WO2017002142A1 - ロボットシステム - Google Patents
ロボットシステム Download PDFInfo
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- WO2017002142A1 WO2017002142A1 PCT/JP2015/003251 JP2015003251W WO2017002142A1 WO 2017002142 A1 WO2017002142 A1 WO 2017002142A1 JP 2015003251 W JP2015003251 W JP 2015003251W WO 2017002142 A1 WO2017002142 A1 WO 2017002142A1
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- robot
- care
- bed
- robot system
- medical
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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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
- A61G5/10—Parts, details or accessories
- A61G5/14—Standing-up or sitting-down aids
-
- 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
-
- 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
-
- 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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
-
- 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
Definitions
- the present invention relates to a robot system for nursing / medical related activities.
- FIG. 19 of Patent Document 1 discloses a dual-arm robot for care that lifts a person lying on a bed.
- an object of the present invention is to provide a robot system including a robot capable of performing a plurality of care / medical related actions by one robot.
- a robot system includes at least one support on which a person is placed, a plurality of articulated arms having a plurality of degrees of freedom, and at least a plurality of the articulated arms.
- a robot including one base, and at least one type of device attached to the plurality of articulated arms, the robot moving at least two types of the device to move at least 2 It is characterized by two care-related and medical-related activities.
- the robot can be used as a platform for a plurality of care / medical related actions, a plurality of care / medical related actions can be performed by one robot.
- the at least one type of device includes a pair of permeation test devices respectively attached to two multi-joint arms of the plurality of multi-joint arms, and the at least two care / medical-related actions include a human permeation test. May be included. According to this configuration, the robot can be used in common for a human penetration test and other care / medical related activities.
- the at least one support includes a deformable bed partially swingable in the width direction
- the at least one type of device includes a hand for operating the deformable bed
- the at least two care / medical related actions May include a posture change for changing a contact position between the deformable bed and a person via the deformable bed.
- the robot can be commonly used for posture change and other care-related / medical activities.
- the at least one support includes a deformable bed deformable between a bed state and a chair state, and the at least one type of device includes a hand for operating the deformable bed, and the at least two care / medical devices
- the related action may include upper body wake-up that changes from a lying state to a sitting state via the deformable bed.
- the robot can be commonly used for raising the body and performing other care / medical related activities.
- the robot system further includes an arm rest attached to at least one of the plurality of articulated arms, and the at least two care / medical-related actions are performed until the person stands up from a sitting state. It may include standing assistance to support the person. According to this configuration, the robot can be commonly used at least for raising the body and assisting in standing up.
- the at least one type of device may include a plurality of types of devices and may be detachably attached to the plurality of articulated arms.
- the at least one support may be connected to the at least one base. According to this configuration, since the relative position between the support body and the base of the robot is fixed, positioning of the device attached to the articulated arm with respect to the person or the support body is facilitated.
- the at least one base may be arranged below the support so that the whole of the at least one base fits in the space occupied by the support. According to this configuration, since the base of a relatively large robot is hidden under the support, other people can freely approach the person on the support from the periphery of the support. Therefore, it is possible to easily perform a treatment for a person placed on the support.
- the robot may be configured to store the plurality of articulated arms below the at least one support. According to this configuration, when the robot does not perform a care / medical related action, the articulated arm can be stored below the support and the robot can be stored below the support.
- the robot may be configured to perform the at least two care / medical related actions based on voice or switch operation. Further, the robot may be configured to repeat the posture change at a predetermined interval.
- the robot system further includes a moving device that is incorporated in the base and includes a pair of servo motors that drive left and right wheels, and the robot is controlled by the pair of servo motors being controlled by a robot control panel. It may have been moved. According to this configuration, the robot can freely run freely.
- FIG. 1 is a perspective view of a robot in a robot system according to an embodiment of the present invention. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the said robot system, and shows one process in the case of changing a posture. It is a perspective view of the robot system, and shows one process in the case of changing a posture. It is a perspective view of the robot system, and shows one process when performing a transmission inspection. It is a perspective view of the robot system, and shows one process when raising the body.
- FIG. 1 shows a robot 3 included in the robot system 1.
- the robot 3 performs four care / medical related actions on the person 10.
- the person 10 may be different for each care / medical related action.
- the first nursing-care / medical-related action is a change in posture as shown in FIGS.
- the posture change may be performed during an operation for the purpose of preventing bedsores, or may be performed during nursing care.
- the second care / medical-related action is the transmission test shown in FIG.
- the third care-related / medical-related action is the upper body wake-up shown in FIGS.
- the fourth care-related / medical-related action is the standing assistance shown in FIGS.
- the robot system 1 includes a robot 3 and three supports 2 on which a person 10 shown in FIGS. 2 to 13 is placed.
- the three supports 2 are a deformation bed 2A shown in FIGS. 2 to 6, a fixed bed 2B shown in FIG. 7, and a deformation bed 2C shown in FIGS.
- the robot 3 includes a plurality of articulated arms 5 having a plurality of degrees of freedom and at least one base 4 provided with the articulated arms 5.
- the degree of freedom of each articulated arm 5 is preferably 6 degrees of freedom (for example, 7 degrees of freedom).
- the number of bases 4 is one and the number of articulated arms 5 is two.
- the number of bases 4 may be two or more, and the number of articulated arms 5 may be three or more.
- the base 4 is disposed below the support 2 so that the entire base 4 can be accommodated in the space occupied by the support 2 in any of the four care-related / medical-related actions.
- the base 4 of the relatively large robot 3 is hidden under the support 2, other people can freely approach the person 10 placed on the support 2 from the periphery of the support 2. it can. Therefore, it is possible to easily perform treatment (for example, surgery or care) for the person 10 placed on the support 2.
- the robot 3 may be configured to perform four care / medical related actions based on voice or switch operation.
- the robot 3 is configured so that the two articulated arms 5 can be stored below the support 2 in any of the four care-related / medical activities. For this reason, when the robot 3 does not perform a care / medical related action, the articulated arm 5 can be stored below the support 2 and the robot 3 can be stored below the support 2.
- the two articulated arms 5 are detachably attached with a plurality of types (two types in the present embodiment) of devices 6 according to care / medical related actions.
- the robot 3 performs the above-described four care / medical related actions by moving these devices 6 by the articulated arm 5.
- the robot 3 is equipped with an information acquisition device such as a camera or a sensor, and a robot control panel 41 (see FIG. 14) built in the base 4 based on the information obtained by the information acquisition device.
- the articulated arm 5 is controlled by reference.
- the two types of devices 6 are a pair of hands 61 used for position change and upper body raising, and a pair of transmission inspection devices 62 used for transmission inspection.
- the pair of hands 61 are respectively attached to the tips of the two articulated arms 5, and the pair of permeation inspection devices 62 are respectively attached to the tips of the two articulated arms 5 instead of the hands 61.
- each support body 2 does not necessarily need to be connected to the base 4, and some or all of the three support bodies 2 are supported by support columns standing on the floor on which the robot 3 is placed. It may be.
- the base 4 of the robot 3 is movable.
- the moving device 9 includes left and right wheels 92 for driving and front wheels 93 for driving.
- the moving device 9 includes a pair of servo motors 91 that drive the left and right wheels 92.
- the robot 3 is moved by the pair of servo motors 91 being controlled by the robot control panel 41. With such a configuration, the robot 3 can freely run freely.
- the base 4 of the robot 3 may be transferred by a transfer mechanism provided on the floor on which the robot 3 is placed.
- the deformation bed 2A is connected to the base 4.
- the deformable bed 2A is connected to the base 4 via a first swing mechanism 23 (described later) disposed substantially at the center of the deformable bed 2A, and the deformable bed 2A is supported by the base 4. Yes.
- the deformation bed 2 ⁇ / b> A may be separated from the base 4 as described above.
- the deformation bed 2A is divided into a plurality (four in the illustrated example) pieces 21 in the longitudinal direction.
- Fences 22 are provided at both ends of each piece 21 in the width direction.
- the four pieces 21 are configured such that adjacent ones can relatively rotate about an axis extending in the longitudinal direction of the deformation bed 2A.
- the deformation bed 2A is configured to be swingable in the width direction as a whole.
- the deformable bed 2A includes a first swing mechanism 23 (see FIG. 4) that swings the entire deformable bed 2A in the width direction, and a second swing mechanism 24 (see FIG. 5) that swings each piece 21 in the width direction. )including.
- each cushion 7 may be configured to swell to a predetermined shape when a working fluid such as water or air is supplied, and to contract slightly when the working fluid is discharged.
- the cushion 7 may be stored below the deformable bed 2 ⁇ / b> A together with the articulated arm 5 in a contracted state when the robot 3 does not perform a care / medical related action.
- Robot 3 first grasps cushion 7 with both hands 61 and inserts one cushion 7 between person 10 and fence 22 as shown in FIG. Next, as shown in FIG. 4, the robot 3 operates the first swing mechanism 23 with one hand 61 to incline the entire deformation bed 2 ⁇ / b> A toward the inserted cushion 7, and then, as shown in FIG. 5. Further, the second swing mechanism 24 is operated with the hand 61 and the piece 21 at the end (the head side of the person 10) is tilted so as to return to the horizontal. Thereafter, as shown in FIG. 6, the robot 3 inserts the cushion 7 with the other hand 61 into the space formed between the end piece 21 and the person 10.
- the posture change shown in FIGS. 2 to 6 is an example, and it is needless to say that the posture change can be performed by other methods. This is the same for the transmission inspection, raising the body and assisting standing up, which will be described later. Further, the robot 3 may be configured to repeat the posture change at a predetermined interval.
- Transmission inspection As shown in FIG. 7, a fixed bed 2 ⁇ / b> B is used as the support 2 in the transmission inspection.
- the transmission inspection device 62 is attached to both the articulated arms 5.
- one transmission inspection device 62 emits X-rays
- the other transmission inspection device 62 receives the X-rays.
- the robot 3 performs the transmission inspection by moving the pair of transmission inspection devices 62 along, for example, a spherical trajectory centered on the head of the person 10.
- the fixed bed 2B is connected to the base 4.
- the fixed bed 2 ⁇ / b> B is connected to the base 4 at the substantially center of the fixed bed 2 ⁇ / b> B and is supported by the base 4.
- the fixed bed 2 ⁇ / b> B may be separated from the base 4 as described above.
- a deformable bed 2C that can be deformed between a bed state and a chair state is used as the support body 2.
- the hand 61 is attached to both the articulated arms 5 in the posture change.
- the robot 3 raises the body through the deformable bed 2C to change the person 10 from lying down to sitting.
- arm rests 8 used for standing assistance described later are arranged on both sides of the deformable bed 2C.
- the deformation bed 2C is connected to the base 4.
- the deformable bed 2C is connected to the base 4 via a first hoisting mechanism 25, which will be described later, arranged at the approximate center of the deformable bed 2C, and the deformable bed 2C is supported by the base 4. .
- the deformation bed 2C may be separated from the base 4 as described above.
- the deformation bed 2C is divided into a plurality (four in the illustrated example) pieces 21 in the longitudinal direction. Fences 22 are provided at both ends of each piece 21 in the width direction. The four pieces 21 are configured such that adjacent ones can relatively rotate about an axis extending in the width direction of the deformation bed 2C.
- the deformation bed 2C includes a first hoisting mechanism 25 (see FIG. 9) for hoisting the two pieces 21 on the head side of the person 10 and a second hoisting mechanism (not shown) for hoisting the two pieces 21 on the foot side of the person 10. A).
- the arm rests 8 are attached to both the articulated arms 5 in the standing assistance. However, the arm rest 8 may be attached only to one articulated arm 5.
- the robot 3 performs standing-up assistance to support the person 10 with the arm rest 8 until the person 10 stands up from the sitting state.
- the robot 3 first attaches the arm rest 8 to the tip arm of each articulated arm 5 with the hand 61 as shown in FIG. Next, the robot 3 moves both arm rests 8 in front of the chest of the person 10 as shown in FIG. Thereafter, the robot 3 opens the armrest 8 as the person 10 stands up.
- each arm rest 8 may be configured using the cushion 7 described above. More specifically, the shape of the arm rest 8 may be realized by dividing the inside of the cushion 7 that is expanded or contracted by the working fluid into a plurality of cells and supplying the working fluid to one of the cells.
- the arm rest 8 may be stored under the deformable bed 2 ⁇ / b> C together with the articulated arm 5 in a contracted state when the robot 3 does not perform a care / medical related action.
- the robot 3 can be used as a platform for a plurality of care-related / medical activities. Can perform nursing care and medical related activities. In other words, the robot 3 can be commonly used for four care-related / medical-related actions.
- the robot 3 may perform at least two medical actions. For this reason, two or three of the four in the above-described embodiment may be performed as the care / medical related action performed by the robot 3.
- the robot system 1 may have only the hand 61 as the device 6. As described above, the robot system 1 may have at least one kind of device 6.
- the robot system 1 may have only the deformable bed 2C as the support body 2.
- the robot system 1 may have at least one support 2.
- the support body 2 having a function capable of partially swinging the deformation bed 2A in the width direction and a function capable of deformation between the bed state and the chair state of the deformation bed 2C may be used.
- care / medical related actions performed by the robot 3 are not limited to the care / medical related actions described in the embodiment.
- other care / medical activities include rehabilitation, massage, and meal assistance.
- Various types of devices 6 can be attached to the articulated arm 5 of the robot 3 in accordance with care-related / medical activities.
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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KR20180019684A (ko) | 2018-02-26 |
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US10940067B2 (en) | 2021-03-09 |
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US20180185219A1 (en) | 2018-07-05 |
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