JPWO2017002142A1 - ロボットシステム - Google Patents
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1013—Lifting of patients by
- A61G7/1017—Pivoting arms, e.g. crane type mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/006—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs convertible to stretchers or beds
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61G5/00—Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/065—Rests specially adapted therefor
- A61G7/075—Rests specially adapted therefor for the limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
- A61G7/1073—Parts, details or accessories
- A61G7/1082—Rests specially adapted for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/18—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering by patient's head, eyes, facial muscles or voice
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/44—End effector inspection
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- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Nursing (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Oral & Maxillofacial Surgery (AREA)
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- Invalid Beds And Related Equipment (AREA)
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- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
Description
図2〜図6に示すように、体位変更では、支持体2として、部分的に幅方向に揺動可能な変形ベッド2Aが用いられる。また、体位変更では、双方の多関節アーム5にハンド61が取り付けられる。ロボット3は、ハンド61により変形ベッド2Aを操作することにより、変形ベッド2Aを介した、変形ベッド2Aと人10との接触位置を変更する体位変更を行う。
図7に示すように、透過検査では、支持体2として、固定ベッド2Bが用いられる。また、透過検査では、双方の多関節アーム5に透過検査装置62が取り付けられる。例えば、一方の透過検査装置62がX線を出射し、他方の透過検査装置62がそのX線を受信する。ロボット3は、一対の透過検査装置62を、例えば人10の頭を中心とする球状軌道に沿って動かすことにより、透過検査を行う。
図8〜図10に示すように、上体起こしでは、支持体2として、ベッド状態とイス状態との間で変形可能な変形ベッド2Cが用いられる。また、体位変更では、双方の多関節アーム5にハンド61が取り付けられる。ロボット3は、ハンド61により変形ベッド2Cを操作することにより、変形ベッド2Cを介した、人10が横たわった状態から座った状態へ変更する上体起こしを行う。変形ベッド2Cの両側には、後述する起立補助で使用される腕置き台8が配置されている。
図11〜図13に示すように、起立補助では、双方の多関節アーム5に腕置き台8が装着される。ただし、腕置き台8は、一方の多関節アーム5のみに装着されてもよい。ロボット3は、人10が座った状態から立ち上がるまで腕置き台8で人10を支える起立補助を行う。
本発明は上述した実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変形が可能である。
10 人
2 支持体
2A,2C 変形ベッド
3 ロボット
4 土台
41 ロボット制御盤
5 多関節アーム
6 機器
61 ハンド
62 透過検査装置
8 腕置き台
9 移動装置
91 サーボモータ
92,93 車輪
Claims (12)
- 人が載せられる少なくとも1つの支持体と、
複数の自由度を持つ複数の多関節アーム、および前記複数の多関節アームが設けられた少なくとも1つの土台、を含むロボットと、
前記複数の多関節アームに取り付けられる少なくとも一種類の機器と、を備え、
前記ロボットは、前記少なくとも一種類の機器を動かすことにより、前記人に対して少なくとも2つの介護・医療関連行為を行う、ロボットシステム。 - 前記少なくとも一種類の機器は、前記複数の多関節アームのうちの2つの多関節アームにそれぞれ取り付けられる一対の透過検査装置を含み、
前記少なくとも2つの介護・医療関連行為は、人の透過検査を含む、請求項1に記載のロボットシステム。 - 前記少なくとも1つの支持体は、部分的に幅方向に揺動可能な変形ベッドを含み、
前記少なくとも一種類の機器は、前記変形ベッドを操作するハンドを含み、
前記少なくとも2つの介護・医療関連行為は、前記変形ベッドを介した、前記変形ベッドと人との接触位置を変更する体位変更を含む、請求項1または2に記載のロボットシステム。 - 前記少なくとも1つの支持体は、ベッド状態とイス状態との間で変形可能な変形ベッドを含み、
前記少なくとも一種類の機器は、前記変形ベッドを操作するハンドを含み、
前記少なくとも2つの介護・医療関連行為は、前記変形ベッドを介した、人が横たわった状態から座った状態へ変更する上体起こしを含む、請求項1〜3のいずれか一項に記載のロボットシステム。 - 前記複数の多関節アームの少なくとも1つに装着される腕置き台をさらに備え、
前記少なくとも2つの介護・医療関連行為は、人が座った状態から立ち上がるまで前記腕置き台で人を支える起立補助を含む、請求項4に記載のロボットシステム。 - 前記少なくとも一種類の機器は、複数種類の機器を含み、前記複数の多関節アームに着脱可能に取り付けられる、請求項1〜5のいずれか一項に記載のロボットシステム。
- 前記少なくとも1つの支持体は、前記少なくとも1つの土台に連結されている、請求項1〜6のいずれか一項に記載のロボットシステム。
- 前記少なくとも1つの土台は、当該少なくとも1つの土台の全体が前記支持体の占有スペース内に収まるように前記支持体の下方に配置されている、請求項1〜7のいずれか一項に記載のロボットシステム。
- 前記ロボットは、前記少なくとも1つの支持体の下方に前記複数の多関節アームを格納できるように構成されている、請求項1〜8のいずれか一項に記載のロボットシステム。
- 前記ロボットは、音声またはスイッチ操作に基づいて、前記少なくとも2つの介護・医療関連行為を行うように構成されている、請求項1〜9のいずれか一項に記載のロボットシステム。
- 前記ロボットは、所定のインターバルで前記体位変更を繰り返すように構成されている、請求項3に記載のロボットシステム。
- 前記土台に組み込まれた、左右の車輪を駆動する一対のサーボモータを含む移動装置をさらに備え、
前記ロボットは、前記一対のサーボモータがロボット制御盤により制御されることにより移動される、請求項1〜11のいずれか一項に記載のロボットシステム。
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PCT/JP2015/003251 WO2017002142A1 (ja) | 2015-06-29 | 2015-06-29 | ロボットシステム |
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JPWO2017002142A1 true JPWO2017002142A1 (ja) | 2018-04-12 |
JP6799534B2 JP6799534B2 (ja) | 2020-12-16 |
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US (1) | US10940067B2 (ja) |
EP (1) | EP3315108B1 (ja) |
JP (1) | JP6799534B2 (ja) |
KR (1) | KR102055313B1 (ja) |
CN (1) | CN107624063B (ja) |
WO (1) | WO2017002142A1 (ja) |
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CN107693289A (zh) * | 2017-07-28 | 2018-02-16 | 严驿 | 手术辅助支撑架 |
US11553973B2 (en) * | 2019-07-29 | 2023-01-17 | Verb Surgical Inc. | Robotic arm having an extendable prismatic link |
CN113350087B (zh) * | 2020-03-16 | 2022-05-24 | 金华市中心医院 | 模拟手抬烧伤病人的悬吊架 |
KR20210126255A (ko) | 2020-04-10 | 2021-10-20 | 서홍태 | 이동형 마사지 장치 및 이의 제어 방법 |
CN112643646B (zh) * | 2020-09-02 | 2022-01-28 | 王卫华 | 一种基于主动万向轮的全向移动式双臂装配机器人 |
EP4223459A4 (en) | 2020-10-15 | 2023-11-22 | RIVERFIELD Inc. | ROBOTS FOR WORK SUPPORT |
CN112975997B (zh) * | 2021-02-05 | 2022-03-15 | 西安秦玄汉信息科技有限公司 | 多机械臂护理系统、护理机器人和护理平台 |
KR102647739B1 (ko) * | 2021-12-06 | 2024-03-14 | (주)씨비에이치 | 위치가변형 암보드가 구비된 수술대 상판 |
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KR102055313B1 (ko) | 2019-12-12 |
EP3315108B1 (en) | 2020-01-29 |
US10940067B2 (en) | 2021-03-09 |
EP3315108A1 (en) | 2018-05-02 |
CN107624063A (zh) | 2018-01-23 |
KR20180019684A (ko) | 2018-02-26 |
WO2017002142A1 (ja) | 2017-01-05 |
CN107624063B (zh) | 2020-11-20 |
EP3315108A4 (en) | 2019-01-16 |
JP6799534B2 (ja) | 2020-12-16 |
US20180185219A1 (en) | 2018-07-05 |
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