KR20100000494A - Robot system for remote diagnosing and treating and the method controlling robot part - Google Patents

Abstract

PURPOSE: A robot system for recent diagnosis and a method for controlling a robot of the robot system are provided to reduce a diagnosis time by checking a state of a patient without directly meeting the patient. CONSTITUTION: A robot(100) includes an upper body(101), a lower body(103), a driver, a sensor, a first transmitter, a first controller, and a medical instrument. The driver is arranged in a receiving space of the lower body and moves the robot. The sensor is arranged in the lower body to sense the obstacle around the robot. The first transmitter is arranged in the upper body to control the communication between a doctor and a patient. The first controller is connected to the driver, the sensor, and the first transmitter. The medical instrument is connected to the first controller.

Description

Robot System For Remote Diagnosing And Treating And the Method Controlling Robot Part}

1 is a partial perspective front view showing a robot unit forming a telemedicine robot system according to the present invention.

2 is a partial perspective side view of the robot unit shown in FIG. 1.

3 is a schematic plan view of the robot unit illustrated in FIGS. 1 and 2.

Figure 4 is a block diagram of the present invention telemedicine robot system.

5 and 6 are diagrams for explaining the sensing structure of the robot unit.

7 to 16 are diagrams for illustrating a control method of the robot unit in the robot system according to the present invention.

17 is a partial side view illustrating an obstacle passing process.

* Description of the symbols for the main parts of the drawings *

100: robot part 110: driving part

120: sensor

130: first delivery unit 150: first control unit

160: medical device 200: adjustment unit

210: adjusting means 230: second delivery unit

250: second control unit

The present invention relates to a remote medical robot system and a control method, and more particularly, it is possible to shorten the time of medical treatment, improve the efficiency of medical treatment, make it possible to treat more patients, and to facilitate obstacles. The present invention relates to a telemedicine robot system and a control method capable of crossing over and detecting an obstacle completely, and capable of accurately detecting a relative position of an obstacle.

In the past, robots have been used mainly for industrial replacement of labor, but now the paradigm of the robot industry is shifting to human-friendly, high value-added service intelligent robots. The development of intelligent robots is expected to greatly contribute to the reduction of labor force, the side effect of low birthrate aging, and the increase of demand for services for the weak. The development of medical service robots is increasing rapidly as the application and utilization of such intelligent robots.

As a medical robot, a surgical robot that assists a doctor during surgery to guide or cut an incision location, an endoscope robot that diagnoses the stomach or intestine, an inspection robot that checks blood and fluids, and a rehabilitation assistant robot that helps rehabilitation of patients. Etc. are being developed. However, despite the shortage of specialized medical personnel and the demand for patients who need medical help as the aging population increases, doctors should visit the hospital or emergency room where all patients are hospitalized to check and diagnose the patient's condition. As it can, wasted time unnecessarily and there was a problem that can not effectively cope with emergencies. In the morning or night rounds, patients' information was recorded on paper, which could cause errors in communication between nurses and medical staff.

The present invention has been proposed to solve the problems of the prior art as described above, it is possible to shorten the time of medical treatment because the doctor can diagnose without visiting the patient directly, the medical records are automatically stored so that the efficiency of medical care It is an object of the present invention to provide a telemedicine robot system and control method which can be improved, can easily overcome obstacles while approaching a patient, can detect obstacles without exception, and can accurately detect a relative position of obstacles.

Telemedicine robot system according to the present invention for achieving the above object is composed of a robot unit, an adjustment unit in wireless communication with the robot unit; The robot unit includes an upper body, a lower body provided below the upper body and formed in the accommodation space, a driving unit provided in the accommodation space of the lower body to move the robot unit, and an obstacle around the robot unit provided in the lower body. A sensor unit for detecting a first transmission unit provided in the upper body to transmit a voice and an image of a doctor to the patient and a voice and image of the patient to the doctor through a first control unit; A first control unit connected to a first delivery unit, and a medical instrument unit connected to the first control unit; The adjusting unit may include adjusting means for generating a driving command transmitted to the robot unit through a second control unit, and a second transmission unit transmitting the voice and image of the doctor to the patient and transmitting the voice and image of the patient to the doctor through the second control unit. And a second control unit connected to the adjusting unit and the second transmission unit.

The drive unit is rotatably installed in the accommodation space of the lower body and two drive wheels protruding to the lower portion of the lower body, two drive motors respectively connected to the drive wheels, in the direction of rotation of the drive wheel relative to the axis of rotation of the drive wheels A first caster provided at a rear side and a second caster provided at a front side in a rotational direction of the drive wheel with respect to the axis of rotation of the drive wheel; In a state in which the driving wheel and the first caster are in contact with the ground, the second caster may be spaced apart from the ground.

The planar shape of the lower body is made of a polygon or a circle and has a height, wherein the sensor unit comprises a first sensor unit comprising a plurality of sensors provided on the lower body to have an angle to each other along the circumferential direction, and the first A second sensor part disposed below the sensor part and spaced apart from the first sensor part, the second sensor part including a plurality of sensors provided to have angles to each other along the circumferential direction; The sensors of the first sensor unit and the second sensor unit may be installed to cross each other.

In the above, the plurality of sensors of the first preliminary portion is an ultrasonic sensor, and the plurality of sensors of the second sensor portion are infrared sensors; The first predecessor includes a forward sensor provided forward with respect to the rotational axis of the drive wheel in the direction of travel of the drive wheel, another forward sensor provided rearward with respect to the rotational axis of the drive wheel, and the front sensor relative to the center of the lower body. Two horizontal sensors provided at both sides in a direction perpendicular to the progress sensor, and at least one auxiliary sensor provided between the progress sensor and each horizontal sensor; The second sensor unit may include a plurality of infrared sensors installed to be spaced apart downwardly between the traveling sensor and each auxiliary sensor, and a plurality of infrared sensors installed to be spaced apart downward between each auxiliary sensor and the horizontal sensor.

In the above, the installation height of the traveling sensor, the horizontal sensor and the auxiliary sensor constituting the first sensor unit is in the range of 24 to 26 cm from the lower end of the driving wheel to the top, and the installation height of the plurality of infrared sensors constituting the second sensor unit is from the lower end of the driving wheel. Furnace 4 to 6 cm, the separation height of the second caster is characterized in that 1 to 3 cm range.

A method of controlling the robot unit of the telemedicine robot system, the method comprising: calculating a distance from an obstacle measured by a progress sensor and calculating a distance from an obstacle measured by a neighboring auxiliary sensor; Calculating a slope of the progress sensor from the distance from the obstacle measured and calculated by the traveling sensor and the distance measured from the neighboring auxiliary sensor; Calculating an inclination of the auxiliary sensor from a distance from an obstacle measured and calculated by the auxiliary sensor; It is characterized by controlling the stop and rotation of the drive motor by determining the position change of the obstacle from the change in the tilt of the progress sensor and the change in the tilt of the auxiliary sensor.

It will be described below in detail with reference to the accompanying drawings with respect to the remote medical robot system and the robot control method of the robot system according to the present invention.

1 is a partial perspective front view showing a robot part constituting a telemedicine robot system according to the present invention, FIG. 2 is a partial perspective side view of the robot part shown in FIG. 1, and FIG. 3 is a robot shown in FIGS. 1 and 2. Figure 4 is a schematic plan view of the part, Figure 4 is a block diagram of the present invention for remote medical care robot system. 5 and 6 illustrate the sensing structure of the robot unit, and FIGS. 7 to 16 illustrate a control method of the robot unit in the robot system according to the present invention, and FIG. 17 illustrates an obstacle passing process. Some side views shown.

As shown in FIG. 4, the telemedicine robot system according to the present invention includes a robot unit 100 and an adjusting unit 200 which is in wireless communication with the robot unit 100. The robot unit 100 is configured to visit the patient together with the nurse, and the adjusting unit 200 is configured for the doctor to adjust the robot unit 100. The robot unit 100 and the adjusting unit 200 are wirelessly communicated with each other, and a signal generated from the adjusting unit 210 of the adjusting unit 200 is transmitted from a transmitting / receiving unit (not shown) through the second control unit 250, and the robot unit ( It is received from a transmitting and receiving unit (not shown) connected to the first control unit 150 provided in 100 to drive the driving unit 110.

As shown in FIG. 4, the adjusting unit 200 uses a joystick adjusting unit 210 and a second control unit 250 to generate a driving command transmitted to the robot unit 100 through the second control unit 250. The second control unit 230 for transmitting the voice and image of the doctor to the patient and the voice and image of the patient to the doctor, and the second control unit connected to the adjusting means 210 and the second transmission unit 230 ( 250). The second transfer unit 230 is photographed by the second camera 233 for photographing the doctor and the first camera 133 provided in the robot unit 100, and then the first control unit 150 through the first control unit 150. The second monitor 231 for displaying an image of the patient transmitted from the transceiver connected to the 150 and the first speaker 138 provided in the robot unit 100 is input through the first control unit 150 A second speaker 238 for outputting a voice signal of the patient transmitted from the transceiver connected to the control unit 150, and a second microphone 237 for receiving a doctor's voice. The process of inputting, converting, and transmitting and receiving an audio signal and an image signal in the above is a well-known technique, and thus a detailed description thereof will be omitted. In the second monitor 231, a display area is divided and transmitted from the robot unit 100 to display both an image received by a transceiver (not shown) and an image captured by the second camera 233. . The second camera 233, the second monitor 231, the second microphone 237, and the second speaker 238 are connected to and controlled by the second controller 250. A storage unit (not shown) is connected to the control unit 250 to store video and audio data input and output from the second transfer unit 230. In FIG. 4, reference numeral 261 illustrates a key for driving the adjusting unit 200 and the robot unit 100.

The adjusting unit 200 may control the driving direction or the traveling speed of the robot unit 100 using the joystick adjusting means 210 while checking the image photographed by the first camera 133, but from the first camera 133. The robot unit 100 is provided with a sensor unit 120 to prevent interference with unidentified obstacles.

1, 2 and 4, the robot unit 100 is provided with an upper body 101, a lower body 103 provided in the lower portion of the upper body 101 and formed in the receiving space, The driving unit 110 is provided as an accommodation space of the lower body 103 to move the robot unit 100, and a sensor unit provided at the lower body 103 to detect an obstacle around the robot unit 100 ( 120 and the first transmission unit 130 provided in the upper body 101 to transmit the voice and image of the doctor to the patient and the voice and image of the patient to the doctor through the first control unit 150, The first controller 150 is connected to the driving unit 110, the sensor unit 120, and the first transmission unit 130, and the medical instrument unit 160 is connected to the robot controller 150. do. In FIG. 1, reference numeral 135 illustrates a support member supporting the first camera 133.

As shown in FIG. 4, the first transfer unit 130 may include a first camera 133 for capturing an image of a patient, a first microphone 137 through which a voice of a patient or a nurse is input, and an adjusting unit 200. The first monitor 131 and the second microphone 237 that are input by the second microphone 237 to display an image of the doctor photographed and transmitted by the second camera 233 of FIG. The first speaker 138 to which the voice of the doctor is output is configured to be included. The first camera 133, the first microphone 137, the first monitor 131, and the first speaker 138 are connected to the first controller 150 and controlled by the first controller 150. A storage unit (not shown) is connected to the first control unit 150 to store video and audio data input and output from the first transfer unit 130.

1, 2, 4 and 17, the drive unit 110 is rotatably installed in the accommodation space of the lower body 103 and two driving wheels protruding below the lower body 130. (111). Each drive wheel 111 is connected to a separate drive motor 113. By controlling the rotation speed of the separate drive motor 113, it is easy to drive straight, left and right rotation. The first caster 115 is provided to the rear of the driving wheel 111, and the second caster 117 is provided to the front. The first caster 115 is provided to the rear with respect to the axis of rotation of the drive wheel 111, the second caster 117 is provided to the front with respect to the axis of rotation of the drive wheel (111). In the state where the driving wheel 111 and the first caster 115 in contact with the ground, the second caster 117 is installed to be spaced apart from the ground. The driving motor 113 is connected to the first control unit 150 and is driven according to a signal from the sensor unit 120 and a command transmitted to the adjusting unit 210. When an obstacle is detected in the sensor unit 120, it is preferable that the driving unit is driven according to a signal transmitted from the sensor unit 120 in preference to a command transmitted from the adjusting unit 210. In FIG. 4, reference numeral 118 illustrates a battery as a power supply means, and may include a separate motor control unit 119 connected to the first control unit 150.

As shown in (a) of FIG. 17, when the robot unit 100 must exceed the jaw 1003, the robot unit 100 is provided in front of the driving wheel 111 as shown in (b) and is spaced apart from the ground. The two casters 117 first come into contact with the jaw 1003. Since the second caster 117 is spaced apart from the ground, the second caster 117 may cross the jaw 1003 while minimizing the impact of the locking. Subsequently, as shown in (c), the driving wheel 111 passes over the jaw 1003. And as shown in (d), the first caster 115 provided at the rear side is beyond the jaw 1003. Since the first caster 115 may be inclined forward when the jaw 1003 is exceeded, and the second caster 117 provided in front of the driving wheel 111 is supported, the jaw 1003 is smoothly maintained while maintaining a stable state. ) Can be exceeded. The separation height of the 2nd caster 117 shown in FIG. 3 was 1-3 cm.

The medical device unit 160 may be provided on one side of the upper body 101 or the lower body 103, it may be provided in the housing by forming an accommodating part such as a drawer in the upper body 101. The medical device 160 is for diagnosing a patient's condition, and as shown in FIG. 4, the medical device 160 includes a measuring device for measuring blood pressure, pulse rate, electrocardiogram, and the like. The measuring device provided in the medical device unit 160 is connected to the first control unit 150 and the measurement result is stored in a storage unit (not shown), while being transmitted to the adjusting unit 200 and displayed on the second monitor 231.

As shown in Figures 1 to 6, the planar shape of the lower body 103 is made of a polygon or a circle, the lower body 103 has a height. The sensor unit 120 is provided in the lower body 103 along the circumferential direction, and includes a first sensor unit 121 including a plurality of sensors having angles in the circumferential direction. The first sensor unit 121 is formed of a plurality of ultrasonic sensors. Each of the ultrasonic sensors includes an ultrasonic transmitter for generating ultrasonic waves and an ultrasonic receiver for reflecting back. The ultrasonic sensor has a sensing range of about 57 ° in the horizontal direction and 68 ° in the vertical direction. When the ultrasonic sensor is installed on the lower body 103, when the ultrasonic sensor is installed close to the ground, the ultrasonic waves reflected on the ground and the ultrasonic waves transmitted to the ultrasonic transmitter interfere with each other, so that the distance to the obstacle cannot be accurately measured. Therefore, it is preferable that the installation height H2 of the 1st sensor part 121 which consists of several ultrasonic sensor is installed in the range of 24-26 cm from the ground which is the lower end of the drive wheel 111. FIG. The ultrasonic sensor may detect an obstacle up to 3m from the ultrasonic sensor.

When the obstacle is detected as the ultrasonic sensor, as shown in FIG. 5, an area A in which the obstacle cannot be detected in the horizontal direction is generated. As shown in FIG. 6, an area in which the obstacle cannot be detected even in the vertical direction occurs. Therefore, in the present invention, the second sensor unit 123 including a plurality of infrared sensors is provided under the first sensor unit 121 in order to detect the obstacle in the area where the obstacle cannot be detected as described above. As shown in FIGS. 3 and 5, the infrared sensor constituting the second sensor unit 123 is installed to intersect between the ultrasonic sensors constituting the first sensor unit 121 in the circumferential direction, and FIG. 6 in the vertical direction. As shown in the lower portion of the ultrasonic sensor is installed. By having the second sensor unit 123 installed as described above, it is possible to detect an obstacle that is not detected by the first sensor unit 121. The installation height H1 of the second sensor unit 123 is preferably in the range of 4 to 6 cm from the lower end of the driving wheel 113 to the top. When lowering the installation height (H1) to detect obstacles such as jaws that do not need to be detected to delay the running time, when high installation does not detect the obstacle causes a problem that the driving is stopped by a high obstacle. Therefore, it is preferable that the installation height H1 of the second sensor unit 123 is twice the separation height of the second caster 117.

As shown in FIGS. 3 and 7, the first preliminary part 121 includes a traveling sensor 121-1 and a driving wheel which are provided forward with respect to the rotation axis of the driving wheel 111 in the traveling direction of the driving wheel 111. Another travel sensor 121-5 provided to the rear with respect to the rotation axis of the 111, and two provided on both sides in the direction perpendicular to the travel sensor 121-1 with respect to the center of the lower body 103. Horizontal sensors 121-3 and 121-7, an auxiliary sensor 121-2 provided between the traveling sensor 121-1 and the horizontal sensor 121-3, and the traveling sensor 121-1. And another auxiliary sensor 121-8 provided between the horizontal sensor 121-7 and the horizontal sensor 121-7. Of course, it is also possible to include a plurality of auxiliary sensors between the progress sensor and the horizontal sensor. As described above, by providing the traveling sensor 121-1, the auxiliary sensors 121-2 and 121-8, and the horizontal sensors 121-3 and 121-7, it is possible to accurately respond to the obstacle. 7, 11 and 15, reference numerals 121-4 and 121-6 illustrate auxiliary sensors installed between the progress sensor 121-5 and the horizontal sensors 121-3 and 121-7 provided at the rear. It is.

As described above, the first sensor unit 121 and the second sensor unit 123 are provided to detect an obstacle, calculate a distance to the obstacle, and the driving motor 113 in the first controller 150 based on the calculation result. Send a control command to control the rotational speed of each drive motor (113). In the above, it is also possible to provide a separate calculation unit for the calculation between the sensor unit 120 and the first control unit 150.

In the present invention, the drive motor 113 is controlled by calculating the slope of the neighboring sensor as well as the distance from the signal sensed by the sensor unit 120 and accurately determining the relationship with the obstacle from the slope.

As shown in FIG. 7, it is assumed that the relative position of the obstacle 1001 moves from ① to ② through ③ when the robot unit 100 moves forward.

When the obstacle 1001 is detected by the traveling sensor 121-1 at the position ①, the distance to the obstacle 1001 is calculated, and the sensing distance slope for the neighboring sensor is calculated for each sensor. As shown in FIG. 8, when the obstacle 1001 is detected by the traveling sensor 121-1, the distance between the traveling sensor 121-1 and the obstacle 1001 is calculated. If the obstacle 1001 is not detected by the remaining sensors, the sensing distance L1 from the remaining sensors to the obstacle is assumed to be 3m. The distance between the sensors can be set arbitrarily. For example, if it is set to 1 cm, the difference between the sensing distance between the advancing sensor 121-1 and the subsidiary sensor 121-2 and the advancing sensor 121-1 and the subsidiary sensor 121-2. The slope a1 can be calculated from the distance of. Similarly, the slope a1 of the progress sensor 121-1 with respect to the auxiliary sensor 121-8 may also be calculated.

If the relative position of the obstacle 1001 is ②, it is possible to calculate the inclination of the traveling sensor 121-1 and the inclination of the auxiliary sensor 121-2 in the same manner as shown in Figure 9, As for the position ③, it is possible to calculate the inclination of the auxiliary sensor 121-2 as shown in FIG.

In contrast to the change of the inclination with respect to the progress sensor 121-1 and the auxiliary sensor 121-2, it is understood that the inclination decreases in the progress sensor 121-1 and increases in the auxiliary sensor 121-2. Can be. The obstacle 1001 changes its relative position in a direction away from the progress sensor 121-1, and changes its relative position in an approaching direction with respect to the auxiliary sensor 121-2. It is possible to determine the relative movement path of the obstacle 1001 from the change of the inclination of the traveling sensor 121-1 and the auxiliary sensor 121-2, wherein the obstacle 1001 is a dangerous area (front area of the robot unit). It is determined to proceed in a direction away from the deceleration of the drive motor 111 can be reduced over time.

As shown in FIG. 11, it is assumed that when the robot unit 100 moves forward, the relative position of the obstacle 1001 moves from ① to ② through ③.

When the obstacle 1001 is detected by the auxiliary sensor 121-2 at the position ①, the distance to the obstacle 1001 is calculated, and the sensing distance slope for the neighboring sensor is calculated for each sensor. As shown in FIG. 12, when the obstacle 1001 is detected only in the auxiliary sensor 121-2, the distance between the auxiliary sensor 121-2 and the obstacle 1001 is calculated. If the obstacle 1001 is not detected by the remaining sensors, the sensing distance L1 from the remaining sensors to the obstacle is assumed to be 3m. As described above, the slope a2 may be calculated from the difference between the sensing distance between the auxiliary sensor 121-2 and the neighboring sensor and the distance from the auxiliary sensor 121-2 to the neighboring sensor.

If the relative position of the obstacle 1001 is ②, it is possible to calculate the inclination of the traveling sensor 121-1 and the inclination of the auxiliary sensor 121-2 in the same manner as shown in Figure 13, For position (3), it is possible to calculate the inclination of the traveling sensor 121-1 as shown in FIG.

In contrast to the change in the inclination with respect to the progress sensor 121-1 and the auxiliary sensor 121-2, the progress sensor 121-1 increases, but the auxiliary sensor 121-2 decreases. Can be. The obstacle 1001 is changed in a relative position in a direction closer to the progress sensor 121-1, and a relative position is changed in a direction away from the auxiliary sensor 121-2. Therefore, it is determined that the obstacle 1001 proceeds to the danger area (the front of the robot part), thereby increasing the degree of deceleration of the driving motor 111 over time.

As described above, for example, as the slope of the relative position of the obstacle 1001 with respect to the traveling sensor 121-1 and the auxiliary sensors 121-2 and 121-8, based on the sensing distance slope with respect to the neighboring sensor. As a result, the speed of the driving motor 111 can be controlled by more accurately grasping the state of the obstacle 1001.

On the other hand, as shown in FIG. 15, when the sensing distance or the inclination of the obstacle 1001 with respect to the horizontal sensor 121-7 is kept constant, the obstacle 1001 is recognized as a wall, or the robot unit 100 and Recognized as a accompanying nurse does not reduce the speed of the drive motor (111).

As shown in FIG. 2, the upper body 101 is rotatably supported by a pair of bearings 147 so as to be rotatable with a motor 148 through a power transmission unit 149 made of a bevel gear or the like at the bottom thereof. A movable part 140 including a rotating member 145 connected thereto and a fixed member 141 hinged to the rotating member 145, and fixing the first monitor 131 to the fixing member 141. Thus, the first monitor 131 can be adjusted up, down, left and right. The motor 148 may also be connected to the first control unit 150 to be controlled by a signal input to the adjusting unit 210.

While the invention has been shown and described with respect to specific embodiments thereof, it is conventional in the art that various changes, modifications and variations are possible without departing from the spirit and scope of the invention as indicated by the appended claims. Anyone who knows the knowledge of is easy to know.

In the remote medical robot system and the robot control method according to the present invention as described above, the doctor measures the blood pressure, electrocardiogram, pulse, etc. of the patient through the nurse while talking to the patient without directly visiting the patient's room. Since it is possible to check the condition of the patient, it is possible to shorten the time of medical treatment, to improve the efficiency of medical care, to be able to treat more patients, and to contact the ground with the driving wheel 111 interposed therebetween. In addition to the first caster 115 to be provided with a second caster 117 that does not contact the ground can easily overcome the obstacle, the first sensor unit consisting of a plurality of sensors spaced up and down on the lower body 103 By providing the 121 and the second sensor unit 123, it is possible to effectively drive the obstacle without missing, and to proceed in the circumferential direction By providing the 121-1, the horizontal sensors 121-3 and 121-7 and the auxiliary sensors 121-2 and 121-8, it is possible to accurately detect the relative position of the obstacle, and tilt the sensing distance of the sensor. Since it is determined by the calculation, it is possible to accurately determine whether the obstacle is substantially an obstacle.

Claims (6)

In the telemedicine robot system consisting of a robot unit (100) and an adjusting unit (200) in wireless communication with the robot unit (100); The robot unit 100 is provided as an upper body 101, a lower body 103 provided in the lower portion of the upper body 101 and formed in the receiving space, and a receiving space of the lower body 103, the robot unit The driving unit 110 for moving the 100, the sensor unit 120 provided in the lower body 103 to detect an obstacle around the robot unit 100, and the upper body 101 are provided in the first unit. The first transmission unit 130 for transmitting the voice and image of the doctor to the patient and the voice and image of the patient to the doctor through the control unit 150, the drive unit, the sensor unit 120 and the first delivery unit 130 A first control unit (150) connected to the control panel and a medical instrument unit (160) connected to the robot control unit (150); The adjusting unit 200 is an adjusting means 210 for generating a driving command transmitted to the robot unit 100 through the second control unit 250 and the voice, image of the doctor to the patient through the second control unit 250. And a second control unit 230 for transmitting and transmitting the voice and image of the patient to the doctor, and a second control unit 250 connected to the adjusting unit 210 and the second delivery unit 230. Telemedicine robot system. According to claim 1, wherein the drive unit 110 is rotatably installed in the receiving space of the lower body 103 and the two driving wheels 111 protruding to the lower portion of the lower body 130 and the driving wheels 111 Two driving motors 113 connected to each other, a first caster 115 provided to the rear in the rotational direction of the driving wheel 111 with respect to the rotation axis of the driving wheel 111, and the rotation shaft of the driving wheel 111. A second caster 117 provided forward in the rotational direction of the drive wheel 111 with respect to it; And a second caster (117) spaced apart from the ground in a state where the driving wheel (111) and the first caster (115) are in contact with the ground. According to claim 1, wherein the planar shape of the lower body 103 is made of a polygon or circle and has a height, the sensor unit 120 is provided with the lower body 103 to have an angle to each other along the circumferential direction A plurality of first sensors 121 formed of a plurality of sensors and spaced apart from the first sensors 121 at a lower portion of the first sensors 121 and provided to have angles to each other along the circumferential direction It comprises a second sensor unit 123 made of a sensor of; The first sensor unit 121 and the sensor of the second sensor unit 123 is a remote medical robot system, characterized in that installed to cross each other. 4. The method of claim 3, wherein the plurality of sensors of the first preliminary part 121 are ultrasonic sensors, and the plurality of sensors of the second sensor part 123 are infrared sensors; The first preliminary part 121 is provided forward with respect to the rotation axis of the driving wheel 111 in the traveling direction of the driving wheel 111, and is provided rearward with respect to the rotation axis of the driving wheel 111. Another travel sensor 121-5 and two horizontal sensors 121-3 and 121-7 provided at both sides in a direction perpendicular to the progress sensor 121-1 with respect to the center of the lower body 103. And one or more auxiliary sensors 121-2 and 121-8 provided between the progress sensor 121-1 and each horizontal sensor; The second sensor unit 123 may include a plurality of infrared sensors installed downwardly between the traveling sensor 121-1 and the auxiliary sensors 121-1 and 121-8, and the auxiliary sensors 121-. 2, 121-8) and a remote medical robot system, characterized in that consisting of a plurality of infrared sensors are installed spaced apart between the horizontal sensor (121-3, 121-7). The mounting heights of the traveling sensors 121-1 and 121-5, the horizontal sensors 121-3 and 121-7, and the auxiliary sensors 121-2 and 121-8 forming the first sensor unit The installation height of the plurality of infrared sensors constituting the second sensor unit 123 is in the range of 4 to 6 cm from the lower end of the drive wheel 113 to the upper portion from the lower end of the drive wheel 113. Telecasting robot system, characterized in that the separation height of the two casters (117) is in the range of 1-3cm. In the method of controlling the robot unit of the telemedicine robot system of claim 5, the distance from the obstacle measured by the progress sensor (121-1) is calculated, and measured by the neighboring auxiliary sensors (121-2, 121-8) Calculating a distance to the obstacle; The inclination of the traveling sensor 121-1 from the distance between the obstacle measured and calculated by the traveling sensor 121-1 and the distance measured by the neighboring auxiliary sensors 121-2 and 121-8. Calculating a; Calculating slopes of the auxiliary sensors 121-2 and 121-8 from the distance from the obstacle measured and calculated by the auxiliary sensors 121-2 and 121-8; It is characterized by controlling the stop and rotation of the driving motor 113 by determining the position change of the obstacle 1001 from the change in the tilt of the traveling sensor 121-1 and the change of the tilt of the auxiliary sensors 121-1 and 121-9. Robot part control method of the telemedicine robot system.

Images