WO2018221027A1

WO2018221027A1 - Medical examination device

Info

Publication number: WO2018221027A1
Application number: PCT/JP2018/015251
Authority: WO
Inventors: 照二中井
Original assignee: 株式会社モリタ製作所
Priority date: 2017-05-30
Filing date: 2018-04-11
Publication date: 2018-12-06
Also published as: JPWO2018221027A1; JP6829763B2

Abstract

Provided is a medical examination device which outputs more accurate diagnostic information concerning dental diagnosis. The examination device (1): acquires input information relating to a dental diagnosis of a patient, including the chief complaint of the patient, an oral cavity image, a disease image, and a diagnosis result based on the oral cavity image and the disease image; acquires medical information relating to a medical diagnosis of the patient; stores related information defining precautions between a dental diagnosis and a medical diagnosis; extracts related information corresponding to the input information; and outputs diagnostic information concerning a dental diagnosis of the patient on the basis of the medical information of the patient corresponding to the extracted related information and the input information.

Description

Medical treatment equipment

The present invention relates to a medical medical device, and more particularly to a medical medical device used for dental diagnosis of a patient.

Conventionally, medical medical devices used for dental diagnosis of patients are known. For example, Japanese Patent Application Laid-Open No. 61-087554 (Patent Document 1) discloses a dental examination table for holding various medical instruments used by an operator during dental diagnosis.

JP-A 61-087554

The medical table disclosed in Patent Document 1 can support dental diagnosis by an operator. However, diagnosis information in dental diagnosis includes knowledge and experience of the surgeon in the dental field as well as knowledge and experience in the general medical field. It depends heavily on both. For this reason, there is a need for a technique for more accurately outputting diagnostic information in dental diagnosis.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a medical treatment apparatus that outputs diagnostic information in dental diagnosis more accurately.

The medical treatment apparatus according to the present invention includes an input information acquisition unit that acquires input information related to a patient's dental diagnosis, a medical information acquisition unit that acquires medical information related to a patient's medical diagnosis, and a dental diagnosis and a medical diagnosis. A storage unit for storing related information in which related items are defined, and extracting related information corresponding to the input information, and based on the patient's medical information and input information corresponding to the extracted related information A diagnosis unit that outputs diagnosis information in diagnosis.

In the above configuration, “dentistry” is a department related to dentistry, and is a medical department that deals with diseases related to teeth or teeth-related tissues (periodontal tissues, etc.). “Dental” includes, for example, general dentistry, orthodontics, oral surgery, dental radiology, or pediatric dentistry. The “medical department” is a department related to medicine and is a medical department that deals with diseases other than those treated in dentistry. “Medical” includes, for example, internal medicine, obstetrics and gynecology, radiology, endocrinology, neurology, cardiology, or orthopedics. “Input information” includes the degree of tooth pain or pain, implant information, information on prosthetics, information on attachments such as dentures, patient complaints about X-ray diagnostic information, and dental diagnosis based on the operator's knowledge Or a patient's mouth image and a disease image representing a disease of the mouth, and a diagnosis result made based on the mouth image and the disease image. The “medical information” is information that is included in a medical record, and includes information such as a diagnosis result in a past medical diagnosis of a patient such as a test result, a constitution of the patient, or medication for the patient. The “related information” includes information such as precautions considering a medical diagnosis when performing a dental diagnosis. For example, the related items include information on diseases in the medical field caused by periodontal disease, the influence of taking anticoagulants on tooth extraction, allergy information, and the like.

The "diagnosis information" includes X-ray diagnosis information, root canal length measurement information, periodontal pocket measurement information, tooth mobility measurement information, 3D oral cavity measurement result information by a 3D oral scanner, tooth caries. It includes the results of dental diagnosis such as fluorescence diagnosis information for determination, orthodontic diagnosis information, treatment policy, treatment contents, or auxiliary information for deriving these. As an easy-to-understand example, the result of dental diagnosis includes the presence or absence of caries or the presence or absence of periodontal disease. As a treatment policy for caries, treatment with the tooth preserved or treatment with a dental prosthesis can be cited. The treatment policy for periodontal disease includes removal of tartar with a hand scaler, or removal of tartar with an electric or air-driven instrument such as an ultrasonic scaler or an air scaler. Treatment of caries includes removing the carious portion by cutting with an air turbine handpiece or micromotor handpiece, then filling the teeth, putting a crown on the teeth, or inserting a denture Or root canal treatment associated therewith. The treatment content of periodontal disease includes removal of calculus in the periodontal pocket using a scaler, removal of inflamed gingival part, or removal of calculus after removing the gingiva by surgery. In addition to the above-described items, the “diagnosis information” includes the diagnosis result of the adhesion state of the tooth stain in the case of the smoker, the removal content of the stain, the diagnosis information regarding the dental implant operation, the diagnosis information regarding the orthodontics, Diagnostic information related to pediatric dentistry, diagnostic information related to oral surgery, diagnostic information related to dental aesthetics, and the like may be included. Furthermore, the “diagnosis information” includes information such as a treatment policy or treatment content in consideration of a disease in the medical field caused by periodontal disease, or the influence of taking an anticoagulant on tooth extraction.

The medical treatment apparatus according to the present invention can output diagnostic information in dental diagnosis more accurately.

It is a figure which shows the outline of a medical treatment apparatus. It is a figure which shows the side and plane of a medical device. It is a figure which shows operation | movement of the arm part main body accommodated in the medical treatment table. It is a figure which shows the internal structure of an expansion-contraction arm. It is a block diagram which shows the outline of an internal structure of a medical device. It is a block diagram which shows the outline of the internal structure of a control apparatus. It is a block diagram which shows the outline of the internal structure of a control apparatus. It is a figure for demonstrating the dental information table which an external server memorize | stores. It is a figure which shows the three-dimensional image and X-ray image of an oral cavity. It is a figure for demonstrating disease information. It is a figure for demonstrating the disease image relevant table and oral cavity image relevant table which a medical treatment apparatus memorize | stores. It is a figure for demonstrating the diagnostic reference table which a medical device memorize | stores. It is a figure for demonstrating the diagnosis of a caries. It is a figure for demonstrating the diagnosis of periodontal disease. It is a figure for demonstrating the medical information table which an external server memorize | stores. It is a figure for demonstrating the relevant information table which a medical device memorize | stores. It is a figure for demonstrating a medical treatment support process. It is a figure for demonstrating medical treatment processing. It is a figure which shows the outline of the medical treatment apparatus which concerns on a modification.

This embodiment will be described with reference to the drawings. In the present embodiment, a medical device 1 that can be used in the dental field will be described as an exemplary form of a medical medical device (hereinafter also referred to as a medical device). The medical treatment includes diagnosis and treatment.

[Configuration of medical device]
FIG. 1 is a diagram showing an outline of the medical device 1. FIG. 2 is a diagram illustrating a side surface and a plane of the medical device 1. 2A is a side view of the medical device 1 shown in FIG. 1 in the horizontal direction. FIG. 2B is a plan view of the medical device 1 shown in FIG. 1 in the vertical direction.

As shown in FIGS. 1 and 2, the medical device 1 includes a device table 80 to which various devices for treating the oral cavity of a patient 500 (hereinafter simply referred to as a patient) are connected, and a medical table that supports the patient. 20. The patient may be a living person, a human body model, or a head model.

The arm 69 extends from the device base 80 in the vertical direction. The arm 69 is connected to an arm 68 extending in the horizontal direction and an arm 70 extending in the vertical direction. An arm 71 and an arm 72 are connected to the arm 70 so that the arm further branches in the horizontal direction. An arm 66 is connected to the arm 68 via a joint portion 67.

The arm 72 holds a microphone (hereinafter also referred to as a microphone) 4 at the tip. For example, the microphone 4 acquires the patient's main complaint by voice. The audio data acquired by the microphone 4 is input to the control device 100.

The arm 71 holds the overhead camera 9 at the tip. The overhead camera 9 captures the facial expression and body movement of the patient being treated. The overhead image data acquired by the overhead camera 9 is input to the control device 100.

The arm 66 holds the surgical light 7 at the tip. The surgical light 7 irradiates the oral cavity of the patient being treated. The arm 66 is movable with respect to the arm 68 in the horizontal direction or the vertical direction about the joint portion 67 as an axis. As the arm 66 moves in this manner, the surgical light 7 appropriately irradiates the patient's oral cavity.

A spiton (not shown) is provided on the upper surface of the apparatus base 80. Spitton has a cup water supply section and a saliva bowl for rinsing the mouth. The operation panel 5 includes a plurality of switches (not shown) for driving the medical table 20 or the medical instrument 30 and is pressed by an operator such as a dentist. When the operator operates the operation panel 5, the operation signal is input to the control device 100. The operation panel 5 may be provided on the medical table 10 or may be provided on the medical table 20. In addition, the operation panel 5 may include a touch panel that can be pressed by an operator.

The apparatus stand 80 is provided with a speaker 6. The speaker 6 outputs the diagnostic information output by the control device 100 by voice. The diagnostic information is, for example, oral diagnosis results, treatment policies, treatment contents, or auxiliary information for deriving these.

The device stand 80 is provided with a monitor 8. The monitor 8 displays the diagnostic information output by the control device 100 as an image and is used for explanation to a patient or for displaying diagnostic information and a diagnostic result to an operator.

The device table 80 is provided with a movable medical table 10. Specifically, an arm 64 that can be moved and adjusted in the horizontal direction is connected to the rotating portion 65 provided on the upper surface of the apparatus base 80. An arm 62 that can be adjusted in the vertical direction is connected to the arm 64 via a joint portion 63. The medical table 10 is connected to the distal end portion of the arm 62 by the connecting portion 61. The upper surface of the medical table 10 is kept horizontal. The arm 64 can be rotated in the horizontal direction by the rotating unit 65. The arm 62 is movable so that the position thereof can be adjusted in the horizontal direction or the vertical direction about the joint portion 63 as an axis. By moving the arm 64 and the arm 62 in this manner, the medical treatment table 10 can be moved closer to or away from the patient, and can be adjusted in the vertical direction.

The medical table 10 accommodates a plurality of medical instruments 30 inside. Each medical instrument 30 is driven based on the control of the control device 100.

The medical table 20 includes a headrest 21 that supports the patient's head that can be tilted and adjusted with respect to the backrest 22, a backrest 22 that supports the patient's back relative to the seat surface sheet 23, and a seat surface sheet 23 that supports the patient's buttocks. And a footrest 24 for supporting the patient's foot. Each of the headrest 21, the backrest 22, the seat surface sheet 23, and the footrest 24 is driven based on the control of the control device 100. When the headrest 21, the backrest 22, the seat sheet 23, or the footrest 24 is driven by the control device 100, the position and posture of the medical table 20 are changed.

The foot controller 2 is connected to the clinic 20. The foot controller 2 receives an operator's operation for driving the medical table 20 or the medical instrument 30. When the operator's operation is accepted by the foot controller 2, an acceptance signal is input to the control device 100. The control device 100 drives the medical table 20 or the medical device 30 based on the reception signal from the foot controller 2. The surgeon can operate the foot controller 2 by stepping on it.

[Operation of arm body]
FIG. 3 is a view showing the operation of the arm main body 40 stored in the medical care table 10. A plurality of arm main bodies 40 as shown in FIG. 3 are accommodated in the medical table 10, and each of the plurality of arm main bodies 40 holds a medical instrument 30 at the tip. Each arm body 40 is provided with a supply passage for a medium (electricity, air, water, light, laser, etc.) for driving various medical instruments 30. The supply passage is not limited to the one provided in the arm main body 40, and may be provided along the outside of the arm main body 40. For each medical instrument 30, an individual supply path corresponding to the type of medium and supply conditions may be provided in the arm body 40. In addition, the rear of the arm body 40 is fixedly supported inside the medical table 10 constituting the housing, and various media as described above are passed through the supply passages arranged in the

arms

62 and 64. Supplied to medical equipment. When the medical device 30 is not used, the front opening of the medical table 10 may be closed with an open / close door so that the medical device 30 cannot be seen from the outside.

As shown in FIG. 3, the arm main body 40 includes a telescopic arm 401 including three

cylindrical arms

45, 46 and 47. The three

cylindrical arms

45, 46, and 47 are sequentially fitted so as to be movable in the horizontal direction and not to rotate with each other, thereby constituting the extendable arm 401.

The telescopic arm 401 will be described in detail with reference to FIG. FIG. 4 is a view showing the internal structure of the telescopic arm 401.

As shown in FIG. 4A, a guide groove 403 is formed in the horizontal direction in the first-stage cylindrical arm 45. A guide groove 404 is formed in the horizontal direction in the second-stage cylindrical arm 46. A guide piece 405 slidably engaged with a guide groove 403 formed in the first-stage cylindrical arm 47 is provided on the outer wall of the second-stage cylindrical arm 46. A guide piece 406 slidably engaged with a guide groove 404 formed in the second-stage cylindrical arm 46 is provided on the outer wall of the third-stage cylindrical arm 47. Accordingly, the

cylindrical arms

45, 46, 47 are prevented from rotating by the

guide pieces

405, 406 engaged with the

guide grooves

403, 404, respectively, and can move (expand / contract) only in the horizontal direction.

A telescopic screw shaft 407 including two

screw shafts

408 and 418 is provided at the center inside the telescopic arm 401. The telescopic screw shaft 407 is configured to fit on the outer periphery of the screw shaft 408 so that the screw shaft 418 is movable in the horizontal direction and does not rotate with each other. The two

screw shafts

408 and 418 are both ball screws, for example. A key 409 is provided in the horizontal direction at the tip of the screw shaft 408. A key groove 410 with which the key 409 engages is formed on the inner periphery of the screw shaft 418. The

screw shafts

408 and 418 are prevented from rotating by the key 409 engaged with the key groove 410 and move (expand / contract) only in the horizontal direction.

As shown in FIG. 4B, a cylindrical body 411 is formed on the inner periphery of the screw shaft 418, in which a cutout for the keyway 410 is formed in the horizontal direction. The telescopic screw shaft 407 is disposed in the telescopic arm 401 in the same horizontal direction as the shaft of the telescopic arm 401. The base portion of the screw shaft 408 is rotatably supported by a shaft support portion 412 provided at the base portion of the cylindrical arm 45. A bearing 413 that rotatably supports the screw shaft 408 is provided on the inner periphery of the shaft support portion 412.

The base of the cylindrical arm 46 is provided with a nut 414 that is screwed onto the screw shaft 408 and a shaft support 415 that rotatably supports the base of the screw shaft 418 fitted to the screw shaft 408. A bearing 416 that rotatably supports the screw shaft 418 is provided on the inner periphery of the shaft support portion 415.

A nut 417 that is screwed onto the screw shaft 418 is provided at the base of the cylindrical arm 47. The

nuts

414 and 417 screwed into the

screw shafts

408 and 418 are, for example, ball nuts.

The nut 414 supported by the second-stage cylindrical arm 46 via the shaft support portion 415 changes the rotational force of the screw shaft 408 as the first-stage rotation shaft member into a linear motion, and thus the second-stage cylindrical arm. The arm 46 is moved forward or backward. Similarly, the nut 417 supported by the third-stage cylindrical arm 47 advances the third-stage cylindrical arm 47 by changing the rotational force of the screw shaft 418 as the second-stage rotation shaft member to linear motion. Or retreat.

A driving unit 428 for rotating the screw shaft 408 is provided at the rear end of the telescopic arm 401. Drive unit 428 includes a motor 419,

pulleys

420 and 421, and a timing belt 422.

According to such a telescopic arm 401, when the screw shaft 408 at the base end of the telescopic screw shaft 407 is rotated in one direction by driving the drive unit 418, the second stage is generated by the rotation of the nut 414 screwed to the screw shaft 408. The cylindrical arm 46 advances. When the second-stage cylindrical arm 46 advances, the screw shaft 418 whose base is supported by the shaft support 415 provided on the cylindrical arm 46 also advances together with the cylindrical arm 46. At the same time, the rotation of the screw shaft 408 is transmitted to the screw shaft 418 by the key 409 of the screw shaft 408 engaged with the key groove 410 formed on the inner periphery. Therefore, the screw shaft 418 rotates integrally with the screw shaft 408 while moving forward together with the second-stage cylindrical arm 46. When the screw shaft 418 rotates, the third-stage cylindrical arm 47 advances by the rotation of the nut 417 screwed into the screw shaft 418. On the other hand, when the screw shaft 408 is rotated in the opposite direction, the second-stage cylindrical arm 46 and the third-stage cylindrical arm 47 are simultaneously retracted.

As described above, when the screw shaft 408 at the base end of the telescopic screw shaft 407 is rotated in one direction, the second-stage cylindrical arm 46 and the third-stage cylindrical arm 47 of the telescopic arm 401 are synchronized and the same. Move forward a distance. As a result, the telescopic arm 401 extends, and the arm body 40 protrudes from the medical table 10. On the other hand, when the screw shaft 408 is rotated in the opposite direction, the second-stage cylindrical arm 46 and the third-stage cylindrical arm 47 are synchronously moved backward by the same distance. As a result, the telescopic arm 401 is reduced, and the arm unit main body 40 is stored in the medical table 10 in a compact manner.

In the present embodiment, the

cylindrical arms

45, 46, and 47 constituting the telescopic arm 401 are formed in a coaxial shape, but may be formed in a rectangular tube shape. The telescopic arm 401 is not limited to the one constituted by the three

cylindrical arms

45, 46, 47, but may be constituted by two or four or more cylindrical arms.

Referring to FIG. 3 again, the arm body 40 will be described. The cylindrical arm 46 is accommodated in the cylindrical arm 45 or protrudes from the cylindrical arm 45 based on the expansion / contraction part 37 by the expansion / contraction operation described in FIG. Similarly, the cylindrical arm 47 is accommodated in the cylindrical arm 46 or protrudes from the cylindrical arm 46 with the expansion / contraction part 36 as a reference. The telescopic arm 401 expands and contracts in the horizontal direction by such expansion and contraction by the

cylindrical arms

46 and 47. For example, as shown in FIG. 3A, when the telescopic arm 401 is completely contracted, the arm body 40 is completely stored in the medical table 10. On the other hand, as shown in FIGS. 3B to 3D, when the telescopic arm 401 is extended, the arm main body 40 protrudes from the medical treatment table 10.

A cylindrical arm 44 is connected to the cylindrical arm 47 via a drive unit 35. The drive unit 35 is, for example, a motor. As shown in FIG. 3B, when the rotary shaft 35a rotates, the cylindrical arm 44 rotates in the circumferential direction with respect to the cylindrical arm 47. .

A cylindrical arm 43 is connected to the cylindrical arm 44 via a drive unit 34. As shown in FIG. 3C, the drive unit 34 is a motor, and when the rotation shaft 34a rotates, the arm 43 rotates in a direction perpendicular to the cylindrical arm 44.

The arm 42 is connected to the cylindrical arm 43 via the telescopic part 33. As shown in FIG. 3B, the arm 42 is housed in the cylindrical arm 43 or protrudes from the cylindrical arm 43 with reference to the stretchable portion 33.

The arm 42 is connected to the arm 42 via the drive unit 32. The drive unit 32 is, for example, a motor. As shown in FIG. 3C, when the rotary shaft 32a rotates, the arm 41 rotates in a direction perpendicular to the arm 42.

The medical instrument 30 is connected to the connection portion 31 of the arm 41. The connection portion 31 includes a motor (not shown). As shown in FIG. 3D, when the rotation shaft 31a rotates, the medical instrument 30 rotates in the circumferential direction with respect to the arm 41. Since the rotating shaft 34a and the rotating shaft 32a are disposed at an angle different by 90 degrees, when one arm bends in the horizontal direction, the other arm is configured to bend in the vertical direction.

In this manner, the medical table 10 stores a plurality of arm main bodies 40 that hold the medical instrument 30 at the connection portion 31, and each arm main body 40 is expanded and contracted in the longitudinal direction, bent in the longitudinal direction, Further, rotation in the circumferential direction with respect to the longitudinal direction is possible. The medical device 1 can move the medical device 30 closer to or away from the patient's oral cavity by driving the plurality of arm main bodies 40 in this way, and the medical device 30 is disposed at an appropriate position according to the treatment content. can do. In addition, the arm part main body 40 can hold | maintain the oral camera 55 mentioned later by the connection part 31. FIG. The medical device 1 can drive the arm main body 40 to move the oral camera 55 closer to or away from the patient's oral cavity, and can place the oral camera 55 at an appropriate position according to the treatment content.

In addition, the arm main body 40 is not limited to the one that holds the medical instrument 30 or the oral camera 55 in the connection part 31, and may be one that incorporates the medical instrument 30 or the oral camera 55 in the distal end portion. Further, the medical device 30 held by the arm main body 40 may incorporate an imaging element (corresponding to the oral camera 55).

Each arm part main body 40 may be capable of at least one of expansion and contraction in the longitudinal direction, bending in the longitudinal direction, and rotation in the circumferential direction with respect to the longitudinal direction, and operations other than these may be possible. .

The operation of each arm portion main body 40 is not limited to a motor, and may be performed by a driving force of a hydraulic piston or a pneumatic piston.

[Internal configuration of medical device]
FIG. 5 is a block diagram showing an outline of the internal configuration of the medical device 1. As shown in FIG. 5, in the medical device 1, a plurality of types of devices are connected to the control device 100.

The control device 100 includes a medical table 20, a foot controller 2, a speaker 6, a monitor 8, a bird's-eye camera 9, a surgical light 7, a microphone 4, a medical table 10, a communication interface 50, and an operation. Panel 5 is connected. Note that devices other than these devices may be connected to the control device 100, and for example, a basin unit for a patient to gargle may be connected. The basin unit may be integrated with the device base 80.

The medical table 10 includes a plurality of arm main bodies 40 to which a medical instrument 30 is connected. For example, a medical instrument 30a, which is an air turbine handpiece, is connected to the arm main body 40a. A medical instrument 30b, which is an air turbine handpiece different from the medical instrument 30a, is connected to the arm main body 40b. A medical instrument 30c, which is a micromotor handpiece, is connected to the arm main body 40c. A medical instrument 30d, which is a scaler, is connected to the arm main body 40d. A medical instrument 30e, which is a three-way syringe, is connected to the arm main body 40e.

Note that the medical instrument 30 may be a noninvasive medical instrument such as a dental mirror, a vacuum syringe, or a three-way syringe. The medical device 30 may be an invasive medical device such as an air turbine handpiece, a micromotor handpiece, or a laser handpiece. Specifically, the medical instrument 30 is an air turbine handpiece or micromotor handpiece for cutting teeth, a scaler handpiece for removing calculus, a laser handpiece, a root canal treatment motor, or an air motor handpiece. May be. In addition, the medical instrument 30 may be a vacuum handpiece that discharges saliva or blood in the oral cavity, a photopolymerization irradiator, a filling device, a tooth surface cleaner, a powder injector, or a dental mirror.

The mouth camera 55 is connected to the arm body 40f among the plurality of arm bodies 40. The oral camera 55 images the patient's oral cavity. Data based on the oral image acquired by the oral camera 55 (also referred to as oral image data) is input to the control device 100. Note that the oral camera 55 according to the present embodiment is a three-dimensional oral scanner that images the oral cavity in three dimensions, but may be an optical camera that captures the oral cavity in two dimensions. As a configuration for acquiring a three-dimensional shape in the oral cavity by the oral camera 55, focusing method, confocal method, triangulation method, white interference method, stereo method, photogrammetry method, SLAM method (Simultaneous Localization and Mapping), Examples include optical coherence tomography (OCT). In addition, it is known that fluorescence is emitted when an abnormal part such as tartar, plaque, caries, and resin filling is irradiated with excitation light having a specific wavelength. Therefore, the oral camera 55 may be a fluorescent camera that receives a light source that emits light of a specific wavelength through a filter. Furthermore, not only an optical camera such as the oral camera 55 according to the present embodiment, but also an oral image captured by an X-ray apparatus may be input to the control device 100. That is, the oral image acquired by the control device 100 may be either an optical image or an X-ray image. The X-ray image may be not only a simple transmission X-ray image but also an X-ray panoramic tomographic image, an X-ray planar tomographic image, an X-ray CT image, an X-ray volume image, and the like.

The communication interface 50 communicates with the external server 1000 by wired communication or wireless communication. Although illustration is omitted, the external server 1000 communicates with devices arranged in various facilities connected to the external server 1000 via a network. For example, the external server 1000 communicates with a device disposed in a medical institution such as a university hospital, dental university, general medical university, dental clinic, internal medicine clinic, obstetrics and gynecology clinic, orthopedic clinic, or pharmacy.

For example, the external server 1000 communicates with not only the medical device 1 but also other medical devices that perform dental diagnosis. That is, a plurality of medical devices 1 are connected to the external server 1000 via the network. The medical devices 1 connected via a network may be arranged in the same hospital or in different hospitals. In addition, the external server 1000 may be arranged in the hospital or outside the hospital. For example, in the form of a so-called cloud service, each of a plurality of medical apparatuses 1 is connected to the external server 1000 via a network, and the external server 1000 is located at a remote location different from the hospital where any of the medical apparatuses 1 is arranged. It may be an existing cloud computer.

The external server 1000 accumulates and stores the oral image data of the patient who uses each medical device 1 connected via the network as the disease image data. In addition, the external server 1000 accumulates and stores diagnosis information of patients who use each medical device 1 as disease information. In addition, the external server 1000 may store disease images presented in academic societies and the like, and disease images described in academic journals and textbooks in the dentistry and oral surgery fields. Information related to dental diagnosis such as disease image data and disease information is referred to as dental information. The external server 1000 stores the dental information in association with an ID for identifying the patient and information related to the patient (also referred to as patient information). The dental information for each patient stored in the external server 1000 becomes so-called big data by accumulating new dental information output from each medical device 1 connected via the network. The ID for identifying a patient may be, for example, an insurance card number or a personal number assigned to each citizen, and an identification assigned to a patient using a medical institution connected via a network. It may be a number. When connecting via a network, the patient name may be hidden, anonymized or encrypted in consideration of protection of the patient's personal information.

Furthermore, the external server 1000 communicates with a device arranged in a medical institution such as a dental clinic or an internal medicine clinic, so that past diagnosis results such as medical records and examination results of patients diagnosed in these medical institutions, patient constitutions, and the like. Or accumulate and store information such as medications for the patient. Information regarding these medical diagnoses is referred to as medical information. The external server 1000 stores the acquired medical information in association with the ID and patient information for identifying the patient described above. In the external server 1000, new medical information is accumulated every time a patient is diagnosed or a medicine is prescribed in a medical institution, and the accumulated medical information becomes so-called big data.

[Internal configuration of control device]
6 and 7 are block diagrams showing an outline of the internal configuration of the control device 100. FIG. As shown in FIGS. 6 and 7, the control device 100 has a plurality of types of functional units that perform control based on a plurality of types of data stored in the storage unit 160. Each function part which control device 100 has is realized by CPU (Central Processing Unit), for example. The storage unit 160 is realized by a memory such as a ROM (Read Only Memory) and a RAM (Random Access Memory).

The control device 100 includes a table control unit 110. The table control unit 110 drives the medical care table 10 based on the table control data stored in the storage unit 160. The table control data includes data for driving the medical care table 10 based on the diagnostic information created by the diagnostic unit 170 and stored in the storage unit 160.

The control device 100 includes an arm control unit 111. The arm control unit 111 drives each arm unit body 40 based on the arm control data stored in the storage unit 160. The arm control data includes data for driving each arm body 40 based on the diagnosis information created by the diagnosis unit 170 and stored in the storage unit 160. For example, in the arm control data, the type of the arm body 40 used along the treatment content, the order of the arm body 40 used along the treatment content, and the arm body driven along the treatment content 40 drive data and the like are included.

For example, the arm control unit 111 determines the use order of the arm main bodies 40 based on the treatment content based on the arm control data. The arm control unit 111 changes at least one of the position and posture of each arm body 40 according to the determined order.

The control device 100 includes a medical instrument control unit 131. The medical instrument control unit 131 drives each medical instrument 30 based on the medical instrument control data stored in the storage unit 160. The medical instrument control data includes data for driving each medical instrument 30 based on the diagnostic information created by the diagnostic unit 170 and stored in the storage unit 160. The medical instrument control data is prepared for each type of medical instrument 30 connected to the control device 100. For example, in the medical instrument control data, the type of the medical instrument 30 used along the treatment content, the order of the medical instrument 30 used along the treatment content, and the driving of the medical instrument 30 driven along the treatment content Data (drive control data corresponding to the type of the medical instrument 30, various types of setting values such as the type of cutting tool, the number of rotations, the rotation speed, the rotation direction, and the rotation pattern).

For example, the medical instrument control unit 131 determines the order of use of the respective medical instruments 30 along the treatment content based on the medical instrument control data. The medical instrument control unit 131 drives each medical instrument 30 in an appropriate state according to the determined order.

The medical instrument control unit 131 acquires data such as the type, position, posture, or driving state of each connected medical instrument 30 as medical instrument state data. The acquired medical device state data is stored in the storage unit 160 for each type of the medical device 30. The control device 100 can grasp the type, position, posture, and driving state of each medical instrument 30 based on the medical instrument state data stored in the storage unit 160. The medical instrument control data includes drive data based on abnormality information described later.

The control device 100 includes a clinical table control unit 120. The clinical table control unit 120 drives the clinical table 20 based on the clinical table control data stored in the storage unit 160. The clinical table control data includes data for driving the clinical table based on the diagnostic information created by the diagnostic unit 170 and stored in the storage unit 160. The clinical table control data is prepared for each type of the clinical table 20 connected to the control device 100.

For example, the clinical table control unit 120 is configured so that the position or posture of the clinical table 20 is in line with the treatment content based on the treatment site and the treatment table control data so that the patient can take an optimal posture according to the treatment site in the oral cavity. To change.

The medical table control unit 120 acquires data such as the type, position, or posture of the medical table 20 as medical table state data and stores the data in the storage unit 160. The control device 100 can grasp the type, position, and posture of the medical table 20 based on the medical table status data stored in the storage unit 160. The medical table control data includes drive data based on abnormality information described later.

The control device 100 has an oral image acquisition unit 140. The oral image acquisition unit 140 acquires the oral image of the patient acquired by the oral camera 55. The oral image acquisition unit 140 calculates the feature amount of the tooth and the feature amount of the periodontal tissue based on the acquired oral image, and stores the data in the storage unit 160 as oral image data. The oral image acquisition unit 140 is not limited to acquiring an oral image from the oral camera 55 held by the arm main body 40, and may acquire an oral image from a camera other than the oral camera 55. For example, the oral cavity image acquisition unit 140 may acquire an oral X-ray image captured by an X-ray device as an oral cavity image. Or the oral cavity image acquisition part 140 may acquire the tomographic plane image of the oral cavity image | photographed with CT imaging device as an oral cavity image.

The control device 100 includes a dental information acquisition unit 141. The dental information acquisition unit 141 acquires dental information (disease image data, disease information, etc.) acquired from the external server 1000 via the communication interface 50 and stores it in the storage unit 160.

The control device 100 includes a medical information acquisition unit 142. The medical information acquisition unit 142 acquires medical information acquired from the external server 1000 via the communication interface 50 and stores it in the storage unit 160.

The control device 100 has an artificial intelligence unit 180. The artificial intelligence unit 180 is also referred to as a machine learning unit or a deep learning unit, and updates diagnostic reference data by machine learning or deep learning based on dental information stored in the storage unit 160. The diagnosis reference data is data used when the diagnosis unit 170 diagnoses the oral cavity of the patient, and is stored in a diagnosis reference table (table shown in FIG. 12 described later) in the storage unit 160. Further, the artificial intelligence unit 180 updates the related information data by machine learning or deep learning based on medical information stored in the storage unit 160, existing papers or academic society data, and the like. The related information data includes related information such as precautions considering medical diagnosis when performing a dental diagnosis, and is stored in a related information table (table in FIG. 16 described later) in the storage unit 160.

The diagnosis unit 170 diagnoses the oral cavity of the patient based on the oral image data stored in the storage unit 160 and the diagnostic reference data stored in the storage unit 160. Furthermore, the diagnosis unit 170 performs a final dental diagnosis based on the diagnosis result and the related information stored in the storage unit 160, and outputs the diagnosis information. The diagnostic information output by the diagnostic unit 170 is stored in the storage unit 160.

The control device 100 includes an overhead image acquisition unit 109. The overhead image acquisition unit 109 acquires the overhead image data acquired by the overhead camera 9 and stores the acquired overhead image data in the storage unit 160.

The control device 100 includes a voice acquisition unit 104. The sound acquisition unit 104 acquires the sound data acquired by the microphone 4 and stores it in the storage unit 160.

The control device 100 includes an audio output unit 106 that controls the speaker 6. The audio output unit 106 causes the speaker 6 to output the diagnostic information stored in the storage unit 160 with audio.

The control device 100 includes a display unit 108 that controls the monitor 8. The display unit 108 displays the diagnostic information stored in the storage unit 160 on the monitor 8 as an image.

The control device 100 has an abnormality detection unit 119. The abnormality detection unit 119 detects a patient abnormality based on the bird's-eye view image data and audio data stored in the storage unit 160. When the abnormality detection unit 119 detects a patient abnormality, the abnormality detection unit 119 causes the storage unit 160 to store abnormality information that can identify the patient abnormality.

For example, the abnormality detection unit 119 analyzes the posture of the patient sitting on the medical table 20 based on the overhead image data. The storage unit 160 stores a plurality of data indicating the normal posture of the patient in advance. For example, the storage unit 160 stores data related to the positions of the limbs (both hands and both feet) of a patient who is seated in a normal posture on the examination table 20. The abnormality detection unit 119 detects the position of the patient's limbs (both hands and feet) by analyzing the posture of the patient sitting on the medical table 20. The abnormality detection unit 119 compares the detected position of the patient's limb with the position of the patient's limb seated in a normal posture on the medical table 20 stored in the storage unit 160 in advance. It is determined whether or not the posture of the patient seated in is abnormal. In this way, the abnormality detection unit 119 detects the abnormal posture of the patient.

Also, for example, the abnormality detection unit 119 detects an abnormality such as the patient feeling excessive pain by recognizing the facial expression and body movement of the patient being treated based on the overhead image data. Furthermore, the abnormality detection unit 119 detects an abnormality such as the patient seeking to stop treatment by recognizing the sound of the patient being treated based on the sound data.

The abnormality information output by the abnormality detection unit 119 in this way is the table control unit 110, the arm unit control unit 111, the medical table control unit 120, the medical instrument control unit 131, the audio output unit 106, and the display unit 108, respectively. Referenced by.

The table control unit 110 moves the medical table 10 based on the abnormality information stored in the storage unit 160 so as to keep the medical device 30 away from the patient's oral cavity. Based on the abnormality information stored in the storage unit 160, the arm control unit 111 moves the arm main body 40 so as to keep the medical instrument 30 away from the oral cavity of the patient. The clinical table control unit 120 returns the patient to a normal posture by changing the position and posture of the medical table 20 based on the abnormality information stored in the storage unit 160. Based on the abnormality information stored in the storage unit 160, the medical instrument control unit 131 removes the patient's abnormality by, for example, stopping the driving of the medical instrument 30. The sound output unit 106 causes the speaker 6 to output the abnormality information stored in the storage unit 160 with sound. The display unit 108 displays the abnormality information stored in the storage unit 160 on the monitor 8 as an image.

The control device 100 includes a panel control unit 105. The panel control unit 105 controls lighting and display of the operation panel 5 based on an operation performed on the operation panel 5 by the operator.

The control device 100 has a surgical light control unit 107. The operating light control unit 107 controls lighting of the operating light 7 and the like.

[Dental diagnosis using oral images]
With reference to FIGS. 8 to 14, the dental diagnosis using the oral image performed by the medical apparatus 1 will be described.

As shown in FIG. 5, in this embodiment, each medical device 1 arranged in a plurality of dental clinics is connected to an external server 1000 via a network. The external server 1000 acquires the oral image acquired at the time of past diagnosis from each medical device 1, stores this as a disease image, and stores the diagnostic information at that time as disease information. The dental information (disease image data, disease information, etc.) stored in the external server 1000 in this way is accumulated daily and becomes so-called big data.

Each diagnostic device 1 updates the diagnostic reference data based on the disease image data acquired from the external server 1000 when diagnosing the patient, and performs a dental diagnosis based on the oral image data of the patient using it. The diagnostic information in the dental diagnosis is stored in the external server 1000 together with the oral image data. This diagnostic information may be corrected by the surgeon. In this case, the corrected diagnostic information is output to the external server 1000 together with the oral image data.

The disease information accumulated in the external server 1000 in this way is sometimes diagnostic information by the diagnostic unit 170 of each medical device 1 and sometimes diagnostic information corrected by the surgeon. Each diagnostic device 1 can output more accurate diagnostic information as the diagnosis is performed by updating the diagnostic reference data every time the diagnosis is repeated using big data accumulated every day. Thus, the control apparatus 100 with which the medical treatment apparatus 1 is provided has a computer which bears artificial intelligence or the intelligence corresponding to it.

(External server 1000: dental information table)
FIG. 8 is a diagram for explaining a dental information table stored in the external server 1000. As shown in FIG. 8, the dental information table stored in the external server 1000 includes an ID for identifying a patient for each patient using a plurality of dental clinics such as Clinic A, Clinic B, and Clinic C. The disease image data and the disease information are stored in association with the patient information. Note that the various types of information stored in the dental information table shown in FIG. 8 are examples, and the dental information table stores past disease image data and disease information accumulated for each patient. Further, the dental information table is not limited to storing dental information for each dental clinic, and dental information may be stored for each patient ID.

Patient information includes clinic name, age, gender, and whether or not smoking is present. The patient information may include information other than these, such as hospital history.

The disease image data includes the feature amount of the tooth and the feature amount of the periodontal tissue. The feature amount of the tooth and the feature amount of the periodontal tissue will be described with reference to FIG. FIG. 9 is a diagram showing a three-dimensional image and an X-ray image of the oral cavity acquired by a 3D scanner such as a three-dimensional oral scanner. FIG. 9A shows an oral image represented by a three-dimensional image. FIG. 9B shows an oral image represented by an X-ray image. In the oral cavity shown in FIG. 9, caries 610 occurs in the teeth, and periodontal disease 620 occurs in the periodontal tissue.

In the present embodiment, only the tooth suspected of having caries 610 is extracted, and the feature amount of the tooth is calculated. The tooth in which the caries 610 is generated tends to be missing and the surface color becomes darker than the vicinity. Therefore, as a method of identifying a tooth that may have caries 610, first, a portion where the color of the tooth is changed is identified based on a three-dimensional image or an X-ray image, and the shape of the portion is determined. The feature amount of the color is calculated.

If a 3D image or an X-ray image has already been acquired for the same patient in the past, the degree of progress of the tooth or caries that may be lost by comparing the past image data with the current image data. May be specified.

As shown in FIGS. 9A and 9B, in the present embodiment, as the feature amount of the tooth, the depth (denoted as V) of the missing portion of the tooth, the lightness and saturation of the tooth surface. (Denoted as W).

Further, in the present embodiment, only the periodontal tissue suspected of causing the periodontal disease 620 is extracted, and the feature amount of the periodontal tissue is calculated. Periodontal tissue in which periodontal disease 620 has occurred tends to swell and the surface color tends to be more reddish than the color of the surrounding periodontal tissue. Therefore, as a method for identifying the periodontal tissue in which periodontal disease 620 may occur, first, a portion where the color of the periodontal tissue is discolored is identified based on a three-dimensional image or an X-ray image. Then, the feature amount of the shape and color of the portion is calculated.

If a 3D image or an X-ray image has already been acquired for the same patient in the past, periodontal tissue that may be swollen is identified by comparing the past image data with the current image data. Also good.

As shown in FIGS. 9A and 9B, in the present embodiment, as the feature amount of the periodontal tissue, the degree of swelling of the periodontal tissue (denoted as X) and the lightness of the surface of the periodontal tissue And the saturation (denoted Y).

The tooth in which the caries has occurred or the periodontal tissue in which the periodontal disease has occurred may be specified only from the three-dimensional image acquired by the oral camera 55, or the X-ray acquired by the X-ray apparatus. You may identify only from an image. Alternatively, a tooth in which caries has occurred or a periodontal tissue in which periodontal disease has occurred is identified from both the three-dimensional image acquired by the oral camera 55 and the X-ray image acquired by the X-ray apparatus. May be. In addition, the tooth in which the caries has occurred is specified only from the X-ray image acquired by the X-ray apparatus, and the periodontal tissue in which the periodontal disease has occurred is determined only from the three-dimensional image acquired by the oral camera 55. It may be specified or vice versa.

Referring to FIG. 8 again, in the dental information table, the feature values (V, W) of the tooth and the feature values (X, Y) of the periodontal tissue as described above are stored as disease image data for each patient. Stored.

The disease information stored in the dental information table includes caries-related disease information and periodontal disease-related disease information. The caries-related disease information includes the presence or absence of caries, the progress of caries, and the caries treatment method. Periodontal disease-related disease information includes the presence or absence of periodontal disease, the type of periodontal disease, and the treatment method for periodontal disease.

The respective disease information related to caries and periodontal disease will be described with reference to FIG. FIG. 10 is a diagram for explaining disease information.

FIG. 10 (A) shows a list summarizing caries-related disease information. As shown in FIG. 10 (A), six stages of diagnosis 1 to diagnosis 6 are provided for caries-related disease information. In diagnosis 1, no caries is set, and the degree of progression and the treatment method are not set. In diagnosis 2, caries is set to be present, the degree of progression is set to C0 having the lightest symptom, and the treatment method is set to treatment 0. In diagnosis 3, caries is set to be present, the degree of progression is set to C1, and the treatment method is set to treatment 1. In the diagnosis 4, the caries is set to be present, the progress is set to C2, and the treatment method is set to the treatment 2. In diagnosis 5, the presence of caries is set, the degree of progression is set to C3, and the treatment method is set to treatment 3. In the diagnosis 6, the caries is set to be present, the progress is set to C4 having the most severe symptom, and the treatment method is set to the treatment 4.

In Diagnosis 1 to Diagnosis 6, information on whether or not tooth extraction is required during treatment is set. For example, in diagnosis 1 to diagnosis 4, information is set that tooth extraction is not required because caries are mild. In diagnosis 5, tooth extraction is not necessarily required, but since caries has progressed to some extent, information indicating that it is better to perform tooth extraction for early treatment or more reliable treatment is set. In the diagnosis 6, since the caries is severe, information indicating that tooth extraction is required is set.

FIG. 10 (B) shows a list summarizing periodontal disease related disease information. As shown in FIG. 10B, diagnosis information of periodontology-related disease information is provided in six stages of diagnosis a to diagnosis f. In diagnosis a, periodontal disease is set to no, and the type and treatment method are not set. In diagnosis b, periodontal disease is set to be present, the type is set to gingivitis a having the least symptom, and the treatment method is set to treatment a. In diagnosis c, periodontal disease is set to be present, the type is set to gingivitis b, and the treatment method is set to treatment b. In diagnosis d, periodontal disease is set to be present, the type is set to periodontitis A, and the treatment method is set to treatment A. In diagnosis e, periodontal disease is set to be present, the type is set to periodontitis B, and the treatment method is set to treatment B. In diagnosis f, periodontal disease is set to be present, the type is set to periodontitis C with the most severe symptoms, and the treatment method is set to treatment C.

In Diagnosis a to Diagnosis f, information on whether or not tooth extraction is required during treatment is set. For example, in diagnosis a to diagnosis d, information indicating that tooth extraction is not necessary because periodontal disease is mild is set. In the diagnosis e, tooth extraction is not necessarily required, but since periodontal disease has progressed to some extent, information is set that it is better to perform tooth extraction for early treatment or more reliable treatment. In diagnosis f, since periodontal disease is severe, information indicating that tooth extraction is required is set.

(Medical device 1: disease image related table, oral image related table)
FIG. 11 is a diagram for explaining the disease image related table and the oral image related table stored in the medical device 1.

FIG. 11A is a diagram for explaining a disease image related table stored in the medical device 1 of the clinic A. FIG. As shown in FIG. 11A, the disease image related table stored in the medical device 1 identifies a patient for each patient using a plurality of dental clinics such as Clinic A, Clinic B, and Clinic C. The disease image data and the disease information are stored in association with the ID and the patient information. The control device 100 of the medical device 1 acquires the disease image related table from the external server 1000 and stores it.

Of the data stored in the disease image related table, the disease information corresponding to the patient of the clinic A is past diagnosis information in the clinic A where the medical device 1 is installed. Of the data stored in the disease image association table, the disease information corresponding to each patient at clinic B and clinic C is past diagnostic information at clinic B and clinic C, respectively. That is, the medical device 1 of the clinic A refers to the disease image related table acquired from the external server 1000, and identifies patient information, disease image data, and disease information of patients in other clinics including the clinic A. Can do.

FIG. 11 (B) is a diagram for explaining an oral image related table stored in the medical device 1 of the clinic A. As shown in FIG. 11B, the oral image related table stored in the medical device 1 is associated with the ID and patient information of the patient who uses the medical device 1, and the oral image data and the diagnostic information. And are stored.

Patient information includes clinic name, age, gender, and whether or not smoking is present. The oral image data includes the feature amount of the tooth and the feature amount of the periodontal tissue. The diagnosis information includes caries-related information and periodontal disease-related information. The caries-related information includes the presence or absence of caries, the progress of caries, and the caries treatment method. Periodontal disease-related information includes the presence or absence of periodontal disease, the type of periodontal disease, and the treatment method for periodontal disease. In the example of the patient shown in FIG. 11B, the caries-related diagnosis information is classified as diagnosis 2 in the disease information, and the periodontal disease-related diagnosis information is classified as diagnosis e in the disease information.

In the oral image related table, the latest patient information, oral related data, and diagnostic information regarding one patient are always stored, and when such information is newly acquired by the control device 100, the oral image related table is stored in the oral image related table. Updated. When new patient information, oral cavity related data, and diagnostic information are acquired, at this point, these pieces of information are output from the control device 100 to the external server 1000 and stored in the disease image related table of the external server 1000. That is, the diagnosis information of the patient diagnosed by the medical device 1 of the clinic A is stored in the oral image related table of the medical device 1 while being stored in the disease image related table of the external server 1000.

Similarly, in the other clinical apparatus 1 in the clinic A and the other clinical apparatuses 1 in the other clinics B and C, the latest image data of the patient is always stored in the oral image related table, and the past data is externally stored. It is transmitted to the server 1000 and stored in the disease image related table of the external server 1000. Each medical device 1 of each clinic acquires patient information, oral cavity related data, and diagnostic information in all the medical devices 1 connected via the network by acquiring the disease image related table from the external server 1000. Can do.

(Medical device 1: Diagnostic criteria table)
FIG. 12 is a diagram for explaining a diagnostic reference table stored in the medical device 1. The diagnostic criteria table stores diagnostic criteria data for diagnosing the oral cavity based on the patient's oral image.

FIG. 12 (A) shows a diagnostic criteria table for diagnosing caries. This diagnostic criterion table is created by the control device 100 based on the disease image data (tooth feature amount) and the disease information (caries related) included in the disease image related table shown in FIG.

As shown in FIG. 12 (A), in the diagnosis reference table, in the map showing the correspondence between the feature amount (V) of the tooth shape and the feature amount (W) of the tooth color, the diagnosis 1 to Any diagnosis category of diagnosis 6 is assigned. For example, the greater the feature amount (V) of the tooth shape, the more severe the diagnosis category is assigned, and the greater the tooth color feature (W), the more severe the diagnosis category is assigned. Yes. Data represented by such mapping corresponds to diagnostic reference data. That is, the diagnostic reference data includes data indicating a correspondence relationship between the feature amount of the tooth in the disease image and the disease information regarding the tooth.

As mentioned above, teeth with caries tend to be darker in color than other healthy teeth, but even for patients with healthy teeth, Compared to non-smokers, teeth tend to be darker. Therefore, two tables are provided as diagnosis reference tables for diagnosing caries according to the presence or absence of smoking included in patient information.

Specifically, the control apparatus 100 is shown to (a) of FIG. 12 (A) based on the disease image data and disease information of a non-smoker among the disease image data and disease information included in the disease image association table. Create a diagnostic criteria table. On the other hand, the control device 100 generates a diagnostic criteria table shown in FIG. 12A (b) based on the disease image data and disease information of the smoker among the disease image data and disease information included in the disease image association table. create.

As shown in (a) and (b) of FIG. 12 (A), in the diagnostic reference data for smokers, the feature amount (W) of the tooth color is larger than the diagnostic reference data for non-smokers. The threshold is loose. For example, in the case of a patient whose tooth shape feature amount (V) is V2 ≦ V <V3 and the tooth color feature amount (W) is W2 ≦ W <W3, in the case of a non-smoker, diagnosis 3 Is assigned, whereas diagnosis 2 is assigned for smokers. This is due to the degree of discoloration of the teeth due to the presence or absence of smoking.

FIG. 12 (B) shows a diagnostic criteria table for diagnosing periodontal disease. This diagnostic reference table is created by the control device 100 based on the disease image data (periodontal tissue feature amount) and disease information (periodontal disease related) included in the disease image related table shown in FIG. Is done.

As shown in FIG. 12B, the diagnostic reference table includes a map representing the correspondence between the feature amount (X) of the periodontal tissue shape and the feature amount (Y) of the color of the periodontal tissue. Any one of diagnosis a to diagnosis f is assigned. For example, the greater the feature amount (X) of the periodontal tissue shape, the more severe the diagnosis category is assigned, and the greater the periodontal color feature amount (Y), the more severe the diagnosis category. Is assigned. Data represented by such mapping corresponds to diagnostic reference data. That is, the diagnostic reference data includes data indicating the correspondence between the feature amount of the periodontal tissue in the disease image and the disease information related to the periodontal tissue.

The control device 100 updates the diagnostic reference data shown in FIG. 12 every time the latest disease image association table is acquired from the external server 1000. In the present embodiment, such update of the diagnostic reference data is included in the machine learning or deep learning of the control device 100.

(Diagnosis of caries)
FIG. 13 is a diagram for explaining the diagnosis of caries. FIG. 13 (A) shows a graph showing the diagnosis of caries in the case of a non-smoker. FIG. 13B shows a graph showing the diagnosis of caries in the case of a smoker.

In the graphs shown in FIGS. 13 (A) and (B), the horizontal axis corresponds to the feature amount (V) of the tooth shape according to the diagnostic criteria table shown in FIGS. 12 (A) and 12 (b). The vertical axis corresponds to the feature amount (W) of the tooth color. A broken line on the graph is a boundary that divides assigned diagnosis 1 to diagnosis 6. In this graph, learning data is arranged in the diagnosis category to which each patient is assigned based on the dental feature amount and caries-related disease information of each patient stored in the disease image-related table shown in FIG. Is done.

When the diagnostic reference data shown in (a) and (b) of FIG. 12A is updated by machine learning or deep learning of the control device 100, the broken line on the graph moves. Thereby, the diagnosis division to which the learning data arranged on the graph is assigned may change. That is, by storing the disease image data (tooth feature amount) and the disease information (caries related) included in the disease image related table of the control apparatus 100 shown in FIG. Since the population to be used increases, the control device 100 can accurately diagnose caries. Furthermore, since the diagnostic reference data is updated each time diagnostic information is corrected by the operator, the control device 100 can more accurately diagnose caries.

A specific example of caries diagnosis will be described. Since the patient whose ID shown in FIG. 11B is “abc” is a smoker, the diagnostic criteria table shown in FIG. 12B is referred to. In the case of this patient, the feature amount (V) of the tooth shape is V2 ≦ Va <V3, and the feature amount (W) of the tooth color is W2 ≦ Wa <W3. Therefore, as shown in FIG. 13B, the diagnosis target data is arranged in the area of diagnosis 2 on the graph. Thereby, the control apparatus 100 outputs the diagnostic information included in the diagnosis 2 for the caries of the patient whose ID is “abc”.

(Diagnosis of periodontal disease)
FIG. 14 is a diagram for explaining the diagnosis of periodontal disease. FIG. 14 shows a graph representing the diagnosis of periodontal disease.

In the graph shown in FIG. 14, according to the diagnostic criteria table shown in FIG. 12B, the horizontal axis corresponds to the feature quantity (X) of the periodontal tissue shape, and the vertical axis represents the feature quantity (Y ). A broken line on the graph is a boundary that divides assigned diagnosis a to diagnosis f. In this graph, learning is performed in the diagnosis category to which each patient is assigned based on the feature amount of the periodontal tissue and the periodontal disease-related disease information stored in the disease image-related table shown in FIG. Data is placed.

When the diagnostic reference data shown in FIG. 12B is updated by machine learning or deep learning of the control device 100, the broken line on the graph moves. Thereby, the diagnosis division to which the learning data arranged on the graph is assigned may change. That is, by storing the disease image data (features of periodontal tissue) and disease information (periodontal related) included in the disease image related table of the control device 100 shown in FIG. Therefore, the control apparatus 100 can diagnose periodontal disease more accurately. Furthermore, since the diagnostic reference data is updated each time diagnostic information is corrected by the surgeon, the control device 100 can more accurately diagnose periodontal disease.

A specific example of diagnosis of periodontal disease will be described. In the case of a patient whose ID is “abc” shown in FIG. 11B, the feature quantity (X) of the periodontal tissue shape is X5 ≦ Xa <X6, and the color feature quantity (Y) of the periodontal tissue is Y4 ≦ Ya <Y5. Therefore, as shown in FIG. 14, the diagnosis target data is arranged in the area of diagnosis e on the graph. Thereby, the control apparatus 100 outputs the diagnostic information contained in the diagnosis e about the periodontal disease of the patient whose ID is “abc”.

(External server 1000: medical information table)
FIG. 15 is a diagram for explaining a medical information table stored in the external server 1000. As shown in FIG. 15, the medical information table stored in the external server 1000 identifies a patient for each patient using various medical institutions such as an internal medicine clinic, an obstetrics and gynecology clinic, or an orthopedic clinic. The chart information is stored in association with the ID and the patient information. The various information stored in the medical information table shown in FIG. 15 is an example, and the medical information table stores past medical information accumulated for each patient. The medical information table is not limited to storing medical information for each medical institution, and medical information may be stored for each patient ID. Furthermore, the medical information stored in the medical information table may be stored in the same table as the dental information stored in the dental information table shown in FIG. 8, and in that case, the medical information and the dental information are stored for each patient ID. Information may be stored.

Patient information includes clinic name, age, and gender. The patient information may include information other than these, such as hospital history.

The medical record information includes the diagnosis result in the medical diagnosis performed at the medical institution and information on the prescription drug. For example, for a patient whose ID is “mno”, a diagnosis result indicating hyperglycemia is stored as medical information in the X internal medicine clinic. For a patient whose ID is “abc”, medical information is stored that indicates a diagnosis result of myocardial infarction at X medical clinic and that a large amount of an anticoagulant that inhibits blood coagulation is being taken. For a patient whose ID is “opq”, a diagnosis result indicating that the pregnancy is in the middle of pregnancy is stored as medical information in the Y obstetrics and gynecology clinic.

The medical information (medical chart information) shown in FIG. 15 is transmitted from each medical institution to the external server 1000 via the network as the diagnosis result of the patient diagnosed at each medical institution and medical information such as prescription drugs. The external server 1000 stores the acquired medical information in association with an ID for identifying a patient and patient information. The medical information stored in the external server 1000 in this way is accumulated daily and becomes so-called big data.

(Medical device 1: related information table)
FIG. 16 is a diagram for explaining a related information table stored in the medical device 1. In the related information table, related information related to precautions considering the medical diagnosis is stored so as to correspond to the result of the dental diagnosis performed based on the oral image and the diagnosis reference table shown in FIG.

FIG. 16A shows a caries-related related information table. As shown in FIG. 16 (A), when the diagnosis results performed on the caries are Diagnosis 1 to Diagnosis 4, there are no particular precautions taking medical diagnosis into consideration. When the diagnosis result of the caries is diagnosis 5 or diagnosis 6, taking an anticoagulant is stipulated as a precaution. Specifically, an anticoagulant is a drug that inhibits blood coagulation, so that bleeding due to extraction is difficult to stop when a patient is taking a large amount. Here, when the diagnosis result is diagnosis 5 or diagnosis 6, the caries portion is diagnosed as having a need for tooth extraction or having a possibility of requiring tooth extraction. Therefore, when the diagnosis result is diagnosis 5 or diagnosis 6, tooth extraction is impossible when the anticoagulant is taken in large amounts, and when the patient has a small amount of anticoagulant, pay special attention to bleeding, etc. It is stipulated as a precaution that tooth extraction is performed.

FIG. 16B shows a related information table related to periodontal disease. As shown in FIG. 16 (B), when the diagnosis result performed for periodontal disease is diagnosis a, there are no particular precautions in consideration of medical diagnosis. When the diagnosis results for periodontal disease are diagnosis b to diagnosis f, a disease caused by periodontal disease is defined as a precaution. Specifically, periodontal diseases such as arteriosclerosis and other vascular diseases, heart diseases, respiratory diseases such as pneumonia, premature birth of low-weight infants, or diabetes when periodontal disease bacteria enter the body. There is a risk that diseases caused by will occur in the body. Therefore, in the case of diagnosis b to diagnosis f diagnosed as having periodontal disease, body diseases that occur outside of the oral cavity are defined as precautions. In the case of diagnosis e and diagnosis f diagnosed as requiring extraction or possibly extraction, extraction is impossible when the anticoagulant is taken in a large amount, and the patient has anticoagulant. It is stipulated as a precaution that tooth extraction should be performed with particular attention to bleeding when the amount is small.

The medical device 1 determines one of the diagnostic categories by performing a dental diagnosis of the patient based on the oral image and the diagnostic criteria table, and then extracts the precautions corresponding to the determined diagnostic category from the related information table. The medical device 1 acquires the medical information of the patient stored in the medical information table (FIG. 15) stored in the external server 1000, and the medical diagnosis corresponding to the precautions extracted from the related information table is given to the patient. If it has been performed, the diagnostic information in the dental diagnosis is output in consideration of the precautions.

For example, as shown in FIG. 11, in the case of a patient whose ID is “abc”, it is diagnosed that there is periodontal disease in the dental diagnosis. Further, as shown in FIG. 15, in the case of a patient whose ID is “abc”, a diagnosis result indicating that the patient has a myocardial infarction is given in the medical diagnosis, and a large amount of an anticoagulant is taken. For this reason, as shown in FIG. 16, in the case of a patient whose ID is “abc”, information indicating that treatment is performed without performing tooth extraction is included in the diagnostic information.

In this way, the medical device 1 outputs diagnostic information including information indicating that treatment is performed without performing tooth extraction by performing a dental diagnosis in consideration of a medical diagnosis of a patient whose ID is “abc”. Then, the medical device 1 informs the monitor 8 or the speaker 6 of information indicating that treatment is performed without performing tooth extraction, or treats the medical table 20, each arm body 40, or each medical treatment so that treatment is performed without performing tooth extraction. The instrument 30 is controlled.

As shown in FIG. 11, in the case of a patient whose ID is “mno”, it is diagnosed that there is periodontal disease in the dental diagnosis. Further, as shown in FIG. 15, in the case of a patient whose ID is “mno”, a diagnosis result indicating that the blood glucose level is high is obtained in the medical diagnosis. For this reason, as shown in FIG. 16, in the case of a patient whose ID is “mno”, information indicating that arteriosclerosis and diabetes are likely to develop due to periodontal disease is included in the diagnostic information.

In this way, the medical device 1 includes information indicating that arteriosclerosis or diabetes is likely to occur due to periodontal disease by performing a dental diagnosis in consideration of a medical diagnosis of a patient whose ID is “mno”. Output diagnostic information. The medical device 1 then informs the monitor 8 or the speaker 6 that the arteriosclerosis or diabetes is likely to develop due to periodontal disease, or is likely to develop arteriosclerosis or diabetes due to periodontal disease. The medical record information (table in FIG. 15) stored in the external server 1000 is notified to the X internal medicine clinic that performed the medical diagnosis or information that the arteriosclerosis and diabetes are likely to develop due to periodontal disease. ).

As shown in FIG. 11, in the case of a patient whose ID is “opq”, it is diagnosed that there is periodontal disease in the dental diagnosis. Further, as shown in FIG. 15, the patient whose ID is “opq” is pregnant. For this reason, as shown in FIG. 16, in the case of a patient whose ID is “opq”, information indicating that early low-weight childbirth is likely to be caused due to periodontal disease is included in the diagnostic information.

In this way, the diagnosis apparatus 1 includes a diagnosis including information indicating that it is likely to give birth to an early low-weight infant due to periodontal disease by performing a dental diagnosis in consideration of a medical diagnosis of a patient whose ID is “opq”. Output information. Then, the medical device 1 notifies the Y obstetrics and gynecology clinic that performed the medical diagnosis to the effect that it is easy for childbirth to occur early due to periodontal disease, or early low weight child due to periodontal disease. Information indicating that childbirth is likely to occur is stored in the chart information (table in FIG. 15) stored in the external server 1000.

[Treatment of medical equipment]
Although the medical device 1 does not directly treat a patient, it can be applied to a device that supports an operator by outputting diagnostic information and controlling various devices based on the diagnostic information. . Alternatively, the medical device 1 can be applied to a device that directly treats a living patient or a pseudo patient such as a human body model.

(Processing when the medical device supports the surgeon)
With reference to FIG. 17, an example of processing when the medical device 1 supports the surgeon will be described. FIG. 17 is a diagram for explaining the medical assistance process. In the following, each step being processed is simply abbreviated as “S”.

As shown in FIG. 17, the medical device 1 acquires the patient's main complaint (S1). Specifically, the control device 100 of the medical device 1 acquires the patient's chief complaint from the microphone 4 by voice using the voice acquisition unit 104. As a patient's chief complaint, for example, the degree of tooth pain or a point where pain is felt is assumed. Moreover, patient information, such as age, sex, and the presence or absence of smoking, is assumed as a patient's main complaint, for example.

The medical device 1 acquires a patient's oral image (S2). Specifically, the control device 100 acquires an oral image from the oral camera 55 by the oral image acquisition unit 140. At this time, the control device 100 moves the oral camera 55 to the patient's mouth by driving the arm main body 40f by the arm control unit 111. The surgeon or assistant can hold the arm main body 40f moved near the patient's mouth and smoothly insert the oral camera 55 into the oral cavity. Alternatively, the control device 100 acquires an oral image from the X-ray device by the oral image acquisition unit 140. The oral image data is stored in the oral image related table shown in FIG.

The medical device 1 acquires disease images of patients in all the medical devices 1 connected via the network (S3). Specifically, the control device 100 acquires disease image data from the external server 1000 via the communication interface 50 by the dental information acquisition unit 141. The disease image data is stored in the dental information table of the external server 1000 shown in FIG. Note that, as described above, the disease image data is not image data representing the disease state itself, but a plurality of patients with a characteristic amount of a tooth that has been suspected of having caries in the past, and a history of suspected periodontal disease. It is a collection of feature values of the periodontal tissue. For this reason, it is possible to suppress the delay of data communication and to suppress an increase in data capacity as compared to acquiring the image data itself. In the present embodiment, since diagnostic reference data is provided according to the presence or absence of smoking, when the presence or absence of smoking is informed by the patient in the process of S1, only one of the smoker and the non-smoker What is necessary is just to acquire the disease image data. As a result, the delay in data communication can be suppressed, and the increase in data capacity can also be suppressed.

The medical device 1 acquires patient's disease information in all the medical devices 1 connected via the network (S4). Specifically, the control device 100 acquires disease information from the external server 1000 via the communication interface 50 by the dental information acquisition unit 141. The disease information is stored in the dental information table of the external server 1000 shown in FIG. Note that the medical device 1 only needs to acquire disease information corresponding to the disease image data acquired in S3.

The medical device 1 updates the diagnostic reference data by machine learning or deep learning (S5). Specifically, the control device 100 updates the diagnostic reference data stored in the storage unit 160 by the artificial intelligence unit 180. The artificial intelligence unit 180 updates the diagnostic reference data stored in the diagnostic reference table shown in FIG. 12 based on the disease image data acquired in S3 and the disease information acquired in S4.

The medical device 1 extracts diagnostic information in the dental diagnosis based on the oral image and the diagnostic reference data (S6). Specifically, the control device 100 performs the dental diagnosis of the patient without considering the medical information for a while based on the oral image data acquired in S2 by the diagnosis unit 170 and the diagnostic reference data updated in S5. I do. An example of the dental diagnosis is as described with reference to FIGS. 13 and 14.

The medical device 1 updates the related information data by machine learning or deep learning (S7). Specifically, the control device 100 updates the related information data stored in the storage unit 160 by the artificial intelligence unit 180. The artificial intelligence unit 180 considers the medical diagnosis when performing the dental diagnosis stored in the related information table shown in FIG. 16 based on the medical information acquired at the time of past dental diagnosis, the paper or the academic society data updated as needed. Update the notes. For example, if there are many cases where bleeding is difficult to stop even if the dose of the anticoagulant is small at the past dental diagnosis, the artificial intelligence unit 180 cannot extract the tooth even if the dose of the anticoagulant is small. The related information is updated to include the information to the effect. In addition, when the number of cases in which a new disease caused by periodontal disease is increased or when a disease caused by periodontal disease is newly published in a paper, the artificial intelligence unit 180 determines that the periodontal disease is Update relevant information to include information on new causative diseases.

The medical device 1 extracts related information corresponding to the dental diagnosis (S8). Specifically, the control device 100 causes the diagnosis unit 170 to extract related information corresponding to the diagnosis category included in the diagnosis information extracted in S6 from the related information table illustrated in FIG. For example, in the case of a patient whose ID is “abc”, since diagnosis e is determined, the medical device 1 extracts a precaution corresponding to diagnosis e from the related information table.

The medical device 1 acquires medical information of a patient who has been medically diagnosed at a medical institution connected via a network (S9). Specifically, the control apparatus 100 acquires medical information from the external server 1000 via the communication interface 50 by the medical information acquisition unit 142. The medical information is stored in the medical information table of the external server 1000 shown in FIG. The medical device 1 only needs to acquire medical information corresponding to the related information extracted in S8. Of course, not only the medical information corresponding to the related information extracted in S8, but also medical information for all the past of a patient who is a subject of dental diagnosis or for a predetermined period (for example, for the past two years) may be acquired. .

The medical device 1 determines whether or not extraction is required for dental treatment (S10). Specifically, the control device 100 determines whether or not tooth extraction is necessary for dental treatment based on the diagnostic information in the dental diagnosis extracted in S6 by the diagnosis unit 170. For example, in the case of a patient whose ID is “abc”, since the diagnosis e is determined, tooth extraction is not necessarily required, but periodontal disease has progressed to some extent, so that tooth extraction is performed for early treatment or more reliable treatment. Diagnosed to be better. In this case, it is determined in S10 that tooth extraction is required for dental treatment (YES in S10).

The medical treatment device 1 determines whether or not the patient is taking an anticoagulant when the tooth extraction is required for dental treatment (YES in S10) (S11). Specifically, the control device 100 determines whether or not the patient is taking an anticoagulant by the diagnosis unit 170 based on the medical information extracted in S9.

When the patient is taking the anticoagulant (YES in S11), the medical device 1 determines whether the patient is taking a large amount of the anticoagulant based on the medical information extracted in S9. (S12). When the patient is taking a large amount of an anticoagulant (YES in S12), the medical device 1 updates the diagnostic information extracted in S6 so as to include information indicating that treatment is performed without performing tooth extraction ( S13). On the other hand, when the patient is not taking a large amount of an anticoagulant (NO in S12), the medical device 1 uses the diagnostic information extracted in S6 so as to include information indicating that the extraction is performed with attention to bleeding. Update (S14).

The medical device 1 determines whether or not the patient has periodontal disease after the process of S13 or S14 (S15). Specifically, the control device 100 determines whether or not the patient has periodontal disease by the diagnosis unit 170 based on the diagnosis information extracted in S6. When the patient has periodontal disease (YES in S15), the medical device 1 determines whether the patient has a disease caused by periodontal disease (S16). Specifically, the control device 100 determines whether or not the patient has a disease caused by periodontal disease based on the medical information extracted in S9 by the diagnosis unit 170.

When the patient has a disease caused by periodontal disease (YES in S16), the medical device 1 has the diagnosis extracted in S6 so as to include information indicating that the patient has a disease caused by periodontal disease. Information is updated (S17). On the other hand, when the patient does not have periodontal disease (NO in S15), the patient does not have a disease caused by periodontal disease (NO in S16), or after executing the process of S17. The updated diagnostic information is displayed on the monitor 8 (S18). Specifically, the control device 100 causes the display unit 108 to display diagnostic information output from the diagnostic unit 170 on the monitor 8 as an image. Thereby, the operator or patient can confirm the diagnosis result displayed on the monitor 8, the treatment policy, the treatment content, or the cautions considering the medical diagnosis.

The medical device 1 may display on the monitor 8 an image in which the degree of progress of treatment is known step by step as information included in the diagnostic information. Furthermore, the medical treatment apparatus 1 may display an image on the monitor 8 in which the time for each treatment step that progresses in stages is known. Thereby, the surgeon can grasp | ascertain the progress degree and treatment time of a treatment in steps. Furthermore, the medical device 1 may display on the monitor 8 an image that understands a disease caused by periodontal disease or an image that understands the influence on tooth extraction caused by taking anticoagulant as information included in the diagnosis information. Good. Accordingly, the surgeon can perform dental treatment according to the precautions considering the medical diagnosis, and can explain to the patient the causal relationship between the disease in the dental field and the disease in the medical field.

The medical device 1 outputs the diagnostic information by voice from the speaker 6 (S19). Specifically, the control device 100 causes the audio output unit 106 to output the diagnosis information output from the diagnosis unit 170 to the speaker 6 using audio. Thereby, the surgeon or patient can confirm the diagnosis result output from the speaker 6, the treatment policy, the treatment content, or the precautions considering the medical diagnosis.

The medical treatment apparatus 1 may output, from the speaker 6, a sound in which the degree of progress of treatment is known in stages as information included in the diagnostic information. Furthermore, the medical treatment device 1 may output a sound from the speaker 6 in which the time for each treatment step that progresses in stages is known. Thereby, the surgeon can grasp | ascertain the progress degree and treatment time of a treatment in steps. Furthermore, the medical device 1 may output, as information included in the diagnostic information, from the speaker 6, a voice that understands a disease caused by periodontal disease, a voice that understands the influence on tooth extraction caused by taking an anticoagulant, or the like. Good. Accordingly, the surgeon can perform dental treatment according to the precautions considering the medical diagnosis, and can explain to the patient the causal relationship between the disease in the dental field and the disease in the medical field.

The surgeon can be relieved if the diagnosis result displayed on the monitor 8 or the diagnosis result output from the speaker 6 is the same as the diagnosis result born from his knowledge and experience. On the other hand, if the diagnosis result displayed on the monitor 8 or the diagnosis result output from the speaker 6 is different from the diagnosis result born from its own knowledge and experience, the surgeon diagnoses using the operation panel 5 or the like. You can also correct the information.

The medical device 1 may display a plurality of diagnosis results and images showing the treatment contents on the monitor 8 as information included in the diagnosis information. In this case, the medical device 1 may display an image on the monitor 8 in which the treatment contents are understood in a ranking format according to the treatment priority. On the other hand, the surgeon may be able to select any diagnosis result based on the diagnosis result born from his knowledge and experience.

Next, informed consent is performed as an act of the surgeon (S20). At this time, the surgeon obtains an agreement from the patient about the diagnosis result and the treatment contents while confirming the diagnosis information displayed on the monitor 8 or the diagnosis information output from the speaker 6 with the patient. If the surgeon obtains an agreement from the patient, the following steps are performed. The surgeon can perform informed consent if at least one of the diagnostic information displayed on the monitor 8 and the diagnostic information output from the speaker 6 can be confirmed. For this reason, the medical treatment apparatus 1 may omit either the process of S18 or the process of S19.

The medical device 1 controls the medical table 20 based on the diagnostic information (S21). Specifically, the control device 100 drives the medical table 20 by the medical table control unit 120 based on the medical table control data stored in the storage unit 160. The clinical table control data includes data for controlling the position and posture of the clinical table 20 based on the diagnostic information output from the diagnostic unit 170.

For example, the medical device 1 controls the height of the medical table 20, the angle of the back plate held with respect to the medical table, the angle of the headrest 21 and the like by driving the medical table 20 based on the diagnostic information. Furthermore, the medical device 1 finely adjusts the medical table 20 so that the position and posture are in line with the treatment as the treatment progresses. Thereby, the position and posture of the treatment table 20 become the position and posture according to the treatment content. The medical device 1 drives the medical table 20 based on the patient's physique data included in the diagnostic information or the physique data acquired by a detector that detects the height and weight provided in the medical table 20. Also good. Thereby, the patient can receive the treatment in consideration of the most stable and unreasonable posture.

The medical treatment device 1 controls each arm body 40 based on the diagnostic information (S22). Specifically, the control device 100 drives each arm unit main body 40 based on the arm unit control data stored in the storage unit 160 by the arm unit control unit 111. The arm control data includes data for driving each arm main body 40 based on the diagnostic information output from the diagnostic unit 170. Thereby, each arm part main body 40 is controlled so that treatment content may be met.

For example, in the process of cutting teeth, the medical device 1 moves the arm main body 40 to which the air turbine handpiece is connected to the vicinity of the patient's mouth. The surgeon can grasp the arm main body 40 moved to the vicinity of the patient's mouth and start cutting teeth smoothly. Moreover, the medical device 1 moves the arm main body 40 to which the vacuum syringe is connected to the vicinity of the patient's mouth. The assistant can hold the arm main body 40 moved near the patient's mouth and smoothly suck saliva or blood in the oral cavity.

Depending on the content of treatment, a medical instrument 30 used by an operator and a medical instrument 30 used by an assistant may be required at the same time, such as an air turbine handpiece and a vacuum syringe. In such a case, the medical device 1 drives a plurality of arm body 40 at the same time. However, the medical device 1 drives the arm body 40 and the medical device 30 without causing the medical devices 30 connected to each other to collide with each other when moving the plurality of arm main bodies 40 simultaneously.

For example, the control device 100 detects the position of each arm unit body 40 based on the bird's-eye view image acquired by the overhead camera 9, and controls the position of each arm unit body 40 based on the detected position. The control device 100 may detect the position of each arm portion main body 40 using an infrared camera different from the overhead camera 9 as long as an infrared reflection mark is given to each arm portion main body 40. If each arm unit 40 is provided with an electromagnetic source, the control device 100 may detect the position of each arm unit body 40 by detecting the electromagnetic force with a detector. The control device 100 may detect the position of each arm unit body 40 based on a detection value from an encoder provided at a joint of each arm unit body 40.

The medical device 1 controls each medical device 30 based on the diagnostic information (S23). Specifically, in the control device 100, the medical instrument control unit 131 drives each medical instrument 30 based on the medical instrument control data stored in the storage unit 160. The medical instrument control data includes data for driving each medical instrument 30 based on the diagnostic information output from the diagnostic unit 170. Thereby, each medical instrument 30 is controlled so that treatment content may be met.

For example, the medical device 1 selects the medical device 30 so as to follow the treatment content and determines the order of use. When the arm main body 40 connected to the medical instrument 30 to be used moves to the vicinity of the mouth, the medical device 1 indicates that the medical instrument 30 connected to the arm main body 40 is ready to be driven by lighting a lamp or the like. Notify the surgeon. The notification that the drive is ready is preferably performed when the arm main body 40 has moved to the vicinity of the mouth and stopped reliably. The surgeon can drive the medical instrument 30 safely after confirming that the drive is ready.

Also, the medical device 1 changes various setting values of the medical device 30 so as to follow the treatment content. The set values of the medical instrument 30 include, for example, set values for determining the rotation speed, rotation speed, rotation direction, rotation pattern, and the like of a medical instrument such as an air turbine handpiece.

As a specific example, in root canal treatment, treatment such as root canal enlargement, washing, and filling is performed based on an X-ray image of the root canal. At this time, when expanding the root canal, the root canal of the tooth is cut using a micromotor handpiece equipped with a cutting tool such as a reamer or a file. Since the root canal is curved in molars and the like, if the torque applied to the cutting tool becomes too large, the cutting tool may be broken. Since there are multiple types of cutting tool thinness, for example, it is necessary to use them in order from thin to thick. Furthermore, it is necessary to enlarge the root canal along the shape of the root canal more accurately in the shortest time. The medical device 1 selects an optimal cutting tool according to the depth of the root canal and the degree of curvature of the shape based on the X-ray CT image acquired in advance as an oral image and stored in the storage unit 160, and each cutting tool is selected. A corresponding set value can be set, or a notification can be made so that the surgeon can manually adjust according to the notification.

This makes it possible for the surgeon to smoothly perform optimal treatment without changing the set value by himself.

During the treatment by the surgeon, when the patient becomes an abnormal posture due to the position and posture of the medical table 20, the position and posture of the medical table 20 are changed. Further, when the patient feels excessive pain, the driving of the medical instrument 30 is stopped, the rotational speed of the cutting tool is decreased, or the rotational direction is changed.

After the treatment by the surgeon is completed, the treatment result and the like are explained to the patient as the act of the surgeon (S24), and a series of medical care support processing ends.

In the series of medical assistance processes described above, the processes of S3, S4, and S5 may be omitted. The timing for acquiring the disease image data and the disease information and the timing for updating the diagnostic reference data are not necessarily limited to when diagnosing a patient, but may be performed before the process of outputting the diagnostic information shown in S6. For example, the medical device 1 may acquire the disease image data and the disease information at the timing when the power is turned on to update the diagnostic reference data, or the disease image data and the disease information are obtained by interruption processing performed periodically. May be obtained to update the diagnostic reference data.

In the above-described series of medical assistance processes, the process of S7 may be omitted. The timing of updating the related information data is not necessarily limited to when diagnosing a patient, but may be performed before the process of extracting related information corresponding to the dental diagnosis of the patient shown in S8. For example, the medical device 1 may update the related information data at a timing when the power is turned on, or may update the related information data by an interrupt process performed periodically.

(Process when the medical device directly treats the human body model)
With reference to FIG. 18, an example of processing when the medical device 1 directly treats a human body model will be described. For example, as an educational practice at a dental university, it is assumed that a human body model is regarded as a patient, and the medical treatment apparatus 1 directly treats the human body model to show a sample of treatment to a student.

The human body model detects the presence or absence and degree of stimulation given during treatment, and changes the facial expression, outputs sound, or moves the body based on the detection result. For example, if there is no abnormality, the human body model reproduces a relaxed expression without making a voice or moving the body, and if there is an abnormality, it reproduces an expression such as vomiting, pain, anxiety, or discomfort. While making a voice or raising a hand.

FIG. 18 is a diagram for explaining the medical treatment process. As illustrated in FIG. 18, the medical device 1 acquires a patient's main complaint (S31). Specifically, the control device 100 of the medical device 1 acquires the patient's chief complaint from the microphone 4 by voice using the voice acquisition unit 104. In this example, since the patient is a human body model, a mechanical sound is output from the human body model imitating a living patient. The voice acquisition unit 104 acquires this machine voice.

The medical device 1 acquires a patient's oral image (S32). Specifically, the control device 100 acquires an oral image from the oral camera 55 by the oral image acquisition unit 140. At this time, the control device 100 inserts the oral camera 55 into the patient's oral cavity by driving the arm main body 40f by the arm control unit 111. The control device 100 captures an image of the oral cavity with the oral camera 55 after the oral camera 55 is reliably inserted into the oral cavity of the patient. Alternatively, the control device 100 acquires an oral image from the X-ray device by the oral image acquisition unit 140. The oral image data is stored in the oral image related table shown in FIG.

The medical device 1 acquires disease images of patients in all the medical devices 1 connected via the network (S33). Specifically, the control device 100 acquires disease image data from the external server 1000 via the communication interface 50 by the dental information acquisition unit 141. The disease image data is stored in the dental information table of the external server 1000 shown in FIG. Similarly to S3 in FIG. 17, the medical device 1 is not image data representing the disease state itself, but a plurality of patients with a characteristic amount of a tooth previously suspected of having caries and a periodontal disease in the past. A collection of feature amounts of periodontal tissue suspected of is acquired as disease image data. Moreover, the medical device 1 should just acquire the disease image data of only one of a smoker and a non-smoker.

The medical device 1 acquires the disease information of the patients in all the medical devices 1 connected via the network (S34). Specifically, the control device 100 acquires disease information from the external server 1000 via the communication interface 50 by the dental information acquisition unit 141. The disease information is stored in the dental information table of the external server 1000 shown in FIG. Note that the medical device 1 only needs to acquire disease information corresponding to the disease image data acquired in S33.

The medical device 1 updates the diagnostic reference data by machine learning or deep learning (S35). Specifically, the control device 100 updates the diagnostic reference data stored in the storage unit 160 by the artificial intelligence unit 180. The artificial intelligence unit 180 updates the diagnostic reference data stored in the diagnostic reference table shown in FIG. 12 based on the disease image data acquired in S33 and the disease information acquired in S34.

The medical device 1 extracts diagnostic information in the dental diagnosis based on the oral image and the diagnostic reference data (S36). Specifically, the control device 100 performs the dental diagnosis of the patient without considering the medical information for the time being based on the oral image data acquired in S32 by the diagnosis unit 170 and the diagnostic reference data updated in S35. I do. An example of the dental diagnosis is as described with reference to FIGS. 13 and 14.

The medical device 1 updates the related information data by machine learning or deep learning (S37). Specifically, the control device 100 updates the related information data stored in the storage unit 160 by the artificial intelligence unit 180. As in S7 of FIG. 17, the artificial intelligence unit 180 performs the dental diagnosis stored in the related information table shown in FIG. 16 based on medical information acquired at the time of past dental diagnosis, papers updated at any time, or academic society data. Update the precautions taking into account the medical diagnosis.

The medical device 1 extracts related information corresponding to the dental diagnosis (S38). Specifically, the control device 100 causes the diagnosis unit 170 to extract related information corresponding to the diagnosis category included in the diagnosis information extracted in S36 from the related information table shown in FIG. In this example, since the patient is a human body model, related information is extracted in a pseudo manner based on preset contents.

The medical device 1 acquires medical information of a patient who has been medically diagnosed at a medical institution connected via a network (S39). Specifically, the control apparatus 100 acquires medical information from the external server 1000 via the communication interface 50 by the medical information acquisition unit 142. The medical information is stored in the medical information table of the external server 1000 shown in FIG. In this example, since the patient is a human body model, medical information is obtained in a pseudo manner based on preset contents.

The medical device 1 determines whether or not extraction is required for dental treatment (S40). Specifically, the control device 100 determines whether or not tooth extraction is necessary for dental treatment based on the diagnostic information in the dental diagnosis extracted in S36 by the diagnosis unit 170. In the case of this example, since the patient is a human body model, it is determined whether or not pseudo extraction is required based on preset contents.

The medical device 1 determines whether or not the patient is taking an anticoagulant (S41) when extraction is required for dental treatment (YES in S40). Specifically, the control device 100 determines whether or not the patient is taking an anticoagulant by the diagnosis unit 170 based on the medical information extracted in S39. In this example, since the patient is a human body model, whether or not the patient is taking an anticoagulant is determined based on preset contents.

When the patient is taking an anticoagulant (YES in S41), the medical device 1 determines whether the patient is taking a large amount of the anticoagulant based on the medical information extracted in S39. (S42). In this example, since the patient is a human body model, it is determined whether or not the patient is taking a large amount of an anticoagulant based on preset contents.

When the patient is taking a large amount of an anticoagulant (YES in S42), the medical device 1 updates the diagnostic information extracted in S36 so as to include information indicating that treatment is performed without performing tooth extraction ( S43). On the other hand, when the patient is not taking a large amount of anticoagulant (NO in S42), the medical device 1 receives the diagnostic information extracted in S36 so as to include information indicating that the tooth extraction is performed with attention to bleeding. Update (S44).

The medical treatment apparatus 1 determines whether or not the patient has periodontal disease after the process of S43 or S44 (S45). Specifically, the control device 100 determines whether or not the patient has periodontal disease by the diagnosis unit 170 based on the diagnosis information extracted in S36. In this example, since the patient is a human body model, it is determined whether or not the patient has periodontal disease based on preset contents.

If the patient has periodontal disease (YES in S45), the medical device 1 determines whether the patient has a disease caused by periodontal disease (S46). Specifically, the control device 100 determines whether or not the patient has a disease caused by periodontal disease based on the medical information extracted in S39 by the diagnosis unit 170. In the case of this example, since the patient is a human body model, it is determined whether or not the patient has a disease caused by periodontal disease in a pseudo manner based on preset contents.

When the patient has a disease caused by periodontal disease (YES in S46), the medical device 1 has the diagnosis extracted in S36 so as to include information indicating that the patient has a disease caused by periodontal disease. Information is updated (S47). On the other hand, when the patient does not have periodontal disease (NO in S45), the patient does not have a disease caused by periodontal disease (NO in S46), or after executing the process of S47 The updated diagnostic information is displayed on the monitor 8 (S48). Specifically, the control device 100 causes the display unit 108 to display diagnostic information output from the diagnostic unit 170 on the monitor 8 as an image. Thereby, the student in training can confirm the diagnosis result displayed on the monitor 8, the treatment policy, the treatment content, the cautions considering the medical diagnosis, and the like.

The medical device 1 may display on the monitor 8 an image in which the degree of progress of treatment is known step by step as information included in the diagnostic information. Furthermore, the medical treatment apparatus 1 may display an image on the monitor 8 in which the time for each treatment step that progresses in stages is known. Thereby, the student can grasp | ascertain the progress degree and treatment time of a treatment in steps. Furthermore, the medical device 1 may display on the monitor 8 an image that understands a disease caused by periodontal disease or an image that understands the influence on tooth extraction caused by taking anticoagulant as information included in the diagnosis information. Good. Thereby, the student can grasp the precautions considering the medical diagnosis.

The medical device 1 outputs the diagnostic information by voice from the speaker 6 (S49). Specifically, the control device 100 causes the audio output unit 106 to output the diagnosis information output from the diagnosis unit 170 to the speaker 6 using audio. Thereby, the student in training can check the diagnosis result output from the speaker 6, the treatment policy, the treatment content, the cautions considering the medical diagnosis, and the like.

The medical treatment apparatus 1 may output, from the speaker 6, a sound in which the degree of progress of treatment is known in stages as information included in the diagnostic information. Furthermore, the medical treatment device 1 may output a sound from the speaker 6 in which the time for each treatment step that progresses in stages is known. Thereby, the student can grasp | ascertain the progress degree and treatment time of a treatment in steps. Furthermore, the medical device 1 may output, as information included in the diagnostic information, from the speaker 6, a voice that understands a disease caused by periodontal disease, a voice that understands the influence on tooth extraction caused by taking an anticoagulant, or the like. Good. Thereby, the student can grasp the precautions considering the medical diagnosis.

The medical device 1 performs informed consent (S50). In the case of this example, since the patient is a human body model, a pseudo informed consent is performed between the medical device 1 and the human body model. For example, the medical device 1 outputs sound for obtaining consent for treatment content from the speaker 6. The medical device 1 determines that the patient's consent has been obtained through informed consent by recognizing the voice emitted from the patient or recognizing the patient's facial expression taken by the overhead camera 9. This is true even if the patient is a living person. It should be noted that the medical device 1 may output again the voice uttered by the patient or the voice for obtaining the consent of the treatment content from the speaker 6 when the patient's facial expression taken by the overhead camera 9 cannot be recognized. Good.

When the patient's consent is obtained through informed consent, the medical device 1 controls the medical table 20 based on the diagnostic information (S51). Specifically, the control device 100 drives the medical table 20 by the medical table control unit 120 based on the medical table control data stored in the storage unit 160. The clinical table control data includes data for controlling the position and posture of the clinical table 20 based on the diagnostic information output from the diagnostic unit 170. An example of the driving of the medical table 20 by the medical device 1 is the same as S21 in FIG.

The medical device 1 controls each arm body 40 based on the diagnosis information (S52). Specifically, the control device 100 drives each arm unit main body 40 based on the arm unit control data stored in the storage unit 160 by the arm unit control unit 111. The arm control data includes data for driving each arm main body 40 based on the diagnostic information output from the diagnostic unit 170. Thereby, each arm part main body 40 is controlled so that treatment content may be met.

For example, when a step of cutting teeth is performed, the medical device 1 moves the arm main body 40 to which the air turbine handpiece is connected to the vicinity of the patient's mouth. After the patient opens his / her mouth, the medical device 1 inserts an air turbine handpiece connected to the arm body 40 into the oral cavity. The medical device 1 drives the medical device 30 in the oral cavity without damaging the oral cavity while recognizing the shape of the oral cavity using, for example, an existing shape recognition technique. Note that the control device 100 may drive the medical instrument 30 while grasping the position of the arm body 40 based on the detection value from the encoder provided at the joint of the arm body 40. The control device 100 may drive the medical instrument 30 while grasping the position of the arm main body 40 based on the overhead image acquired by the overhead camera 9. The control device 100 may drive the medical instrument 30 while grasping the position of the arm body 40 by an infrared camera different from the overhead camera 9 as long as the infrared reflection mark is provided on the arm body 40. . If the arm unit body 40 is provided with an electromagnetic source, the control device 100 may drive the medical instrument 30 while grasping the position of the arm unit body 40 by detecting the electromagnetic force with a detector.

Depending on the treatment content, a plurality of medical instruments 30 such as an air turbine handpiece and a vacuum syringe may be required at the same time. In such a case, the medical device 1 drives a plurality of arm body 40 at the same time. However, the medical device 1 drives the arm body 40 and the medical device 30 without causing the medical devices 30 connected to each other to collide with each other when moving the plurality of arm main bodies 40 simultaneously. An example of collision avoidance of the medical device 30 by the medical device 1 is the same as S22 in FIG.

The medical device 1 performs a treatment efficiently by simultaneously driving a plurality of medical instruments 30 such as an air turbine handpiece and a vacuum syringe, in the same manner as the surgeon and the assistant are involved in the treatment at the same time. be able to.

The medical device 1 controls each medical device 30 based on the diagnostic information (S53). Specifically, in the control device 100, the medical instrument control unit 131 drives each medical instrument 30 based on the medical instrument control data stored in the storage unit 160. The medical instrument control data includes data for driving each medical instrument 30 based on the diagnostic information output from the diagnostic unit 170. Thereby, each medical instrument 30 is controlled so that treatment content may be met.

For example, the medical device 1 selects the medical device 30 so as to follow the treatment content and determines the order of use. The medical device 1 starts the treatment by driving the medical device 30 after the medical device 30 to be used is inserted into the oral cavity of the patient and the arm main body 40 is stopped. As shown in FIG. 3, the medical device 1 performs treatment while causing the arm body 40 to perform at least one of expansion and contraction in the longitudinal direction, bending in the longitudinal direction, and rotation in the circumferential direction with respect to the longitudinal direction. At this time, the medical device 1 treats the oral cavity with the medical instrument 30 without damaging the patient's oral cavity.

Furthermore, as described in S23 of FIG. 17, the medical device 1 changes various setting values of the medical device 30 so as to follow the treatment content. Thereby, the medical treatment apparatus 1 can perform optimal treatment smoothly while changing the set value by itself.

During the treatment by the medical device 1, if the patient becomes an abnormal posture due to the position and posture of the medical table 20, the position and posture of the medical table 20 are changed. Further, when the patient feels excessive pain, the driving of the medical instrument 30 is stopped, the rotational speed of the cutting tool is decreased, or the rotational direction is changed.

The driving of the arm main body 40 and the medical instrument 30 by the medical device 1 as described above may be performed based on the patient's main complaint obtained from the microphone 4.

After the treatment is completed, the medical treatment device 1 displays the treatment result on the monitor 8 (S54), and ends a series of medical treatment processing.

In the series of medical treatment processes described above, the processes of S33, S34, and S35 may be omitted. The timing for acquiring the disease image and the disease information and the timing for updating the diagnostic reference data are not necessarily limited to when diagnosing a patient, but may be performed before the process of outputting diagnostic information shown in S36. For example, the medical device 1 may acquire the disease image and the disease information at a timing when the power is turned on to update the diagnostic reference data, or acquire the disease image and the disease information by a periodic interrupt process. Then, the diagnostic reference data may be updated.

Further, in the above-described series of medical treatment support processing, the processing of S37 may be omitted. The timing of updating the related information data is not necessarily limited to when diagnosing a patient, but may be performed before the process of extracting related information corresponding to the dental diagnosis of the patient shown in S38. For example, the medical device 1 may update the related information data at a timing when the power is turned on, or may update the related information data by an interrupt process performed periodically.

In addition, although the example mentioned above assumes that the medical treatment apparatus 1 directly treats a human body model and shows a sample of treatment to a student, in order to confirm the performance of the medical treatment apparatus 1, a medical treatment apparatus 1 may treat the human body model directly.

Specifically, as a result of the medical device 1 performing treatment based on the diagnostic information, if there is an abnormality in the human model, it can be seen that the output diagnostic information is incorrect information. Therefore, it is possible to confirm whether or not the corrected diagnostic information is correct by correcting the erroneous information and allowing the medical treatment apparatus 1 to perform the treatment again.

[Main configuration of medical device 1]
As described above, the medical device 1 according to the present embodiment acquires information such as a patient's chief complaint, a patient's oral image, and a disease image representing a disease of the oral cavity as input information related to the patient's dental diagnosis, and diagnoses it. A dental diagnosis is made based on the reference data. At that time, the medical device 1 extracts related information corresponding to the result of the dental diagnosis of the patient from the related information table shown in FIG. 16, and acquires the medical information of the patient corresponding to the extracted related information. The medical device 1 then outputs diagnostic information in the final dental diagnosis of the patient based on the acquired medical information and the result of the dental diagnosis performed based on the diagnostic reference data.

Thereby, the medical device 1 can perform the dental diagnosis of the patient in consideration of not only the information on the dental field but also the information on the medical field related to the dental field. Therefore, the medical treatment apparatus 1 can perform a dental diagnosis of a patient based on a comprehensive and safer medical judgment by jumping over the barrier between the dental field and the medical field.

As shown in FIG. 16, since the related information includes precautions in consideration of the medical diagnosis when performing the dental diagnosis, the medical device 1 performs the most appropriate dental diagnosis for the patient in consideration of the medical diagnosis. It can be carried out.

Related information is updated by machine learning or deep learning. For this reason, for example, every time a patient is examined at any medical institution, or whenever a paper or academic society data is updated, the medical device 1 can update the related information. Therefore, the medical device 1 can perform a dental diagnosis most suitable for the patient based on the latest related information.

The medical device 1 according to the present embodiment outputs oral cavity diagnostic information based on the patient's oral image and the diagnostic standard data stored in the diagnostic standard table shown in FIG. Furthermore, the medical device 1 acquires disease images of patients in all the medical devices 1 connected via the network, and updates diagnostic reference data by machine learning based on the acquired disease images.

Thereby, since the medical device 1 outputs diagnostic information based on various disease images collected via the network, more accurate diagnostic information is output without largely depending on the knowledge and experience of one operator. Is done.

The medical treatment device 1 according to the present embodiment is a device for directly treating a living patient or a pseudo-patient such as a human body model, and obtains a patient's chief complaint by voice and a movable arm body. An oral image is acquired by the oral camera 55 held at 40. The medical device 1 outputs oral cavity diagnostic information based on the oral cavity image and the diagnostic standard data stored in the diagnostic standard table shown in FIG. The medical device 1 acquires a patient's disease image in all the medical devices 1 connected by a network, and updates diagnostic reference data by machine learning based on the acquired disease image. The medical device 1 performs informed consent by outputting the diagnostic information from the speaker 6 by voice. When consent is obtained, the medical device 1 directly drives the patient by driving the medical device 30 based on the diagnostic information. To treat.

Thereby, the medical device 1 makes full use of the artificial intelligence, with the help of the surgeon or assistant in some situations, without the help of the surgeon or assistant, and in some situations the surgeon or assistant's Patients can be treated directly without help.

As shown in FIG. 12, the diagnostic reference data is data indicating the correspondence between the feature amount of the oral cavity image and the disease information, and is based on the feature amount of the disease image and the disease information corresponding to the disease image. Updated. Thereby, each time the feature amount of the disease image and the disease information corresponding to the disease image are updated, the diagnostic reference data is updated to the latest one.

Further, since the diagnostic reference data is updated based on the diagnostic information output by the diagnostic unit 170, the current diagnostic result is reflected in the diagnostic reference data.

[Modification]
The present invention is not limited to the above embodiments, and various modifications and applications are possible. Hereinafter, modified examples applicable to the present invention will be described.

(About the medical table)
As shown in FIG. 1, the medical treatment device 1 according to the present embodiment is provided with a medical treatment table 10 so as to be covered from the sky by an arm extending from a device stand 80 different from the medical stand 20. However, the medical device may be configured as shown in FIG. FIG. 19 is a diagram illustrating an outline of the

medical devices

200 and 300 according to the modification.

The medical device may be configured such that a medical table 210 having a plurality of medical devices 230 is provided at a distal end portion 262 of an arm 264 extending from the medical table 220, as in the medical device 200 shown in FIG. . The arm 264 may extend from any of the headrest 21, the backrest 22, the seat surface sheet 23, and the footrest 24 included in the medical table 220.

The medical device, like the medical device 300 shown in FIG. 19B, is provided with an arm 364 that can be expanded and contracted from a storage portion 350 having a spitton that is a mouthwash device, and the medical table 310 is provided on the arm 364. May be configured. According to this configuration, the medical table 310 can be stored in the storage unit 350 when the medical table 310 is not needed, while the medical table 310 can be taken out from the storage unit 350 when the medical table 310 is required. Note that the storage unit 350 is not limited to having a spit-on, and may simply be a housing that stores the medical table 310, and may be movable in the hospital as necessary.

In addition, the medical device may be configured such that an arm is directly provided from a hospital floor near the medical table and a medical table 310 is provided on the arm.

(About features)
In the present embodiment, the depth (V) of the missing portion of the tooth is applied as the feature amount of the tooth shape, and the lightness and saturation (W) of the tooth surface are applied as the feature amount of the tooth color. Not limited to this. For example, the feature amount of a tooth may be calculated from the size or shape of the tooth itself, how the tooth grows or the tooth arrangement. The feature amount of the tooth may be weighted according to the presence / absence of age, sex, or presence / absence of smoking. Moreover, in the diagnosis of a tooth, the adhesion state of the tooth stain in the case of a smoker may be performed. In addition, when the affected part is imaged by the oral camera 55, caries diagnosis can be performed by emitting fluorescence from the caries part by irradiating the affected part with excitation light having a specific wavelength such as ultraviolet rays.

In the present embodiment, the swelling degree (X) is applied as the feature quantity of the periodontal tissue shape, and the surface brightness and saturation (Y) are applied as the feature quantity of the periodontal tissue color. Not exclusively. For example, the feature amount of periodontal tissue may be calculated from the amount of tartar or the depth of the periodontal pocket. A feature amount of periodontal tissue may be weighted according to the presence or absence of age, gender, or the presence or absence of smoking. Further, the degree of tooth movement may be measured using an instrument for measuring the degree of movement to be one of the feature values.

(About diagnosis)
In the present embodiment, the medical device 1 first performs a dental diagnosis by comparing the patient's mouth image and the disease image associated with the disease information, and then provides related information corresponding to the diagnosis result in the dental diagnosis. Extracting and updating the results of dental diagnosis based on medical information in the medical diagnosis of the patient corresponding to the extracted related information. However, the present invention is not limited to this, and the related information corresponding to the patient's chief complaint about the degree of tooth pain or the place where pain is felt is extracted, and the dental diagnosis is performed based on the medical information in the medical diagnosis of the patient corresponding to the extracted related information. The result of may be updated. Alternatively, even if the patient's chief complaint is used as a clue, the relevant information corresponding to the diagnosis result input by the surgeon is extracted, and the dental diagnosis result is updated based on the medical information in the patient's medical diagnosis corresponding to the extracted related information. Good.

In the present embodiment, the medical device 1 calculates the feature amount of the tooth and periodontal tissue in the comparison between the oral image of the patient and the disease image associated with the disease information. Absent. For example, the medical device 1 may search for a disease image similar to the patient's oral image based on the diagnostic reference data, and output the disease information associated with the extracted disease image as diagnostic information. In this case, the diagnostic reference data may include a threshold value used for pattern matching between the oral cavity image and the disease image, for example. And the medical device 1 may update the threshold value contained in diagnostic reference data based on the disease image accumulated every day. Further, as diagnostic information, diagnostic information related to dental implant surgery, diagnostic information related to orthodontics, diagnostic information related to pediatric dentistry, diagnostic information related to oral surgery, diagnostic information related to dental aesthetics, and the like may be used. For these various types of diagnostic information, a plurality of types of diagnostic reference data may be determined according to the items.

In performing a dental diagnosis of a patient in consideration of a medical diagnosis, the medical device 1 may output diagnostic information based on at least one of information related to a patient's constitution and information related to medication included in the patient's medical information. Good. For example, the medical device 1 is configured to check the patient's constitution, height, weight, age, blood type, allergy status, past medical history, medications (any related drugs including anticoagulants), X-ray examinations received in the past. Diagnostic information may be output based on data or precautions that take into account past medical examination information.

The medical device 1 may update the diagnostic reference data based on at least one of existing papers and academic society data. If the diagnostic reference data is updated based on the existing paper or society data accumulated in this way, the medical device 1 outputs more accurate diagnostic information every time the existing paper or society data is updated. be able to.

The medical device 1 may be configured so that a disease image and disease information to be referred to when updating the diagnostic standard data can be selected by setting. For example, the medical device 1 arranged in the clinic A acquires the disease image and the disease information in the medical device 1 arranged in the clinic B among the medical devices 1 connected to the network, and is arranged in the clinic C. Further, it may be configured so that the surgeon can set so as not to acquire the disease image and the disease information in the medical device 1. In this way, for example, the medical device 1 arranged in the clinic A acquires the disease image and the disease information only in the clinic to which the famous surgeon belongs, and the diagnostic reference data based on the disease image and the disease information. Can be updated. Thereby, the medical treatment apparatus 1 can output more accurate diagnostic information. In addition, the medical device 1 arrange | positioned in the clinic A may be comprised so that the medical device 1 acquired from the medical devices 1 arrange | positioned in the same clinic A can be selected according to a setting.

The diagnostic apparatus 1 provides diagnostic reference data according to the presence or absence of smoking in caries diagnosis, but may provide diagnostic reference data according to the age or sex of the patient. In addition, the medical device 1 may provide diagnostic reference data according to the characteristics of a tooth suspected of having caries (anterior tooth, molar tooth, milk tooth, permanent tooth, etc.). Then, when the medical device 1 acquires disease image data and disease information from the external server 1000, according to the patient's age, sex, or dental characteristics suspected of caries (anterior teeth, molars, milk teeth, permanent teeth, etc.) The acquired disease image data and disease information may be limited. In this way, delay in data communication can be suppressed, and increase in data capacity can also be suppressed.

(About storing related information data)
In the present embodiment, the medical device 1 arranged in each dental clinic stores related information data. However, each medical device 1 does not store related information data, but a management server arranged in each dental clinic may store related information data. Each medical device 1 or management server may update the related information data.

Alternatively, instead of each medical device 1 storing related information data, only the external server 1000 may store related information data. Then, the external server 1000 may update the related information data based on the medical information of the patient collected from each medical institution. In this case, each medical device 1 may acquire the latest related information data from the external server 1000 when making a diagnosis.

The medical device 1 may update related information data based on the corrected diagnostic information when the diagnostic information is corrected by the surgeon after outputting diagnostic information considering the medical diagnosis. If it does in this way, the medical device 1 will output diagnostic information of an operator preference.

Related information is not limited to information such as precautions considering medical diagnosis when performing dental diagnosis. For example, the related information is not limited to information for paying attention to the patient, but may be information for notifying that the patient has improved. For example, the related information may include information indicating that symptoms in the medical field are improved by treatment in the dental field. For example, in patients who are hospitalized in preparation for surgery in the medical field, oral bacteria are reduced by cleaning the oral cavity before surgery, resulting in a reduction in oral bacteria, resulting in improved prognosis after surgery and hospitalization. Information indicating that the information has been shortened may be output as diagnostic information. In addition, in a diabetic patient, when the blood glucose level is improved by efforts to treat periodontal disease such as regular plaque cleaning, information for giving up the patient may be output as diagnostic information. Recently, the importance of attempts to improve the patient's general condition through cooperation between the dental field and the medical field has begun to be recognized, but the efforts of the patient alone are limited, but as mentioned above, The medical device 1 according to the present embodiment can proceed with such a trial efficiently.

(About storage of diagnostic criteria data)
In the present embodiment, the medical device 1 arranged in each dental clinic stores the diagnostic reference data. Then, the diagnostic reference data is updated based on the disease image and the disease information acquired from the external server 1000 shared by each medical device 1 by network connection. However, instead of each diagnostic apparatus 1 storing the diagnostic reference data, a management server arranged in each dental clinic may store the diagnostic reference data. Then, each diagnostic apparatus 1 or management server may update the diagnostic reference data based on the disease image and disease information acquired from the external server 1000.

Alternatively, instead of each diagnostic apparatus 1 storing diagnostic reference data, only the external server 1000 may store diagnostic reference data. The diagnostic reference data may be updated based on the disease image and disease information collected by the external server 1000 from each medical device 1. In this case, each medical device 1 may acquire the latest diagnostic reference data from the external server 1000 when making a diagnosis.

The medical device 1 is not necessarily connected to the external server 1000 and other medical devices through a network connection. The medical device 1 may update diagnostic reference data based only on past oral images and diagnostic information acquired by itself. Furthermore, once the diagnostic information is output by the surgeon after the diagnostic information is output once, the diagnostic apparatus 1 may update the diagnostic reference data based on the corrected diagnostic information. If it does in this way, the medical device 1 will output diagnostic information of an operator preference.

(Remote operation)
An operator such as an operator or an assistant may not necessarily exist near the medical device 1. For example, in the case of remote medical care, the medical device 1 may be installed in a remote place different from the place where the operator exists. In this case, the medical device 1 may execute a series of processes shown in FIGS. 18 and 19 based on a remote operation by a surgeon from a remote place. For example, the medical device 1 may be used as medical assistance based on a remote operation by a surgeon from a remote place, or the medical device 30 may be driven to treat a patient.

At least one or all of the functional units of the oral cavity image acquisition unit 140, dental information acquisition unit 141, medical information acquisition unit 142, storage unit 160, diagnosis unit 170, and artificial intelligence unit 180 included in the control device 100 are included. Other devices different from the medical device 1 may be included. For example, a functional unit for diagnosing the oral cavity using artificial intelligence exists in a place (inside a clinic where an operator is located or an external server using a cloud service) different from the medical device 1 for actual treatment. Also good.

Although the embodiment disclosed this time has been described by taking periodontal disease as an example, it is not limited to periodontal disease and can be applied to all other dental diseases and dental treatments. This embodiment should be considered as illustrative in all points and not restrictive. For example, periodontal disease is influenced not only by diabetes but also by myocardial infarction, heart disease, cerebral infarction, angina pectoris, or arteriosclerosis. For this purpose, cooperation and cooperation between the dental field and the medical field is indispensable. It will be included in the scope of the present invention to solve such technology in cooperation and cooperation between the dental field and the medical field using AI technology in the future. The scope of the present invention is defined by the terms of the claims, rather than the description above, and is intended to include any modifications within the scope and meaning equivalent to the terms of the claims.

1,200,300 medical device, 2 foot controller, 4 microphones, 5 operation panel, 6 speakers, 7 surgical light, 8 monitor, 9 overhead camera, 10, 210, 310 medical table, 20,220 medical table, 21 headrest , 22 Backrest, 23 Seat surface seat, 24 Footrest, 30 Medical instrument, 40 Arm body, 50 Communication interface, 55 Oral camera, 80 Device base, 100 Control device, 104 Voice acquisition unit, 105 Panel control unit, 106 Audio output unit, 107 shadowless light control unit, 108 display unit, 109 overhead image acquisition unit, 110 table control unit, 111 arm control unit, 119 abnormality detection unit, 120 clinical table control unit, 131 medical instrument control unit, 140 Oral image acquisition unit, 141 Dental information acquisition unit, 142 Family information acquisition unit, 160 storage unit, 170 diagnosis section 180 artificial intelligence unit, 500 patients, 1000 external server.

Claims

An input information acquisition unit for acquiring input information related to a dental diagnosis of a patient;
A medical information acquisition unit for acquiring medical information related to a medical diagnosis of a patient;
A storage unit for storing related information in which related items between the dental diagnosis and the medical diagnosis are determined;
A diagnostic unit that extracts the related information corresponding to the input information and outputs diagnostic information in the dental diagnosis of the patient based on the medical information and the input information of the patient corresponding to the extracted related information A medical medical device comprising:
The medical treatment apparatus according to claim 1, wherein the medical information of the patient includes diagnostic information in a past medical diagnosis of the patient.
The medical medical device according to claim 1 or 2, wherein the medical information of the patient includes at least one of information related to the constitution of the patient and information related to medication of the patient.
The medical treatment apparatus according to any one of claims 1 to 3, wherein the related matter is a precaution in consideration of a medical diagnosis when performing a dental diagnosis.
The medical diagnostic apparatus according to any one of claims 1 to 4, further comprising an artificial intelligence unit that updates the related information.
An oral image acquisition unit for acquiring an oral image of the patient;
A disease image acquisition unit for acquiring a disease image representing a disease of the oral cavity,
The medical diagnostic apparatus according to any one of claims 1 to 5, wherein the input information is diagnostic information in a dental diagnosis of the patient extracted based on the oral cavity image and the disease image.
The medical examination apparatus according to claim 6, wherein each of the oral cavity image and the disease image is an optical image.
The medical examination apparatus according to claim 6, wherein each of the oral cavity image and the disease image is an X-ray image.
The medical diagnostic apparatus according to any one of claims 1 to 8, further comprising a display unit that displays the diagnostic information as an image.
The medical medical device according to any one of claims 1 to 9, further comprising a voice output unit that outputs the diagnostic information by voice.
The medical medical device according to any one of claims 6 to 10, further comprising an arm unit having an imaging unit that captures the oral image of the patient so as to be inserted into the oral cavity of the patient.
The medical diagnostic apparatus according to any one of claims 1 to 11, further comprising an arm portion having a medical instrument that can be inserted into the oral cavity of the patient.
The medical medical device according to claim 11 or 12, comprising a movable medical table that holds the arm.
The medical device according to any one of claims 11 to 13, wherein the arm portion is capable of at least one of expansion and contraction in the longitudinal direction, bending in the longitudinal direction, and rotation in the circumferential direction with respect to the longitudinal direction. Medical equipment.
15. The medical table control unit that changes at least one of a position and a posture of a medical table that supports the patient based on the diagnostic information output by the diagnostic unit. Medical medical device as described in 1.
The arm control unit according to any one of claims 12 to 15, further comprising: an arm control unit that changes at least one of a position and a posture of the arm based on the diagnosis information output by the diagnosis unit. Medical medical device.
A plurality of the arms,
The medical diagnostic apparatus according to any one of claims 12 to 16, wherein each of the plurality of arms has the different medical instruments.
The medical diagnostic apparatus according to any one of claims 1 to 17, further comprising a medical instrument control unit that controls a medical instrument based on the diagnostic information output by the diagnostic unit.
The medical instrument according to claim 18, wherein the medical instrument control unit controls a use order of the medical instruments held in each of the plurality of arms based on the diagnostic information output by the diagnostic unit. Medical equipment.
A voice acquisition unit that acquires patient's consent for diagnosis by voice,
The medical treatment apparatus according to claim 18 or 19, wherein the medical instrument control unit controls the medical instrument when the voice acquisition unit acquires the consent of the patient.
The medical diagnostic apparatus according to any one of claims 18 to 20, wherein the medical instrument control unit controls the medical instrument after the arm unit has moved to a predetermined position and stopped.
The medical treatment apparatus according to claim 21, wherein the arm control unit moves the arm after the driving of the medical instrument is stopped.
The medical diagnostic apparatus according to claim 21 or 22, wherein the medical instrument control unit is controlled by remote operation.
The medical diagnostic apparatus according to any one of claims 21 to 23, wherein the display unit displays the progress of diagnosis in a stepwise manner based on the diagnosis information.
A plurality of the arms,
Each of the plurality of arms has the different medical instruments,
25. The medical instrument control unit according to claim 21, wherein the medical instrument control unit drives the medical instruments included in each of the plurality of arms without colliding with each other based on the diagnostic information output by the diagnostic unit. The medical examination apparatus of any one of Claims.
The medical diagnostic apparatus according to any one of claims 21 to 25, wherein the patient is a human body model.