left-right movement mechanism for moving the first moving body in the left-right direction with respect to the frame, and a second moving body for moving the second moving body in the front-rear direction with respect to the first moving body. Including the front-back movement mechanism of.

In one embodiment of the present invention, an attachment mechanism for attaching the electronic stethoscope to the second mobile body is included, and the attachment mechanism rotatably connects the electronic stethoscope to the second mobile body. Includes a coupling mechanism for
In one embodiment of the present invention, an attachment mechanism for attaching the electronic stethoscope to the second moving body is included, and the attaching mechanism is held by the second moving body so as to be movable in the front-rear direction, and the electronic auscultation is performed. It includes a movable body to which the vessel is attached to the front end side, and an urging member that urges the movable body forward.

In one embodiment of the present invention, a mounting mechanism for mounting the electronic stethoscope on the second moving body is included, and the mounting mechanism includes a movable body held by the second moving body so as to be movable in the front-rear direction. It includes an urging member that urges the movable body forward, and a connecting mechanism for rotatably connecting the electronic stethoscope to the movable body.
In one embodiment of the present invention, the electronic stethoscope moving mechanism and the electronic stethoscope constitute a back auscultation unit, and the backrest is provided with a pair of left and right guide rails extending in the vertical direction. The frame of the back auscultation unit is attached to the pair of guide rails so as to be movable in the vertical direction.

In one embodiment of the present invention, a massage unit is attached to the pair of guide rails so as to be arranged below the back auscultation unit so as to be movable in the vertical direction, and a massage unit for performing massage using a kneading ball is provided. further seen including, when the operation mode from the massaging mode to the diagnostic mode is switched, the control means controls the electronic stethoscope moving mechanism moves the massage unit to a predetermined second retracted position To stop .
The remote diagnostic system according to the present invention includes a massage machine according to the present invention and a diagnostician side system connected to the massage machine via a network.

FIG. 1 is a schematic diagram showing a schematic configuration of a remote diagnosis system using a chair-type massage machine according to an embodiment of the present invention. FIG. 2 is a partially cutaway perspective view showing the appearance of the chair-type massage machine. FIG. 3 is a perspective view illustrating the configuration of the massage unit. FIG. 4 is a perspective view illustrating the configuration of the back auscultation unit. FIG. 5A is a schematic perspective view showing the appearance of the stethoscope unit. FIG. 5B is a perspective view in which the case and the block are omitted from FIG. 5A. FIG. 5C is a perspective view in which a portion other than the block is omitted from FIG. 5A. FIG. 6 is an illustrated diagram for explaining a front-back movement mechanism for moving the second moving body in the front-rear direction and a mounting mechanism for attaching the back electronic stethoscope to the second moving body. 7A and 7B are cross-sectional views showing a mounting mechanism for mounting the back electronic stethoscope on the second moving body, FIG. 7A is a cross-sectional view showing a normal state, and FIG. 7B is a back electronic auscultation. It is sectional drawing which shows the state which the vessel is pressed against the body. FIG. 8 is a block diagram showing the electrical configuration of the chair-type massage machine. 9A and 9B are sectional views showing another example of an attachment mechanism for attaching the back electronic stethoscope to the second moving body, FIG. 9A is a sectional view showing a normal state, and FIG. 9B is a sectional view showing a normal state. , It is sectional drawing which shows the state which the back electronic stethoscope was pressed against the body. It is a graph which shows an example of the relationship between the movement distance which the back electronic stethoscope moved forward, and the pressing force which a back electronic stethoscope presses a body.

Hereinafter, embodiments when the present invention is applied to a chair-type massage machine will be described in detail with reference to the accompanying drawings.
FIG. 1 is a schematic diagram showing a schematic configuration of a remote diagnosis system using a chair-type massage machine according to an embodiment of the present invention.
The remote diagnosis system 301 includes a chair-type massage machine 1 and a diagnostician-side system 3 connected to the chair-type massage machine 1 via a network 2 such as the Internet.

The diagnostician side system 3 includes a control device 4, a display device 5, a keyboard 6, a mouse 7, a microphone 8, a speaker 9, and the like. The display device 5, the keyboard 6, the mouse 7, the microphone 8, and the speaker 9 are connected to the control device 4. The control device 4 is composed of a computer and is connected to the network 2 via a communication unit (not shown). The keyboard 6 and the mouse 7 are for the doctor 150 to input a command to the control device 4.

FIG. 2 is a partially cutaway perspective view showing the appearance of the chair-type massage machine 1.
The chair-type massage machine 1 includes a seat portion 11, a backrest portion 12, an elbow rest portion 13, an ottoman (leg rest portion) 14, and a base portion 10 as a base thereof.
In the following description, the front-back direction, the left-right direction, and the up-down direction are the front-back direction, the left-right direction, and the up-down direction as seen from the treated person when the treated person sits on the chair-type massage machine 1 in a normal posture. It shall be referred to as the vertical direction. The front-rear direction, the left-right direction, and the up-down direction coincide with the thickness direction, the horizontal direction, and the vertical direction of the backrest portion 12, respectively.

The seat portion 11 is arranged on the base portion 10. The backrest portion 12 is arranged at the rear portion of the seat portion 11. The elbow rest 13 is arranged on both the left and right sides of the seat 11. The ottoman 14 is arranged on the front side of the seat portion 11. The backrest portion 12 is supported by an actuator 15 for rotating the backrest (see FIG. 8) so as to be tiltable with respect to the seat portion 11. Further, the ottoman 14 can be rotated about a support shaft extending in the left-right direction provided near the upper portion of the seat portion by the ottoman rotation actuator 16 (see FIG. 8).

The backrest portion 12 includes a massage unit 17 and a back auscultation unit 18. The massage unit 17 is for performing various massages using the kneading ball 41. The back auscultation unit 18 includes a back electronic stethoscope 81 that comes into contact with the back side of the person to be treated and detects body sounds (heart sounds, lung sounds, etc.) generated from the inside. The backrest portion 12 is provided with a pair of left and right U-shaped guide rails 19, 20 (see FIGS. 3 and 4) extending in the vertical direction, and the massage unit 17 and the back auscultation unit 18 are guided rails 19, 20. It can be moved up and down along the rail. The detailed configuration of the massage unit 17 and the back auscultation unit 18 will be described later.

Airbags (not shown) are provided on the seat portion 11, the elbow rest portion 13, and the ottoman 14. Each airbag has a flat shape when contracted, and by appropriately expanding, a pressing stimulus is applied to the person to be treated.
A display device 21, a camera 22, a microphone 23, a speaker 24, and the like are attached to one of the armrests 13. In the chair-type massage machine 1, the front electronic stethoscope 25 for contacting the chest side of the patient and detecting the body sound generated from the inside and the chair-type massage machine 1 are operated by the patient. It is equipped with a remote controller (remote control) 26 (see FIG. 8) for the purpose.

FIG. 3 is a perspective view illustrating the configuration of the massage unit 17.
The massage unit 17 is attached to the guide rails 19 and 20 so as to be able to move up and down. The massage unit 17 includes a rectangular frame-shaped main frame 31. A guide shaft 32 extending in the left-right direction and an elevating drive shaft 33 are rotatably attached to the main frame 31. The guide shaft 32 is arranged above the main frame 31, and the elevating drive shaft 33 is arranged below the main frame 31. Both ends of the guide shaft 32 and the elevating drive shaft 33 project outward from both sides of the main frame 31. Guide rollers 34 guided by the guide rails 19 and 20 are attached to both ends of the guide shaft 32. Pinion gears 35 that mesh with racks (not shown) provided on the guide rails 19 and 20 are attached to both ends of the elevating drive shaft 33. An elevating motor 36 for rotating the elevating drive shaft 33 is attached to the main frame 31. The elevating motor 36 is connected to the elevating drive shaft 33 via a gear mechanism 37. By rotating the elevating motor 36, the massage unit 17 is elevated and lowered along the guide rails 19 and 20.

The massage unit 17 is provided with an elevating position sensor 38 for detecting the elevating position (vertical position) of the massage unit 17 by detecting the amount of rotation of the elevating drive shaft 33. The elevating position sensor 38 includes a rotary encoder for detecting the amount of rotation of the elevating drive shaft 33.
A swing frame 39 is swingably attached in the front-rear direction to the intermediate portion of the length of the lift drive shaft 33. A pair of left and right kneading balls 41 and a kneading ball driving unit 40 having a driving mechanism thereof are attached to the swing frame 39. The main frame 31 is provided with a kneading ball drive unit advancing / retreating mechanism for advancing / retreating the swing frame (kneading ball driving unit) in the front-rear direction.

The kneading ball drive unit advancing / retreating mechanism will be described. An advancing / retreating shaft 42 arranged below the guide shaft 32 and extending in the left-right direction is rotatably attached to the main frame 31. An advancing / retreating motor 43 for rotating the advancing / retreating shaft 42 is attached to one side of the main frame 31. The advancing / retreating motor 43 is connected to the advancing / retreating shaft 42 via a gear mechanism 44. A pair of left and right pinion gears 45 are attached to the intermediate portion of the length of the advancing / retreating shaft 42. An arc-shaped rack 46 that meshes with a pair of left and right pinion gears 45 is provided on the upper portion of the swing frame 39. When the advancing / retreating shaft 42 is rotated by the advancing / retreating motor 43, the pinion gear 45 is rotated and the arc-shaped rack 46 is moved. As a result, the swing frame 39 swings around the elevating drive shaft 33. As a result, the kneading ball driving unit 40 (kneading ball 41) moves forward and backward.

The massage unit 17 is provided with a front-rear position sensor 47 for detecting the front-rear position of the kneading ball drive unit 40 by detecting the amount of rotation of the advance / retreat shaft 42. The front-rear position sensor 47 includes a rotary encoder for detecting the amount of rotation of the advance / retreat shaft 42.
The kneading ball drive unit 40 includes a hitting mechanism that performs a hitting operation by swinging the kneading ball 41 in the front-rear direction, and a kneading mechanism that performs a kneading operation by eccentrically rotating the kneading ball 41. The tapping mechanism includes a tapping motor 48 as a driving device. The kneading mechanism includes a kneading motor 49 as a driving device.

FIG. 4 is a perspective view illustrating the configuration of the back auscultation unit.
Like the massage unit 17, the back auscultation unit 18 is supported up and down with respect to the guide rails 19 and 20. The back auscultation unit 18 is located above the massage unit 17.
The back auscultation unit 18 includes a rectangular frame-shaped frame 61. The frame 61 is composed of a pair of left and right side plates 61A and 61B and a pair of upper and lower rails 61C and 61D connecting these side plates 61A and 61B. The upper rail 61C has a U-shaped cross section that opens downward. The lower rail 61D has a U-shaped cross section that opens upward. A rack 62 extending along the lower rail 61D is provided on the inner surface of the lower rail 61D. A rack 62 extending along the upper rail 61C is also provided on the inner surface of the upper rail 61C.

On the lower surface of the lower rail 61D, a guide shaft 64 arranged below the lower rail 61D and extending in the left-right direction is rotatably attached via a pair of left and right bearings 65. On the upper surface of the upper rail 61C, an elevating drive shaft 66 arranged above the upper rail 61C and extending in the left-right direction is rotatably attached via a pair of left and right bearings 67. Both ends of the guide shaft 64 and the elevating drive shaft 66 project outward from the side plates 61A and 61B of the frame 61 in a plan view. Guide rollers 68 guided by the guide rails 19 and 20 are attached to both ends of the guide shaft 64. Pinion gears 69 that mesh with racks (not shown) provided on the guide rails 19 and 20 are attached to both ends of the elevating drive shaft 66.

An elevating motor 70 for rotating the elevating drive shaft 66 is attached to the upper surface of the upper rail 61C via an attachment member 71. The elevating motor 70 is connected to the elevating drive shaft 66 via gears 72 and 73. By rotating the elevating motor 70, the back auscultation unit 18 is elevated and lowered along the guide rails 19 and 20.
Although not shown in FIG. 4, the back auscultation unit 18 has an elevating position for detecting the elevating position (vertical position) of the back auscultation unit 18 by detecting the amount of rotation of the elevating drive shaft 66. A sensor 74 (see FIG. 8) is provided. The elevating position sensor 74 includes, for example, a rotary encoder for detecting the amount of rotation of the elevating drive shaft 66.

A stethoscope unit 80 including a back electronic stethoscope 81 is attached to a pair of upper and lower rails 61C and 61D so as to be movable in the left-right direction.
FIG. 5A is a schematic perspective view showing the appearance of the stethoscope unit 80. FIG. 5B is a perspective view in which the case and the block are omitted from FIG. 5A. FIG. 5C is a perspective view in which a portion other than the block is omitted from FIG. 5A.

With reference to FIGS. 4 and 5A-5C, the stethoscope unit 80 is attached to the first mobile body 82, the lateral movement mechanism for moving the first mobile body 82 in the left-right direction, and the first mobile body 82. A second moving body 83 movably attached in the front-rear direction, a front-back moving mechanism for moving the second moving body 83 in the front-rear direction with respect to the first moving body 82, and a mounting mechanism on the second moving body 83. Includes a back electronic stethoscope 81 attached via.

The first moving body 82 has a rectangular parallelepiped case 82A that is long in the left-right direction when viewed from the front-rear direction and flat in the front-rear direction, and a block 82B formed at the center of the width of the case 82A. .. The block 82B has a rectangular shape when viewed from the front-rear direction. The lateral movement mechanism penetrates one side of the case 82A in the vertical direction and penetrates the guide shaft 85 rotatably attached to the case 82A and the other side of the case 82A in the vertical direction to rotate the case 82A. Includes a drive shaft 86 for lateral movement attached to. Guide rollers 87 guided by rails 61C and 61D are attached to both ends of the guide shaft 85. Pinion gears 88 that mesh with the racks 62 provided on the rails 61C and 61D are attached to both ends of the lateral movement drive shaft 86.

A lateral movement motor 89 (see FIG. 5B) for rotating the lateral movement drive shaft 86 is attached to the rear surface of the first moving body 82. The lateral movement motor 89 is connected to the lateral movement drive shaft 86 via gears 90 and 91. By rotating the lateral movement motor 89, the stethoscope unit 80 is laterally moved along the rails 61C and 61D.
Although not shown in FIGS. 4 and 5A to 5C, the stethoscope unit 80 is in a lateral position (horizontal position) of the stethoscope unit 80 by detecting the amount of rotation of the lateral movement drive shaft 86. A horizontal position sensor 92 (see FIG. 8) is provided for detecting the above. The lateral position sensor 92 includes a rotary encoder for detecting the amount of rotation of the lateral movement drive shaft 86.

The second moving body 83 is attached to the block 82B so as to be movable in the front-rear direction. The block 82B is formed with a ball screw insertion hole 94 (see FIG. 5C) that penetrates the block 82B in the front-rear direction at the center when viewed from the front-rear direction, and also penetrates the block 82B in the front-rear direction around the ball screw insertion hole 94 (see FIG. 5C). A plurality of guide holes 95 are formed.
FIG. 6 is an illustrated diagram for explaining a back-and-forth movement mechanism for moving the second moving body in the front-rear direction and a mounting mechanism for attaching the back electronic stethoscope to the second moving body. 7A and 7B are cross-sectional views showing a mounting mechanism for mounting the back electronic stethoscope on the second mobile body. FIG. 7A is a cross-sectional view showing a normal state, and FIG. 7B is a cross-sectional view showing a state in which the back electronic stethoscope is pressed against the body.

The second moving body 83 has a pair of front and rear disc-shaped members 83A and 83B and a plurality of connecting rods 83C through which a plurality of guide holes 95 of the block 82B are inserted and connecting both disc-shaped members 83A and 83B. Including.
The front-back movement mechanism includes a ball screw 96 for moving the second moving body 83 in the front-rear direction with respect to the block 82B, and a back-and-forth movement motor 97 for driving the ball screw 96. The ball screw 96 is screw-fitted into a screw shaft 96A whose both ends are fixed to a pair of front and rear disc-shaped members 83A and 83B of the second moving body 83 and a screw shaft 96A by inserting the ball screw insertion hole 94 of the block 82B. It is composed of a nut 96B that is rotatably and immovably inserted into the ball screw insertion hole 94, and a hard ball 96C that rolls between the screw shaft 96A and the nut 96B.

A cylindrical member 98 is integrally provided at the rear end of the nut 96B. The rear end of the cylindrical member 98 projects rearward from the rear surface of the block 82B. A gear 98a having teeth on the outer peripheral surface is formed at the rear end portion of the cylindrical member 98. The front-rear movement motor 97 is attached to the first moving body 82 via a mounting member (not shown). A gear 99 is fixed to the output shaft of the forward / backward movement motor 97. The gear 99 meshes with the gear 98a.

Although not shown in FIG. 6, the stethoscope unit 80 has a front-rear position sensor for detecting the front-back position of the second moving body 83 by detecting the amount of rotation of the output shaft of the front-back movement motor 97. 111 (see FIG. 8) is provided. The front-rear position sensor 111 includes a rotary encoder for detecting the amount of rotation of the output shaft of the front-rear movement motor 97.
When the front-rear movement motor 97 rotates, the nut 96B rotates via the gears 99 and 98a. When the nut 96B rotates, the screw shaft 96A moves in the front-rear direction with respect to the block 82B. As a result, the second moving body 83 moves in the front-rear direction with respect to the first moving body 82.

The back electronic stethoscope 81 is attached to the disc-shaped member 83A on the front side of the second mobile body 83 via the attachment mechanism 100. The attachment mechanism 100 includes a cylindrical member 101 attached to the central portion of the front surface of the disc-shaped member 83A, a stethoscope holding member 102 attached to the cylindrical member 101 so as to be movable back and forth, and a stethoscope holding member 102. It includes a coil spring (elastic member) 103 that urges the disc-shaped member 83A on the front side toward the front.

The stethoscope holding member 102 includes a disc portion 102A and a rod-shaped member 102B extending rearward from the central portion of the rear surface of the disc portion 102A and inserted into the hollow portion of the cylindrical member 101. The diameter of the rear portion of the hollow portion of the cylindrical member 101 is formed to be larger than the diameter of the front portion of the hollow portion of the cylindrical member 101, and the inner peripheral surface of the cylindrical member 101 has the front side of the hollow portion. A stepped portion is formed at the boundary between the portion and the rear portion. The diameter of the rear end portion of the rod-shaped member 102B is formed to be larger than the diameter of the front end portion thereof. The diameter of the rear end portion of the rod-shaped member 102B is formed to be larger than the diameter of the front side portion of the hollow portion of the cylindrical member 101 and smaller than the diameter of the rear portion of the hollow portion of the cylindrical member 101. The large-diameter rear end portion of the rod-shaped member 102B is housed in the large-diameter rear end portion of the hollow portion of the cylindrical member 101. As a result, the stethoscope holding member 102 is prevented from coming off from the cylindrical member 101.

A recess 112 is formed on the front surface of the disk-shaped member 83A at a position where the hollow portion of the cylindrical member 101 faces. A position sensor 113 for detecting the rear end position of the rod-shaped member 102B is arranged in the recess 112. As the position sensor 113, a micro switch, a potentiometer, or the like is used. In this embodiment, a microswitch is used as the position sensor 113.

The stethoscope holding member 102 is urged forward with respect to the disc-shaped member 83A between the rear surface of the disc portion 102A of the stethoscope holding member 102 and the disc-shaped member 83A of the second moving body 83. A coil spring 103 is arranged. The coil spring 103 is loosely fitted on the outer peripheral surface of the cylindrical member 101.
A back electronic stethoscope 81 is attached to the front surface of the disc portion 102A of the stethoscope holding member 102 via a ball joint (connecting member) 104. The ball joint 104 includes a spherical head 104A and a socket 104B integrally formed on the front surface of the disc portion 102A and rotatably accommodating the spherical head 104A. The back electronic stethoscope 81 is attached to the spherical head 104A.

The stethoscope holding member 102 is urged forward by the coil spring 103 with respect to the disc-shaped member 83A of the second moving body 83. Therefore, the stethoscope holding member 102 is always in a front position with respect to the second moving body 83, as shown in FIG. 7A. In this state, the rear end of the rod-shaped member 102B of the stethoscope holding member 102 is not in contact with the working piece of the position sensor (microswitch) 113, so that the position sensor 113 is in the off state. In FIGS. 7A and 7B, reference numeral 120 indicates the back side of the subject's body.

When the second moving body 83 is moved forward with respect to the first moving body 82 (block 82B) and the back electronic stethoscope 81 is pressed against the body 120, the back electronic stethoscope 81 is operated by the action of the ball joint 104. The orientation of the auscultatory surface of the back electronic stethoscope 81 is changed so that the auscultatory surface fits the surface of the body 120.
When the second moving body 83 is further moved forward with respect to the block 82B, the stethoscope holding member 102 moves backward with respect to the second moving body 83 against the urging force of the coil spring 103. Then, when the pressing force of the auscultatory surface of the back electronic stethoscope 81 on the body 120 reaches a predetermined value, the rear end of the rod-shaped member 102B of the stethoscope holding member 102 presses the working piece of the position sensor 113, and FIG. 7B shows. As shown, the position sensor 113 is turned on.

FIG. 8 is a block diagram showing the electrical configuration of the chair-type massage machine. In FIG. 8, for convenience of explanation, the air pump and the solenoid valve for driving each airbag are omitted.
Inside the chair-type massage machine 1, a control unit 200 for controlling the chair-type massage machine 1 is built. The control unit 200 includes a microcomputer, a CPU, a memory (RAM, ROM, non-volatile memory), and the like. A program for controlling the chair-type massage machine 1, necessary data, and the like are stored in the memory.

The control unit 200 includes a display device 21, a camera 22, a microphone 23, a speaker 24, a front electronic stethoscope 25, a remote controller 26, a communication unit 27, a drive circuit 215 of the backrest rotation actuator 15, and an ottoman rotation actuator 16. The circuit 216 is connected. The communication unit 27 is for communicating with the diagnostician side system 3 via the network 2.

The control unit 200 further includes the elevating motor 36 in the massage unit 17, the advancing / retreating motor 43, the driving circuits 201, 202, 203, 204 of the tapping motor 48 and the kneading motor 49, and the elevating position in the massage unit 17. The sensor 38 and the front-rear position sensor 47 are connected.
The control unit 200 further includes an elevating motor 70 in the back auscultation unit 18, drive circuits 211,212,213 for the lateral movement motor 89 and the front-rear movement motor 97, and an elevating position sensor 74 in the back auscultation unit 18. The lateral position sensor 92, the front-rear position sensor 111, the position sensor 113, and the back electronic stethoscope 81 in the back auscultation unit 18 are connected.

The operation mode of the chair-type massage machine is roughly divided into a massage mode and a remote diagnosis mode. The massage mode is a mode in which the control unit 200 controls the massage unit 17 and each airbag based on the operation of the remote controller 26 by the treated person to perform various massages on the treated person. The remote diagnosis mode is a mode in which the control unit 200 performs remote diagnosis while communicating with the diagnostician side system 3 via the network 2. The remote diagnosis mode includes a first diagnosis mode in which the control unit 200 controls the back auscultation unit 18 to perform remote diagnosis, and a patient to perform remote diagnosis by operating the front electronic stethoscope 25. There is a second diagnostic mode.

Switching between the massage mode, the first remote diagnosis mode and the second remote diagnosis mode is performed by operating the remote controller 26.
In the massage mode, the back auscultation unit 18 is in the uppermost position or a predetermined evacuation position near the uppermost position (hereinafter referred to as "first evacuation position"" so that the back auscultation unit 18 does not interfere with the massage operation by the massage unit 17. .) Is held. Specifically, when the operation mode is switched from the first remote diagnosis mode or the second remote diagnosis mode to the massage mode, the control unit 200 controls the back-and-forth movement motor 97 of the back auscultation unit 18 to control the second remote diagnosis unit 18. After moving the moving body 83 to the rearmost position at high speed, the elevating motor 70 is controlled to move the back auscultation unit 18 to the first retracted position and stop it. After that, the control unit 200 massages the person to be treated by controlling the massage unit 17 and each airbag in response to a command from the remote controller 26.

In the first remote diagnosis mode, the massage unit 17 is in the lowest position or a predetermined evacuation position near the lowest position (hereinafter, "the first") so that the back auscultation unit 18 can move up and down in the back area of the patient. 2 It is held in the retracted position. Specifically, when the operation mode is switched from the massage mode to the first remote diagnosis mode or the second remote diagnosis mode, the control unit 200 controls the elevating motor 36 to move the massage unit 17 to the second retracted position. Move to and stop.

In the first remote diagnosis mode, the control unit 200 sends the moving image data of the patient imaged by the camera 22 to the control device 4 of the diagnostician side system 3. As the camera 22, it is preferable to use a three-dimensional distance image camera that can obtain three-dimensional information (hereinafter, referred to as “distance information”) with the camera as the origin for each pixel. In this embodiment, it is assumed that a three-dimensional distance image camera that can obtain distance information is used. Therefore, in this embodiment, the moving image data captured by the camera 22 includes the distance information.

Further, the control unit 200 has a three-dimensional coordinate system (front-back direction, left-right) with the predetermined position of the chair-type massager 1 as the origin based on the detection signals of the elevating position sensor 74, the lateral position sensor 92, and the front-rear position sensor 111. The three-dimensional coordinate position of the back electronic auditory apparatus 81 in (coordinates having three axes in the direction and the vertical direction) is specified. Then, the control unit 200 sends the three-dimensional coordinate data representing the specified three-dimensional coordinate position to the control device 4 of the diagnostician side system 3 as the position data of the back electronic stethoscope 81.

The control device 4 of the diagnostician side system 3 is a moving image with distance information of the patient to be treated based on the moving image data with distance information sent from the control unit 200 and the position data of the back electronic stethoscope 81. A stethoscope image representing the back electronic stethoscope 81 is combined with the image data and displayed on the display device 5. This allows the doctor 150 to recognize the position of the back electronic stethoscope 81 with respect to the subject. The doctor 150 can specify (input) the position to move the back electronic stethoscope 81 by, for example, the keyboard 6 or the mouse 7 while looking at the displayed image. Further, the doctor 150 can input an auscultation command for causing the back electronic stethoscope 81 to perform an auscultation operation by using the keyboard 6 or the mouse 7 when the back electronic stethoscope 81 is stopped at the target position. ..

When a position (hereinafter referred to as "target position") for moving the back electronic stethoscope 81 is specified (input) by the keyboard 6 or the mouse 7, the control device 4 moves the back electronic stethoscope 81 to the target position. A move command for causing the mouse is generated and transmitted to the control unit 200. The move command includes the coordinates of the target position (vertical and horizontal coordinates).
Upon receiving the movement command from the control device 4, the control unit 200 controls the back-and-forth movement motor 97 of the back auscultation unit 18, moves the second moving body 83 to the rearmost position, and then moves the elevating motor 70. And the lateral movement motor 89 is controlled to move the back auscultation unit 18 to the target position specified by the movement command.

When an auscultation command is input to the control device 4 by the keyboard 6 or the mouse 7, the control device 4 generates an auscultation command for causing the back electronic stethoscope 81 to perform an auscultation operation and transmits it to the control unit 200. ..
Upon receiving the auscultation command from the control device 4, the control unit 200 drives the back-and-forth movement motor 97 of the back auscultation unit 18 to move the second moving body 83 forward at a low speed. When the back electronic stethoscope 81 comes into contact with the patient's back through the backrest cloth, the coil spring 103 begins to compress. Further, when the second moving body 83 moves forward and the pressing pressure of the back electronic stethoscope 81 against the patient reaches a predetermined value, the position sensor 113 is turned on. When the position sensor 113 is turned on, the control unit 200 stops driving the forward / backward movement motor 89. In this state, the control unit 200 acquires the body sound signal detected by the back electronic stethoscope 81, and performs predetermined signal processing (amplification, AD conversion, filtering processing, etc.) on the acquired body sound signal. Generate body sound data. Then, the control unit 200 transmits the generated body sound data to the control device 4 of the diagnostician side system 3. The control device 4 stores the body sound data sent from the control unit 200 in the memory and outputs the body sound data from the speaker 9. The doctor 150 makes a diagnosis based on the body sound output from the speaker 9. At this time, the doctor 150 and the patient can have a conversation through the microphones 8 and 23 and the speakers 9 and 24.

In the first remote diagnosis mode, the above operations are repeated. This makes it possible to perform remote diagnosis using the back electronic stethoscope 81.
In the second diagnostic mode, for example, the patient manually operates the front electronic stethoscope 25 according to the voice instruction of the doctor 150 from the diagnostician side system 3. The body sound signal detected by the front electronic stethoscope 25 is acquired by the control unit 200, and after performing predetermined signal processing, the body sound data is sent from the control unit 200 to the diagnostician side system 3. Such an operation is repeated. This makes it possible to perform remote diagnosis using the front electronic stethoscope 25.

In the above embodiment, the back electronic stethoscope 81 can be moved in the left-right direction, the up-down direction, and the front-back direction, so that the body sound can be acquired from a position suitable for auscultation. Further, in the above-described embodiment, the body sound can be detected at an arbitrary position within a certain detection range without arranging the back electronic stethoscope 81 in a matrix, so that the back electronic stethoscope 81 is arranged in a matrix. The number of back electronic stethoscopes is smaller than that of the case. Further, in the above-described embodiment, remote diagnosis can be performed using the back electronic stethoscope 81 and the front electronic stethoscope 25. When performing remote diagnosis using the back electronic stethoscope 81, the back electronic stethoscope 81 can be automatically moved to an arbitrary position by the operation of the doctor 150 from the diagnostician side system 3, so that the patient is treated. Auscultation can be performed without having a person operate the back electronic stethoscope 81.

9A and 9B are cross-sectional views showing another example of a mounting mechanism for mounting the back electronic stethoscope on the second mobile body. 9A is a cross-sectional view showing a normal state, and FIG. 9B is a cross-sectional view showing a state in which the back electronic stethoscope is pressed against the body. In FIGS. 9A and 9B, the parts corresponding to the respective parts of FIGS. 7A and 7B described above are designated by the same reference numerals as those of FIGS. 7A and 7B.

In this mounting mechanism 100A, a pressure sensor 114 is mounted in the recess 112 instead of the position sensor 113. An elastic member 115 is housed in the hollow portion of the cylindrical member 101 between the rod-shaped member 102B of the stethoscope holding member 102 and the pressure-sensitive sensor 114. As the elastic member 115, rubber, a coil spring, or the like is used. In this embodiment, the elastic member 115 is made of rubber. Acupressure / palpation treatment child 116 incorporating a back electronic stethoscope 81 is attached to the disk portion 102A of the stethoscope holding member 102. By using such acupressure / palpation treatment child 116, auscultation, acupressure, and palpation can be performed at the same time.

The stethoscope holding member 102 is urged forward by the coil spring 103 with respect to the disc-shaped member 83A on the front side of the second moving body 83. Therefore, the stethoscope holding member 102 is always in a front position with respect to the second moving body 83, as shown in FIG. 9A. In this state, the pressure-sensitive sensor 114 is turned off because the pressing force of the rod-shaped member 102B of the stethoscope holding member 102 on the pressure-sensitive sensor 114 via the elastic member 115 is small.

When the second moving body 83 is moved forward with respect to the first moving body 82 and the auscultatory / palpation treatment child 116 built in the back electronic stethoscope 81 is pressed against the body 120, the stethoscope holding member 102 receives a coil spring. It moves backward with respect to the second moving body 83 against the urging force of 103. Then, when the pressing pressure on the body 120 of the auscultatory surface of the auscultatory treatment child 116 reaches a predetermined value, the pressing pressure on the pressure sensor 114 by the rod-shaped member 102B of the stethoscope holding member 102 via the elastic member 115. And, as shown in FIG. 9B, the pressure sensor 114 is turned on.

In the mounting mechanism 100 of FIG. 7A, when a potentiometer for detecting the rear end position of the rod-shaped member 102B is used as the position sensor 113, or when the mounting mechanism 100A of FIG. 9A is used instead of the mounting mechanism 100 of FIG. 7A. Makes it possible to estimate the softness of the body and measure the hardness of fat and muscle.
The softness of the body can be estimated, for example, as follows. That is, the softness of the body is estimated based on the amount of movement of the back electronic stethoscope 81 forward from the time when the back electronic stethoscope 81 comes into contact with the body until the coil spring 103 is compressed by a predetermined amount. The contact of the back electronic stethoscope 81 with the body can be detected by the potentiometer as the position sensor 113 or the pressure sensor 114. It can also be detected by the potentiometer or the pressure sensor 114 that the coil spring 103 is compressed by a predetermined amount. The amount of forward movement of the back electronic stethoscope 81 is such that the second moving body 83 moves forward with respect to the first moving body 82 after the back electronic stethoscope 81 comes into contact with the body until the coil spring 103 is compressed by a predetermined amount. Since the length is obtained by subtracting the distance between the rear surface of the disk portion 102A and the front end surface of the cylindrical member 101 (see FIGS. 7A and 9A) from the amount of movement in the normal state, it can be detected by the front-rear position sensor 111. It can be estimated that the larger the amount of forward movement of the back electronic stethoscope 81 from the contact of the back electronic stethoscope 81 with the body until the coil spring 103 is compressed by a predetermined amount, the softer the body.

The hardness of fat and muscle can be measured, for example, as follows. That is, the distance traveled by the back electronic stethoscope 81 from the time the back electronic stethoscope 81 came into contact with the body until the coil spring 103 was compressed by a predetermined amount, and the back electronic stethoscope 81 moved the body. It can be measured by acquiring the relationship with the pressing pressure. The moving distance of the back electronic stethoscope 81 moved forward is the length obtained by subtracting the compression amount of the coil spring 103 from the moving amount of the second moving body 83 moving forward with respect to the first moving body 82. The amount of movement of the second moving body 83 forward with respect to the first moving body 82 can be detected by the front-rear position sensor 111. The amount of compression of the coil spring 103 can be detected by a potentiometer or a pressure sensor 114. Therefore, the moving distance of the back electronic stethoscope 81 moved forward can be estimated from the detected value of the front-rear position sensor 111 and the detected value of the potentiometer or the pressure-sensitive sensor 114. The pressing force can be estimated from the detection value of the pressure sensor 114 or the rear end position of the rod-shaped member 102B detected by the potentiometer.

FIG. 10 is a graph showing an example of the relationship between the moving distance of the back electronic stethoscope 81 moving forward and the pressing force of the back electronic stethoscope 81 pressing the body.
For fat and muscle, the rate of change in pressing force with respect to the distance traveled by the back electronic stethoscope 81 differs. Specifically, the rate of change of the pressing force with respect to the movement distance of the back electronic stethoscope 81 moved forward is larger in the muscle than in the fat. From the graph of FIG. 10, it can be recognized that the line segment L1 shows the rate of change for fat and the line segment L2 shows the rate of change for muscle. Then, the hardness of the fat of the treated person can be measured from the rate of change of the line segment L1, and the hardness of the muscle of the treated person can be measured from the rate of change of the line segment L2.

Although the embodiments of the present invention have been described above, the present invention can also be implemented in other embodiments. For example, the back electronic stethoscope 81 may be provided with a heater. In this way, it becomes possible to warm the affected area of the treated person.
Further, in the above-described embodiment, the case where the present invention is applied to a chair type massage machine has been described, but the present invention can be applied to a massage machine other than the chair type as long as it is a massage machine having a backrest portion. it can.

In addition, various design changes can be made within the scope of the matters described in the claims.

1 Chair type massage machine 2 Network 3 Diagnostician side system 12 Backrest 17 Massage unit 18 Back auscultation unit 19, 20 Guide rail 61 Frame 70 Lifting motor 81 Back electronic stethoscope 82 1st moving body 83 2nd moving body 89 Horizontal Moving motor 96 Ball screw 97 Forward / backward moving motor 100, 100A Mounting mechanism 101 Cylindrical member 102 Stethoscope holding member 103 Coil spring 104 Ball joint 301 Remote diagnostic system

Claims (8)

In a massage machine that has a backrest to support the upper body of the patient
An electronic stethoscope for detecting the body sound of the treated person from the back side of the treated person, and
To move the electronic stethoscope supported by the backrest portion in the vertical direction of the backrest portion, in the horizontal direction of the backrest portion, and in the front-rear direction of the thickness direction of the backrest portion. Electronic stethoscope movement mechanism and
Look including a control means for controlling said electronic stethoscope moving mechanism,
The operation mode of the massage machine includes a massage mode in which massage is performed and a diagnostic mode in which diagnosis is performed using the electronic stethoscope.
When the operation mode is switched from the diagnostic mode to the massage mode, the control means controls the electronic stethoscope moving mechanism to move the electronic stethoscope to a predetermined first retracted position and stop it. , Massage machine. The electronic stethoscope moving mechanism is
A frame supported so as to be movable in the vertical direction with respect to the backrest portion,
A first moving body movably attached to the frame in the left-right direction,
A second mobile body movably attached to the first mobile body in the front-rear direction and to which the electronic stethoscope is attached,
A vertical movement mechanism for moving the frame in the vertical direction with respect to the backrest portion,
A left-right movement mechanism for moving the first moving body in the left-right direction with respect to the frame,
The massage machine according to claim 1, further comprising a front-back moving mechanism for moving the second moving body in the front-rear direction with respect to the first moving body. A mounting mechanism for mounting the electronic stethoscope on the second mobile body is included.
The massage machine according to claim 2, wherein the mounting mechanism includes a connecting mechanism for rotatably connecting the electronic stethoscope to the second moving body. A mounting mechanism for mounting the electronic stethoscope on the second mobile body is included.
The mounting mechanism
A movable body that is held by the second moving body so as to be movable in the front-rear direction and has the electronic stethoscope attached to the front end side.
The massage machine according to claim 2, further comprising an urging member that urges the movable body forward. A mounting mechanism for mounting the electronic stethoscope on the second mobile body is included.
The mounting mechanism
A movable body held by the second moving body so as to be movable in the front-rear direction,
An urging member that urges the movable body forward
The massage machine according to claim 2, further comprising a connecting mechanism for rotatably connecting the electronic stethoscope to the movable body. The back auscultation unit is composed of the electronic stethoscope moving mechanism and the electronic stethoscope.
A pair of left and right guide rails extending in the vertical direction are provided on the backrest portion.
The massage machine according to any one of claims 2 to 5, wherein the frame of the back auscultation unit is attached to the pair of guide rails so as to be vertically movable. As mentioned above is disposed below the back auscultation units, the pair of guide rails mounted for vertical movement, further saw including a massage unit for performing a massage using massaging balls,
When the operation mode is switched from the massage mode to the diagnostic mode, the control means controls the electronic stethoscope moving mechanism to move the massage unit to a predetermined second retracted position and stop the massage unit. The massage machine according to claim 6. The massage machine according to any one of claims 1 to 7 and
A remote diagnostic system including the massage machine and a diagnostician side system connected via a network.

Images